From 88a4f2baf1de736b6f95f5e9c493d8fdd4d829a3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 16:27:43 -0800 Subject: [PATCH 01/68] Onboarding: no buttons if no frame (#36909) no buttons if no frame --- selfdrive/ui/mici/layouts/onboarding.py | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index d358813411..5d44122214 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -237,19 +237,20 @@ class TrainingGuideDMTutorial(Widget): ring_color, ) - self._back_button.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._back_button.rect.height, - self._back_button.rect.width, - self._back_button.rect.height, - )) + if self._dialog._camera_view.frame: + self._back_button.render(rl.Rectangle( + self._rect.x + 8, + self._rect.y + self._rect.height - self._back_button.rect.height, + self._back_button.rect.width, + self._back_button.rect.height, + )) - self._good_button.render(rl.Rectangle( - self._rect.x + self._rect.width - self._good_button.rect.width - 8, - self._rect.y + self._rect.height - self._good_button.rect.height, - self._good_button.rect.width, - self._good_button.rect.height, - )) + self._good_button.render(rl.Rectangle( + self._rect.x + self._rect.width - self._good_button.rect.width - 8, + self._rect.y + self._rect.height - self._good_button.rect.height, + self._good_button.rect.width, + self._good_button.rect.height, + )) # rounded border rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK) From 4e855683701949c5da290ac646de837e5301b14e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 17:02:19 -0800 Subject: [PATCH 02/68] MultiOptionDialog: support no default (#36912) fix --- selfdrive/ui/mici/widgets/dialog.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 3d9aa3f9e2..3cd9f8b2c2 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -323,8 +323,8 @@ class BigMultiOptionDialog(BigDialogBase): if default is not None: assert default in options - self._default_option: str = default or (options[0] if len(options) > 0 else "") - self._selected_option: str = self._default_option + self._default_option: str | None = default + self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "") self._last_selected_option: str = self._selected_option self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) @@ -344,7 +344,8 @@ class BigMultiOptionDialog(BigDialogBase): def show_event(self): super().show_event() self._scroller.show_event() - self._on_option_selected(self._default_option) + if self._default_option is not None: + self._on_option_selected(self._default_option) def get_selected_option(self) -> str: return self._selected_option From 2213f8f8a4002745ae67557ee518a8d374a9d701 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 17:10:12 -0800 Subject: [PATCH 03/68] MultiOptionDialog: tap activates current option (#36911) * works * clean up --- .../mici/layouts/settings/network/wifi_ui.py | 11 ++++----- selfdrive/ui/mici/widgets/dialog.py | 24 +++++++++++-------- 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 374539c4ce..06347b5657 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -388,7 +388,7 @@ class WifiUIMici(BigMultiOptionDialog): else: network_button = WifiItem(network) - self.add_button(network_button) + self._scroller.add_widget(network_button) # remove networks no longer present self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks] @@ -402,11 +402,10 @@ class WifiUIMici(BigMultiOptionDialog): self._wifi_manager.connect_to_network(ssid, password) self._update_buttons() - def _on_option_selected(self, option: str, smooth_scroll: bool = True): - super()._on_option_selected(option, smooth_scroll) + def _on_option_selected(self, option: str): + super()._on_option_selected(option) - # only open if button is already selected - if option in self._networks and option == self._selected_option: + if option in self._networks: self._network_info_page.set_current_network(self._networks[option]) self._open_network_manage_page() @@ -453,7 +452,7 @@ class WifiUIMici(BigMultiOptionDialog): current_selection = self.get_selected_option() if self._restore_selection and current_selection in self._networks: self._scroller._layout() - BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False) + BigMultiOptionDialog._on_option_selected(self, current_selection) self._restore_selection = None super()._render(_) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 3cd9f8b2c2..eb36494ad4 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -328,18 +328,12 @@ class BigMultiOptionDialog(BigDialogBase): self._last_selected_option: str = self._selected_option self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) + self.set_touch_valid_callback(self._scroller.scroll_panel.is_touch_valid) if self._right_btn is not None: self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) for option in options: - self.add_button(BigDialogOptionButton(option)) - - def add_button(self, button: BigDialogOptionButton): - def click_callback(_btn=button): - self._on_option_selected(_btn.option) - - button.set_click_callback(click_callback) - self._scroller.add_widget(button) + self._scroller.add_widget(BigDialogOptionButton(option)) def show_event(self): super().show_event() @@ -350,7 +344,7 @@ class BigMultiOptionDialog(BigDialogBase): def get_selected_option(self) -> str: return self._selected_option - def _on_option_selected(self, option: str, smooth_scroll: bool = True): + def _on_option_selected(self, option: str): y_pos = 0.0 for btn in self._scroller._items: btn = cast(BigDialogOptionButton, btn) @@ -366,11 +360,21 @@ class BigMultiOptionDialog(BigDialogBase): y_pos = rect_center_y - (btn.rect.y + height / 2) break - self._scroller.scroll_to(-y_pos, smooth=smooth_scroll) + self._scroller.scroll_to(-y_pos) def _selected_option_changed(self): pass + def _handle_mouse_release(self, mouse_pos: MousePos): + super()._handle_mouse_release(mouse_pos) + + # select current option + for btn in self._scroller._items: + btn = cast(BigDialogOptionButton, btn) + if btn.option == self._selected_option: + self._on_option_selected(btn.option) + break + def _update_state(self): super()._update_state() From 6249211745d6cc68fd7446c78e2c9b9a64ca1393 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 19:57:57 -0800 Subject: [PATCH 04/68] Update canError alert texts (#36918) * hmm * hmm it's small * can * ? * variant? * unknown --- selfdrive/selfdrived/events.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index c6dbcccbee..1acfa2964e 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -932,13 +932,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # - CAN data is received, but some message are not received at the right frequency # If you're not writing a new car port, this is usually cause by faulty wiring EventName.canError: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"), ET.PERMANENT: Alert( - "CAN Error: Check Connections", + "Unknown Vehicle Variant", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), - ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"), + ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"), }, EventName.canBusMissing: { From 631d6d9ef4f8c375843c64c6b3552e32adf7b363 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:26:52 -0800 Subject: [PATCH 05/68] Widget: mouse handlers don't use bool (#36921) * not used * lint --- selfdrive/ui/layouts/settings/settings.py | 8 +++----- system/ui/widgets/__init__.py | 6 ++---- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 72d3a4bafe..68f45df77d 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -145,20 +145,18 @@ class SettingsLayout(Widget): if panel.instance: panel.instance.render(content_rect) - def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: + def _handle_mouse_release(self, mouse_pos: MousePos) -> None: # Check close button if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect): if self._close_callback: self._close_callback() - return True + return # Check navigation buttons for panel_type, panel_info in self._panels.items(): if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect): self.set_current_panel(panel_type) - return True - - return False + return def set_current_panel(self, panel_type: PanelType): if panel_type != self._current_panel: diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index a3fed6d962..8a46a3e43d 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -165,15 +165,13 @@ class Widget(abc.ABC): def _update_layout_rects(self) -> None: """Optionally update any layout rects on Widget rect change.""" - def _handle_mouse_press(self, mouse_pos: MousePos) -> bool: + def _handle_mouse_press(self, mouse_pos: MousePos) -> None: """Optionally handle mouse press events.""" - return False - def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: + def _handle_mouse_release(self, mouse_pos: MousePos) -> None: """Optionally handle mouse release events.""" if self._click_callback: self._click_callback() - return False def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: """Optionally handle mouse events. This is called before rendering.""" From 792a9b715c1c577f0adaf41c6fcc925884b2dc79 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:30:40 -0800 Subject: [PATCH 06/68] Widget: track mouse events (#36922) * track * fix * rm --- system/ui/widgets/__init__.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 8a46a3e43d..3768363486 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -26,6 +26,7 @@ class Widget(abc.ABC): self.__is_pressed = [False] * MAX_TOUCH_SLOTS # if current mouse/touch down started within the widget's rectangle self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS + self.__mouse_events: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -125,12 +126,14 @@ class Widget(abc.ABC): if mouse_event.left_pressed and touch_valid: if mouse_in_rect: self._handle_mouse_press(mouse_event.pos) + self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self.__tracking_is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Callback such as scroll panel signifies user is scrolling elif not touch_valid: + self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False @@ -138,17 +141,20 @@ class Widget(abc.ABC): self._handle_mouse_event(mouse_event) if self.__is_pressed[mouse_event.slot] and mouse_in_rect: self._handle_mouse_release(mouse_event.pos) + self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False # Mouse/touch is still within our rect elif mouse_in_rect: if self.__tracking_is_pressed[mouse_event.slot]: + self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Mouse/touch left our rect but may come back into focus later elif not mouse_in_rect: + self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self._handle_mouse_event(mouse_event) From b3c2daf9e58c5fe174d9d402aca80215e9763806 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:32:06 -0800 Subject: [PATCH 07/68] Revert "Widget: track mouse events (#36922)" https://github.com/commaai/openpilot/pull/36920#issuecomment-3668453692 This reverts commit 792a9b715c1c577f0adaf41c6fcc925884b2dc79. --- system/ui/widgets/__init__.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 3768363486..8a46a3e43d 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -26,7 +26,6 @@ class Widget(abc.ABC): self.__is_pressed = [False] * MAX_TOUCH_SLOTS # if current mouse/touch down started within the widget's rectangle self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS - self.__mouse_events: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -126,14 +125,12 @@ class Widget(abc.ABC): if mouse_event.left_pressed and touch_valid: if mouse_in_rect: self._handle_mouse_press(mouse_event.pos) - self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self.__tracking_is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Callback such as scroll panel signifies user is scrolling elif not touch_valid: - self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False @@ -141,20 +138,17 @@ class Widget(abc.ABC): self._handle_mouse_event(mouse_event) if self.__is_pressed[mouse_event.slot] and mouse_in_rect: self._handle_mouse_release(mouse_event.pos) - self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False # Mouse/touch is still within our rect elif mouse_in_rect: if self.__tracking_is_pressed[mouse_event.slot]: - self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Mouse/touch left our rect but may come back into focus later elif not mouse_in_rect: - self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self._handle_mouse_event(mouse_event) From a478b64ff3c0ac8356dbac31f907e6cf4090ca8e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:55:31 -0800 Subject: [PATCH 08/68] WifiUi: fix clicking (#36919) * fix * rm * rename * need this in case user swipes back to starting pos * better * better * clean up * cmt --- selfdrive/ui/mici/widgets/dialog.py | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index eb36494ad4..34760925a1 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -4,17 +4,17 @@ import pyray as rl from typing import Union from collections.abc import Callable from typing import cast -from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.wrap_text import wrap_text -from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.ui.mici.widgets.button import BigButton +from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton DEBUG = False @@ -327,8 +327,10 @@ class BigMultiOptionDialog(BigDialogBase): self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "") self._last_selected_option: str = self._selected_option + # Widget doesn't differentiate between click and drag + self._can_click = True + self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) - self.set_touch_valid_callback(self._scroller.scroll_panel.is_touch_valid) if self._right_btn is not None: self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) @@ -365,9 +367,23 @@ class BigMultiOptionDialog(BigDialogBase): def _selected_option_changed(self): pass + def _handle_mouse_press(self, mouse_pos: MousePos): + super()._handle_mouse_press(mouse_pos) + self._can_click = True + + def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: + super()._handle_mouse_event(mouse_event) + + # # TODO: add generic _handle_mouse_click handler to Widget + if not self._scroller.scroll_panel.is_touch_valid(): + self._can_click = False + def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) + if not self._can_click: + return + # select current option for btn in self._scroller._items: btn = cast(BigDialogOptionButton, btn) From 89d9fdca82aab17bb85ee1c63db4c06f2dd262a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 23:15:22 -0800 Subject: [PATCH 09/68] WifiUi: tune wifi strengths (#36923) * tune wifi strengths * android nor ios show none or slash. it's always 1, 2, or 3 bars * match here * clean up --- .../ui/mici/layouts/settings/network/wifi_ui.py | 14 ++++---------- system/ui/lib/wifi_manager.py | 2 +- 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 06347b5657..565fef5af3 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -36,8 +36,6 @@ class WifiIcon(Widget): super().__init__() self.set_rect(rl.Rectangle(0, 0, 89, 64)) - self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64) - self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64) self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64) self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64) self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64) @@ -57,17 +55,13 @@ class WifiIcon(Widget): return # Determine which wifi strength icon to use - strength = round(self._network.strength / 100 * 4) - if strength == 4: + strength = round(self._network.strength / 100 * 2) + if strength == 2: strength_icon = self._wifi_full_txt - elif strength == 3: + elif strength == 1: strength_icon = self._wifi_medium_txt - elif strength == 2: - strength_icon = self._wifi_low_txt - elif self._network.strength < 0: - strength_icon = self._wifi_slash_txt else: - strength_icon = self._wifi_none_txt + strength_icon = self._wifi_low_txt icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2) icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 7e5f04ef6f..bd66b8e03a 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -631,7 +631,7 @@ class WifiManager: known_connections = self._get_connections() networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] # sort with quantized strength to reduce jumping - networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 4), n.ssid.lower())) + networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 2), n.ssid.lower())) self._networks = networks self._update_ipv4_address() From 13b8a67ae27210f0a8b7544afca219ea1c0a641c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 16:03:45 -0800 Subject: [PATCH 10/68] reset: fix button overlap (#36929) fix --- system/ui/mici_reset.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py index d9bb45d99a..925afd7d10 100755 --- a/system/ui/mici_reset.py +++ b/system/ui/mici_reset.py @@ -132,7 +132,7 @@ class Reset(Widget): if self._reset_state == ResetState.FAILED: return "Reset failed. Reboot to try again." if self._mode == ResetMode.RECOVER: - return "Unable to mount data partition. Partition may be corrupted." + return "Unable to mount data partition. It may be corrupted." return "All content and settings will be erased." From e4359e9acb76586e99434592cdf3ee3ccf9aaecd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 18 Dec 2025 17:15:47 -0800 Subject: [PATCH 11/68] api_get: use session (#36930) * use session * prob better for now * todo * same for firehose * no more stutters! * cmt --- common/api.py | 6 ++++-- selfdrive/ui/lib/prime_state.py | 4 +++- selfdrive/ui/mici/layouts/settings/firehose.py | 4 +++- 3 files changed, 10 insertions(+), 4 deletions(-) diff --git a/common/api.py b/common/api.py index 7ea278038d..ebf0290d15 100644 --- a/common/api.py +++ b/common/api.py @@ -42,14 +42,16 @@ class Api: return token -def api_get(endpoint, method='GET', timeout=None, access_token=None, **params): +def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params): headers = {} if access_token is not None: headers['Authorization'] = "JWT " + access_token headers['User-Agent'] = "openpilot-" + get_version() - return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params) + # TODO: add session to Api + req = requests if session is None else session + return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params) def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]: diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index e1ef387bf7..1aed949bee 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -1,5 +1,6 @@ from enum import IntEnum import os +import requests import threading import time @@ -29,6 +30,7 @@ class PrimeState: def __init__(self): self._params = Params() self._lock = threading.Lock() + self._session = requests.Session() # reuse session to reduce SSL handshake overhead self.prime_type: PrimeType = self._load_initial_state() self._running = False @@ -50,7 +52,7 @@ class PrimeState: try: identity_token = get_token(dongle_id) - response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) + response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session) if response.status_code == 200: data = response.json() is_paired = data.get("is_paired", False) diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py index 10e52bb3b4..d305906e13 100644 --- a/selfdrive/ui/mici/layouts/settings/firehose.py +++ b/selfdrive/ui/mici/layouts/settings/firehose.py @@ -1,3 +1,4 @@ +import requests import threading import time import pyray as rl @@ -44,6 +45,7 @@ class FirehoseLayoutBase(Widget): def __init__(self): super().__init__() self._params = Params() + self._session = requests.Session() # reuse session to reduce SSL handshake overhead self._segment_count = self._get_segment_count() self._scroll_panel = GuiScrollPanel2(horizontal=False) @@ -203,7 +205,7 @@ class FirehoseLayoutBase(Widget): if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: return identity_token = get_token(dongle_id) - response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) + response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session) if response.status_code == 200: data = response.json() self._segment_count = data.get("firehose", 0) From bb8a5bd476a98d61788c78959903b89d3e81440a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 18 Dec 2025 20:50:34 -0800 Subject: [PATCH 12/68] Fix slow DM onboarding (#36932) * slow * interesting * check * clean up --- selfdrive/ui/mici/layouts/onboarding.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index 5d44122214..16e96d6f7d 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -166,8 +166,8 @@ class TrainingGuideDMTutorial(Widget): def _update_state(self): super()._update_state() - if device.awake: - ui_state.params.put_bool("IsDriverViewEnabled", True) + if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"): + ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True) sm = ui_state.sm if sm.recv_frame.get("driverMonitoringState", 0) == 0: From dfd7a8c8d74b822a15738a2afedc8159990cd042 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 22:02:46 -0800 Subject: [PATCH 13/68] AGNOS 16 (#36915) * stage * prod * bump reset --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 20 +++++------ system/hardware/tici/all-partitions.json | 44 ++++++++++++------------ 3 files changed, 33 insertions(+), 33 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index fcbee2ff8d..314366f429 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1 export QCOM_PRIORITY=12 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="15.1" + export AGNOS_VERSION="16" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 5a2a092aa8..e33a26bb2e 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-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz", - "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c", - "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c", + "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz", + "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756", + "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756", "size": 17496064, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae" + "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a" }, { "name": "system", - 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"hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818", + "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz", + "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9", + "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd", "size": 4718592000, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4", + "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da", "alt": { - "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818", - "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img", + "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd", + "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img", "size": 4718592000 } }, { "name": "userdata_90", - 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"ondevice_hash": "48fefa5a1880a4fd3dd50e1f9ddee297122053556816baca310d495129bc8893" + "ondevice_hash": "8e7cb392dd6e49c7d59fa850be7d1f44901314c86ba9c88be5bb27a0cd1123c9" } ] \ No newline at end of file From 654338f9c7c096377ad39afc39122fdd207ce3d1 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 22:52:14 -0800 Subject: [PATCH 14/68] update release instructions --- release/README.md | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/release/README.md b/release/README.md index fb651fa05a..7aeea9fe4a 100644 --- a/release/README.md +++ b/release/README.md @@ -4,18 +4,17 @@ ## release checklist ### Go to staging -- [ ] make a GitHub issue to track release +- [ ] make a GitHub issue to track release with this checklist - [ ] create release master branch -- [ ] update RELEASES.md + - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2` + - [ ] revert risky commits (double check with autonomy team) + - [ ] push the new branch +- [ ] push to staging: + - [ ] make sure you are on the newly created release master branch (`zerotentwo`) + - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch - [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] build new userdata partition from `release3-staging` - [ ] post on Discord, tag `@release crew` -Updating staging: -1. either rebase on master or cherry-pick changes -2. run this to update: `BRANCH=devel-staging release/build_devel.sh` -3. build new userdata partition from `release3-staging` - ### Go to release - [ ] before going to release, test the following: - [ ] update from previous release -> new release @@ -26,7 +25,7 @@ Updating staging: - [ ] check sentry, MTBF, etc. - [ ] stress test passes in production - [ ] publish the blog post -- [ ] `git reset --hard origin/release3-staging` +- [ ] `git reset --hard origin/release-mici-staging` - [ ] tag the release: `git tag v0.X.X && git push origin v0.X.X` - [ ] create GitHub release - [ ] final test install on `openpilot.comma.ai` From 1c2f9e6190210a870191ffb39c719f73b069b24c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 23:26:06 -0800 Subject: [PATCH 15/68] bump version to 0.10.4 --- RELEASES.md | 3 +++ common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 3028351400..186f1bc047 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.10.4 (2026-02-17) +======================== + Version 0.10.3 (2025-12-17) ======================== * New driving model #36249 diff --git a/common/version.h b/common/version.h index c489ecc578..7e78d64b22 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.10.3" +#define COMMA_VERSION "0.10.4" From c3143f3833a1ca6f1b949e70df54d9753e8195a9 Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 20 Dec 2025 01:38:23 +0800 Subject: [PATCH 16/68] Multilang: update zh translation (#36933) --- selfdrive/ui/translations/app_zh-CHS.po | 6 +++--- selfdrive/ui/translations/app_zh-CHT.po | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/selfdrive/ui/translations/app_zh-CHS.po index 16e4369476..2400b6f44a 100644 --- a/selfdrive/ui/translations/app_zh-CHS.po +++ b/selfdrive/ui/translations/app_zh-CHS.po @@ -200,7 +200,7 @@ msgstr "CONNECT" #: system/ui/widgets/network.py:369 #, python-format msgid "CONNECTING..." -msgstr "CONNECTING..." +msgstr "连接中..." #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 @@ -1001,7 +1001,7 @@ msgstr "用于“{}”" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "km/h" -msgstr "公里/时" +msgstr "km/h" #: system/ui/widgets/network.py:204 #, python-format @@ -1021,7 +1021,7 @@ msgstr "计量" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "mph" -msgstr "英里/时" +msgstr "mph" #: selfdrive/ui/layouts/settings/software.py:20 #, python-format diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/selfdrive/ui/translations/app_zh-CHT.po index 85cfb77401..f4d5e0a4ed 100644 --- a/selfdrive/ui/translations/app_zh-CHT.po +++ b/selfdrive/ui/translations/app_zh-CHT.po @@ -200,7 +200,7 @@ msgstr "CONNECT" #: system/ui/widgets/network.py:369 #, python-format msgid "CONNECTING..." -msgstr "CONNECTING..." +msgstr "連線中..." #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 @@ -1000,7 +1000,7 @@ msgstr "適用於「{}」" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "km/h" -msgstr "公里/時" +msgstr "km/h" #: system/ui/widgets/network.py:204 #, python-format @@ -1020,7 +1020,7 @@ msgstr "計量" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "mph" -msgstr "英里/時" +msgstr "mph" #: selfdrive/ui/layouts/settings/software.py:20 #, python-format From de975d5af9413a36fcb8c3b28be03b85a4296278 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 20 Dec 2025 15:04:13 -0800 Subject: [PATCH 17/68] card: remove MockCarstate (#36941) --- selfdrive/car/car_specific.py | 16 ---------------- selfdrive/car/card.py | 4 ---- 2 files changed, 20 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 6210983d97..307132e780 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,5 +1,4 @@ from cereal import car, log -import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs from opendbc.car.interfaces import MAX_CTRL_SPEED @@ -11,21 +10,6 @@ EventName = log.OnroadEvent.EventName NetworkLocation = structs.CarParams.NetworkLocation -# TODO: the goal is to abstract this file into the CarState struct and make events generic -class MockCarState: - def __init__(self): - self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) - - def update(self, CS: car.CarState): - self.sm.update(0) - gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' - - CS.vEgo = self.sm[gps_sock].speed - CS.vEgoRaw = self.sm[gps_sock].speed - - return CS - - BRAND_EXTRA_GEARS = { 'ford': [GearShifter.low, GearShifter.manumatic], 'nissan': [GearShifter.brake], diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 27b04ae65e..aa0d12e960 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -19,7 +19,6 @@ from opendbc.car.car_helpers import get_car, interfaces from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp from openpilot.selfdrive.car.cruise import VCruiseHelper -from openpilot.selfdrive.car.car_specific import MockCarState REPLAY = "REPLAY" in os.environ @@ -150,7 +149,6 @@ class Car: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.mock_carstate = MockCarState() self.v_cruise_helper = VCruiseHelper(self.CP) self.is_metric = self.params.get_bool("IsMetric") @@ -167,8 +165,6 @@ class Car: # Update carState from CAN CS = self.CI.update(can_list) - if self.CP.brand == 'mock': - CS = self.mock_carstate.update(CS) # Update radar tracks from CAN RD: structs.RadarDataT | None = self.RI.update(can_list) From 67742699ccd76fe864e46758c3aa1a67334fc464 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 20 Dec 2025 15:22:30 -0800 Subject: [PATCH 18/68] card: move drivable gears to opendbc (#36942) * card: move drivable gears to opendbc * it's not none * bump opendbc * mypy --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 20 ++++---------------- 2 files changed, 5 insertions(+), 17 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 39773a987e..4aa7ca9722 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 39773a987eaefd680c6befa390d7898945daf2e7 +Subproject commit 4aa7ca972290af6c6bbd314d1975eab46a888b6f diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 307132e780..90e4a6986a 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,5 +1,6 @@ from cereal import car, log from opendbc.car import DT_CTRL, structs +from opendbc.car.car_helpers import interfaces from opendbc.car.interfaces import MAX_CTRL_SPEED from openpilot.selfdrive.selfdrived.events import Events @@ -10,18 +11,6 @@ EventName = log.OnroadEvent.EventName NetworkLocation = structs.CarParams.NetworkLocation -BRAND_EXTRA_GEARS = { - 'ford': [GearShifter.low, GearShifter.manumatic], - 'nissan': [GearShifter.brake], - 'chrysler': [GearShifter.low], - 'honda': [GearShifter.sport], - 'toyota': [GearShifter.sport], - 'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], - 'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic], - 'hyundai': [GearShifter.sport, GearShifter.manumatic] -} - - class CarSpecificEvents: def __init__(self, CP: structs.CarParams): self.CP = CP @@ -32,7 +21,7 @@ class CarSpecificEvents: self.silent_steer_warning = True def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): - extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None) + extra_gears = interfaces[self.CP.carFingerprint].DRIVABLE_GEARS if self.CP.brand in ('body', 'mock'): events = Events() @@ -118,7 +107,7 @@ class CarSpecificEvents: return events - def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True, + def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: tuple = (), pcm_enable=True, allow_button_cancel=True): events = Events() @@ -126,8 +115,7 @@ class CarSpecificEvents: events.add(EventName.doorOpen) if CS.seatbeltUnlatched: events.add(EventName.seatbeltNotLatched) - if CS.gearShifter != GearShifter.drive and (extra_gears is None or - CS.gearShifter not in extra_gears): + if CS.gearShifter != GearShifter.drive and CS.gearShifter not in extra_gears: events.add(EventName.wrongGear) if CS.gearShifter == GearShifter.reverse: events.add(EventName.reverseGear) From e9a37d99c3d715e1b44d85da5c48c49136a5eb90 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 21 Dec 2025 08:33:52 +0800 Subject: [PATCH 19/68] Fix incorrect msgq path in prefix.h (#36943) --- common/prefix.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/prefix.h b/common/prefix.h index 2612c05d4f..7d0265c259 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -13,7 +13,7 @@ public: if (prefix.empty()) { prefix = util::random_string(15); } - msgq_path = Path::shm_path() + "/" + prefix; + msgq_path = Path::shm_path() + "/msgq_" + prefix; bool ret = util::create_directories(msgq_path, 0777); assert(ret); setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); From 8728c7dde38be4a10f3044312e12195ebe4d57f4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 15:42:53 -0800 Subject: [PATCH 20/68] killing car_specific.py, part 3 (#36946) * mv that * lil more * todo * cleanup --- selfdrive/car/car_specific.py | 34 ++++++++++++---------------------- 1 file changed, 12 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 90e4a6986a..cdeeebdcd5 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -21,14 +21,12 @@ class CarSpecificEvents: self.silent_steer_warning = True def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): - extra_gears = interfaces[self.CP.carFingerprint].DRIVABLE_GEARS - if self.CP.brand in ('body', 'mock'): - events = Events() + return Events() - elif self.CP.brand == 'chrysler': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) + events = self.create_common_events(CS, CS_prev) + if self.CP.brand == 'chrysler': # Low speed steer alert hysteresis logic if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5): self.low_speed_alert = True @@ -38,8 +36,6 @@ class CarSpecificEvents: events.add(EventName.belowSteerSpeed) elif self.CP.brand == 'honda': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False) - if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) @@ -60,8 +56,6 @@ class CarSpecificEvents: elif self.CP.brand == 'toyota': # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3 - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) - if self.CP.openpilotLongitudinalControl: # Only can leave standstill when planner wants to move if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume: @@ -76,8 +70,6 @@ class CarSpecificEvents: events.add(EventName.manualRestart) elif self.CP.brand == 'gm': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise) - # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and @@ -87,8 +79,6 @@ class CarSpecificEvents: events.add(EventName.resumeRequired) elif self.CP.brand == 'volkswagen': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise) - if self.CP.openpilotLongitudinalControl: if CS.vEgo < self.CP.minEnableSpeed + 0.5: events.add(EventName.belowEngageSpeed) @@ -99,23 +89,23 @@ class CarSpecificEvents: # if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined] # events.add(EventName.steerTimeLimit) - elif self.CP.brand == 'hyundai': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False) - - else: - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) - return events - def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: tuple = (), pcm_enable=True, - allow_button_cancel=True): + def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState): events = Events() + CI = interfaces[self.CP.carFingerprint] + # TODO: cleanup the honda-specific logic + pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda' + # TODO: on some hyundai cars, the cancel button is also the pause/resume button, + # so only use it for cancel when running openpilot longitudinal + allow_button_cancel = self.CP.brand != 'hyundai' + if CS.doorOpen: events.add(EventName.doorOpen) if CS.seatbeltUnlatched: events.add(EventName.seatbeltNotLatched) - if CS.gearShifter != GearShifter.drive and CS.gearShifter not in extra_gears: + if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS: events.add(EventName.wrongGear) if CS.gearShifter == GearShifter.reverse: events.add(EventName.reverseGear) From 31ec0096e46ad2ac310d40a5f99ecf22243511ad Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 16:21:35 -0800 Subject: [PATCH 21/68] ui: fix raylib init spam (#36947) * lil more * not none * don't need that either * too spammy now? --- Jenkinsfile | 2 +- system/ui/lib/application.py | 9 +++++---- system/ui/lib/multilang.py | 2 +- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 73fa74c1cd..c095eda8a9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits export CI=1 export PYTHONWARNINGS=error -export LOGPRINT=debug +#export LOGPRINT=debug # this has gotten too spammy... export TEST_DIR=${env.TEST_DIR} export SOURCE_DIR=${env.SOURCE_DIR} export GIT_BRANCH=${env.GIT_BRANCH} diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 501a7ff371..04cd37af3e 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -192,6 +192,8 @@ class MouseState: class GuiApplication: def __init__(self, width: int | None = None, height: int | None = None): + self._set_log_callback() + self._fonts: dict[FontWeight, rl.Font] = {} self._width = width if width is not None else GuiApplication._default_width() self._height = height if height is not None else GuiApplication._default_height() @@ -215,7 +217,6 @@ class GuiApplication: self._last_fps_log_time: float = time.monotonic() self._frame = 0 self._window_close_requested = False - self._trace_log_callback = None self._modal_overlay = ModalOverlay() self._modal_overlay_shown = False self._modal_overlay_tick: Callable[[], None] | None = None @@ -260,9 +261,6 @@ class GuiApplication: signal.signal(signal.SIGINT, _close) atexit.register(self.close) - self._set_log_callback() - rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING) - flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT if ENABLE_VSYNC: flags |= rl.ConfigFlags.FLAG_VSYNC_HINT @@ -640,6 +638,9 @@ class GuiApplication: else: cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}") + # ensure we get all the logs forwarded to us + rl.set_trace_log_level(rl.TraceLogLevel.LOG_DEBUG) + # Store callback reference self._trace_log_callback = trace_log_callback rl.set_trace_log_callback(self._trace_log_callback) diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py index 9b10a8bdc7..70de1e3d5c 100644 --- a/system/ui/lib/multilang.py +++ b/system/ui/lib/multilang.py @@ -48,7 +48,7 @@ class Multilang: translation = gettext.GNUTranslations(fh) translation.install() self._translation = translation - cloudlog.warning(f"Loaded translations for language: {self._language}") + cloudlog.debug(f"Loaded translations for language: {self._language}") except FileNotFoundError: cloudlog.error(f"No translation file found for language: {self._language}, using default.") gettext.install('app') From 29a2f576f5929b2efe6761e3996a926e3b9e62d5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 16:49:15 -0800 Subject: [PATCH 22/68] unpin raylib-python-cffi (#36948) --- pyproject.toml | 4 ++-- uv.lock | 38 ++++++++++++++++++++++---------------- 2 files changed, 24 insertions(+), 18 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index d5dc95e1b1..fc80488c69 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -49,7 +49,7 @@ dependencies = [ # logging "pyzmq", "sentry-sdk", - "xattr", # used in place of 'os.getxattr' for macos compatibility + "xattr", # used in place of 'os.getxattr' for macOS compatibility # athena "PyJWT", @@ -72,7 +72,7 @@ dependencies = [ "zstandard", # ui - "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186 + "raylib > 5.5.0.3", "qrcode", "mapbox-earcut", ] diff --git a/uv.lock b/uv.lock index b179517e0b..53cb108c61 100644 --- a/uv.lock +++ b/uv.lock @@ -1463,7 +1463,7 @@ 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system/hardware/base.py | 66 ++++++----------- system/hardware/fan_controller.py | 29 ++------ system/hardware/hardwared.py | 13 +--- system/hardware/pc/hardware.h | 1 - system/hardware/pc/hardware.py | 70 +----------------- system/hardware/tests/test_fan_controller.py | 6 +- system/hardware/tici/amplifier.py | 78 +++++++------------- system/hardware/tici/hardware.py | 6 +- system/hardware/tici/tests/test_amplifier.py | 5 +- 10 files changed, 71 insertions(+), 204 deletions(-) delete mode 100644 system/hardware/.gitignore diff --git a/system/hardware/.gitignore b/system/hardware/.gitignore deleted file mode 100644 index 980f09abfa..0000000000 --- a/system/hardware/.gitignore +++ /dev/null @@ -1 +0,0 @@ -eon/rat diff --git a/system/hardware/base.py b/system/hardware/base.py index 17d0ec1614..05e8eb015f 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -5,6 +5,7 @@ from dataclasses import dataclass, fields from cereal import log NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength class LPAError(RuntimeError): pass @@ -114,68 +115,57 @@ class HardwareBase(ABC): def booted(self) -> bool: return True - @abstractmethod def reboot(self, reason=None): - pass + print("REBOOT!") - @abstractmethod def uninstall(self): - pass + print("uninstall") - @abstractmethod def get_os_version(self): - pass + return None @abstractmethod def get_device_type(self): pass - @abstractmethod def get_imei(self, slot) -> str: - pass + return "" - @abstractmethod def get_serial(self): - pass + return "" - @abstractmethod def get_network_info(self): - pass + return None - @abstractmethod def get_network_type(self): - pass + return NetworkType.none - @abstractmethod def get_sim_info(self): - pass + return { + 'sim_id': '', + 'mcc_mnc': None, + 'network_type': ["Unknown"], + 'sim_state': ["ABSENT"], + 'data_connected': False + } - @abstractmethod def get_sim_lpa(self) -> LPABase: - pass + raise NotImplementedError("SIM LPA not available") - @abstractmethod def get_network_strength(self, network_type): - pass + return NetworkStrength.unknown def get_network_metered(self, network_type) -> bool: return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet) - @staticmethod - def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None: - pass - - @abstractmethod def get_current_power_draw(self): - pass + return 0 - @abstractmethod def get_som_power_draw(self): - pass + return 0 - @abstractmethod def shutdown(self): - pass + print("SHUTDOWN!") def get_thermal_config(self): return ThermalConfig() @@ -183,31 +173,24 @@ class HardwareBase(ABC): def set_display_power(self, on: bool): pass - @abstractmethod def set_screen_brightness(self, percentage): pass - @abstractmethod def get_screen_brightness(self): - pass + return 0 - @abstractmethod def set_power_save(self, powersave_enabled): pass - @abstractmethod def get_gpu_usage_percent(self): - pass + return 0 def get_modem_version(self): return None - @abstractmethod def get_modem_temperatures(self): - pass + return [] - - @abstractmethod def initialize_hardware(self): pass @@ -217,9 +200,8 @@ class HardwareBase(ABC): def reboot_modem(self): pass - @abstractmethod def get_networks(self): - pass + return None def has_internal_panda(self) -> bool: return False diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py index 365688429a..b2140d33d4 100755 --- a/system/hardware/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -1,24 +1,13 @@ #!/usr/bin/env python3 import numpy as np -from abc import ABC, abstractmethod -from openpilot.common.realtime import DT_HW -from openpilot.common.swaglog import cloudlog from openpilot.common.pid import PIDController -class BaseFanController(ABC): - @abstractmethod - def update(self, cur_temp: float, ignition: bool) -> int: - pass - - -class TiciFanController(BaseFanController): - def __init__(self) -> None: - super().__init__() - cloudlog.info("Setting up TICI fan handler") +class FanController: + def __init__(self, rate: int) -> None: self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW)) + self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate) def update(self, cur_temp: float, ignition: bool) -> int: self.controller.pos_limit = 100 if ignition else 30 @@ -26,13 +15,9 @@ class TiciFanController(BaseFanController): if ignition != self.last_ignition: self.controller.reset() - - error = cur_temp - 75 - fan_pwr_out = int(self.controller.update( - error=error, - feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100]) - )) - self.last_ignition = ignition - return fan_pwr_out + return int(self.controller.update( + error=(cur_temp - 75), # temperature setpoint in C + feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100]) + )) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 8ddc4da2f2..aad30f77b2 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -22,7 +22,7 @@ from openpilot.system.loggerd.config import get_available_percent from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog from openpilot.system.hardware.power_monitoring import PowerMonitoring -from openpilot.system.hardware.fan_controller import TiciFanController +from openpilot.system.hardware.fan_controller import FanController from openpilot.system.version import terms_version, training_version from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID @@ -210,14 +210,13 @@ def hardware_thread(end_event, hw_queue) -> None: HARDWARE.initialize_hardware() thermal_config = HARDWARE.get_thermal_config() - fan_controller = None + fan_controller = FanController(int(1./DT_HW)) while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT) pandaStates = sm['pandaStates'] peripheralState = sm['peripheralState'] - peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown # handle requests to cycle system started state if params.get_bool("OnroadCycleRequested"): @@ -234,11 +233,6 @@ def hardware_thread(end_event, hw_queue) -> None: in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected - # Setup fan handler on first connect to panda - if fan_controller is None and peripheral_panda_present: - if TICI: - fan_controller = TiciFanController() - elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT: if onroad_conditions["ignition"]: onroad_conditions["ignition"] = False @@ -289,8 +283,7 @@ def hardware_thread(end_event, hw_queue) -> None: all_comp_temp = all_temp_filter.update(max(temp_sources)) msg.deviceState.maxTempC = all_comp_temp - if fan_controller is not None: - msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) + msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 978dd771c8..71f58b188b 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -6,7 +6,6 @@ class HardwarePC : public HardwareNone { public: - static std::string get_os_version() { return "openpilot for PC"; } static std::string get_name() { return "pc"; } static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; } static bool PC() { return true; } diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 6c11896390..f3d527429c 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,78 +1,12 @@ -import random - from cereal import log -from openpilot.system.hardware.base import HardwareBase, LPABase +from openpilot.system.hardware.base import HardwareBase NetworkType = log.DeviceState.NetworkType -NetworkStrength = log.DeviceState.NetworkStrength + class Pc(HardwareBase): - def get_os_version(self): - return None - def get_device_type(self): return "pc" - def reboot(self, reason=None): - print("REBOOT!") - - def uninstall(self): - print("uninstall") - - def get_imei(self, slot): - return f"{random.randint(0, 1 << 32):015d}" - - def get_serial(self): - return "cccccccc" - - def get_network_info(self): - return None - def get_network_type(self): return NetworkType.wifi - - def get_sim_info(self): - return { - 'sim_id': '', - 'mcc_mnc': None, - 'network_type': ["Unknown"], - 'sim_state': ["ABSENT"], - 'data_connected': False - } - - def get_sim_lpa(self) -> LPABase: - raise NotImplementedError("SIM LPA not implemented for PC") - - def get_network_strength(self, network_type): - return NetworkStrength.unknown - - def get_current_power_draw(self): - return 0 - - def get_som_power_draw(self): - return 0 - - def shutdown(self): - print("SHUTDOWN!") - - def set_screen_brightness(self, percentage): - pass - - def get_screen_brightness(self): - return 0 - - def set_power_save(self, powersave_enabled): - pass - - def get_gpu_usage_percent(self): - return 0 - - def get_modem_temperatures(self): - return [] - - - def initialize_hardware(self): - pass - - def get_networks(self): - return None diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py index 002c1edfda..ee39a24f87 100644 --- a/system/hardware/tests/test_fan_controller.py +++ b/system/hardware/tests/test_fan_controller.py @@ -1,12 +1,12 @@ import pytest -from openpilot.system.hardware.fan_controller import TiciFanController +from openpilot.system.hardware.fan_controller import FanController -ALL_CONTROLLERS = [TiciFanController] +ALL_CONTROLLERS = [FanController] def patched_controller(mocker, controller_class): mocker.patch("os.system", new=mocker.Mock()) - return controller_class() + return controller_class(2) class TestFanController: def wind_up(self, controller, ignition=True): diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index bfdcc6ddaf..d714837bb3 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -6,23 +6,8 @@ from collections import namedtuple # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask']) -EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2']) -def configs_from_eq_params(base, eq_params): - return [ - AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF), - AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF), - AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF), - AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF), - AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF), - AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF), - AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF), - AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF), - AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF), - AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF), - ] - -BASE_CONFIG = [ +CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), @@ -58,35 +43,31 @@ BASE_CONFIG = [ AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000), AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000), AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000), + + AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), + AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), + AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), + AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), + AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000), + AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111), + AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000), + AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001), + AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000), + AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000), + AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000), + AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000), + AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), + AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), + AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), ] -CONFIGS = { - "tizi": [ - AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), - AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), - - AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), - AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), - AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), - AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), - AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000), - AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111), - AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000), - AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001), - AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000), - AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000), - AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000), - AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000), - AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), - AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), - AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - ], -} - class Amplifier: AMP_I2C_BUS = 0 AMP_ADDRESS = 0x10 @@ -127,20 +108,15 @@ class Amplifier: def set_global_shutdown(self, amp_disabled: bool) -> bool: return self.set_configs([self._get_shutdown_config(amp_disabled), ]) - def initialize_configuration(self, model: str) -> bool: + def initialize_configuration(self) -> bool: cfgs = [ self._get_shutdown_config(True), - *BASE_CONFIG, - *CONFIGS[model], + *CONFIG, self._get_shutdown_config(False), ] return self.set_configs(cfgs) if __name__ == "__main__": - with open("/sys/firmware/devicetree/base/model") as f: - model = f.read().strip('\x00') - model = model.split('comma ')[-1] - amp = Amplifier() - amp.initialize_configuration(model) + amp.initialize_configuration() diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 9791f15f34..3cdb336086 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -125,7 +125,7 @@ class Tici(HardwareBase): return int(f.read()) def set_ir_power(self, percent: int): - if self.get_device_type() in ("tici", "tizi"): + if self.get_device_type() == "tizi": return value = int((percent / 100) * 300) @@ -369,7 +369,7 @@ class Tici(HardwareBase): if self.amplifier is not None: self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) if not powersave_enabled: - self.amplifier.initialize_configuration(self.get_device_type()) + self.amplifier.initialize_configuration() # *** CPU config *** @@ -404,7 +404,7 @@ class Tici(HardwareBase): def initialize_hardware(self): if self.amplifier is not None: - self.amplifier.initialize_configuration(self.get_device_type()) + self.amplifier.initialize_configuration() # Allow hardwared to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 3f75436db1..9ce00c3ff2 100644 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -5,7 +5,6 @@ import subprocess from panda import Panda from openpilot.system.hardware import TICI, HARDWARE -from openpilot.system.hardware.tici.hardware import Tici from openpilot.system.hardware.tici.amplifier import Amplifier @@ -39,7 +38,7 @@ class TestAmplifier: def test_init(self): amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().get_device_type()) + r = amp.initialize_configuration() assert r assert self._check_for_i2c_errors(False) @@ -61,7 +60,7 @@ class TestAmplifier: time.sleep(random.randint(0, 5)) amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().get_device_type()) + r = amp.initialize_configuration() assert r if self._check_for_i2c_errors(True): From a8cfa2e2feaf63fde0f34d6e036c0ad5498d02eb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 17:22:57 -0800 Subject: [PATCH 24/68] bump msgq (#36950) --- msgq_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgq_repo b/msgq_repo index 6abe47bc98..f3f440102e 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 6abe47bc98b83338b6ea04a87a6b2b5c65d09630 +Subproject commit f3f440102ef0a22e0ab1c7400b8c8a98eb6275c5 From 3f1f7ad89c785070ffac84a3e19cd6d07f16859a Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 24 Dec 2025 09:04:34 -0800 Subject: [PATCH 25/68] feat(esim): remove bootstrap (#36954) feat: remove bootstrap --- system/hardware/base.py | 4 ---- system/hardware/esim.py | 27 +-------------------------- system/hardware/tici/esim.py | 29 ----------------------------- 3 files changed, 1 insertion(+), 59 deletions(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index 05e8eb015f..c12c0758f5 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -66,10 +66,6 @@ class ThermalConfig: return ret class LPABase(ABC): - @abstractmethod - def bootstrap(self) -> None: - pass - @abstractmethod def list_profiles(self) -> list[Profile]: pass diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 909ad41e03..58ead6593f 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -3,32 +3,10 @@ import argparse import time from openpilot.system.hardware import HARDWARE -from openpilot.system.hardware.base import LPABase - - -def bootstrap(lpa: LPABase) -> None: - print('┌──────────────────────────────────────────────────────────────────────────────┐') - print('│ WARNING, PLEASE READ BEFORE PROCEEDING │') - print('│ │') - print('│ this is an irreversible operation that will remove the comma-provisioned │') - print('│ profile. │') - print('│ │') - print('│ after this operation, you must purchase a new eSIM from comma in order to │') - print('│ use the comma prime subscription again. │') - print('└──────────────────────────────────────────────────────────────────────────────┘') - print() - for severity in ('sure', '100% sure'): - print(f'are you {severity} you want to proceed? (y/N) ', end='') - confirm = input() - if confirm != 'y': - print('aborting') - exit(0) - lpa.bootstrap() if __name__ == '__main__': parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') - parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)') parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') parser.add_argument('--switch', metavar='iccid', help='switch to profile') parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') @@ -38,10 +16,7 @@ if __name__ == '__main__': mutated = False lpa = HARDWARE.get_sim_lpa() - if args.bootstrap: - bootstrap(lpa) - mutated = True - elif args.switch: + if args.switch: lpa.switch_profile(args.switch) mutated = True elif args.delete: diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py index 391ba45531..b489286f50 100644 --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -40,7 +40,6 @@ class TiciLPA(LPABase): self._process_notifications() def download_profile(self, qr: str, nickname: str | None = None) -> None: - self._check_bootstrapped() msgs = self._invoke('profile', 'download', '-a', qr) self._validate_successful(msgs) new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None) @@ -55,7 +54,6 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) def switch_profile(self, iccid: str) -> None: - self._check_bootstrapped() self._validate_profile_exists(iccid) latest = self.get_active_profile() if latest and latest.iccid == iccid: @@ -63,33 +61,6 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'enable', iccid)) self._process_notifications() - def bootstrap(self) -> None: - """ - find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles - and must be deleted. - - **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order - to use comma prime again. - """ - if self._is_bootstrapped(): - return - - for p in self.list_profiles(): - if self.is_comma_profile(p.iccid): - self._disable_profile(p.iccid) - self.delete_profile(p.iccid) - - def _disable_profile(self, iccid: str) -> None: - self._validate_successful(self._invoke('profile', 'disable', iccid)) - self._process_notifications() - - def _check_bootstrapped(self) -> None: - assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation' - - def _is_bootstrapped(self) -> bool: - """ check if any comma provisioned profiles are on the eUICC """ - return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles())) - def _invoke(self, *cmd: str): proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) try: From 368947c88cb7556089312008c1322f7c12e4e04e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 27 Dec 2025 16:49:30 -0800 Subject: [PATCH 26/68] msgq on macOS (#36958) * msgq on macOS * clean that up --- common/prefix.h | 6 +++++- common/prefix.py | 4 +++- msgq_repo | 2 +- tools/install_python_dependencies.sh | 2 -- 4 files changed, 9 insertions(+), 5 deletions(-) diff --git a/common/prefix.h b/common/prefix.h index 7d0265c259..30ee18f637 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -13,7 +13,11 @@ public: if (prefix.empty()) { prefix = util::random_string(15); } - msgq_path = Path::shm_path() + "/msgq_" + prefix; +#ifdef __APPLE__ + msgq_path = "/tmp/msgq_" + prefix; +#else + msgq_path = "/dev/shm/msgq_" + prefix; +#endif bool ret = util::create_directories(msgq_path, 0777); assert(ret); setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); diff --git a/common/prefix.py b/common/prefix.py index b19ce1472b..86f69671d8 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -1,4 +1,5 @@ import os +import platform import shutil import uuid @@ -11,7 +12,8 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) - self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix) + shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm" + self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix) self.create_dirs_on_enter = create_dirs_on_enter self.clean_dirs_on_exit = clean_dirs_on_exit self.shared_download_cache = shared_download_cache diff --git a/msgq_repo b/msgq_repo index f3f440102e..349bf449b7 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit f3f440102ef0a22e0ab1c7400b8c8a98eb6275c5 +Subproject commit 349bf449b7329527162598de357bfecf232abc3f diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index c2db249cf2..4454845fcd 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -25,7 +25,5 @@ source .venv/bin/activate if [[ "$(uname)" == 'Darwin' ]]; then touch "$ROOT"/.env - echo "# msgq doesn't work on mac" >> "$ROOT"/.env - echo "export ZMQ=1" >> "$ROOT"/.env echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env fi From 85cdb2ed9abc5153aa0dd377c83a84126cf80334 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 27 Dec 2025 23:15:18 -0800 Subject: [PATCH 27/68] fix(url_file): ensure seek position is always an integer (#36960) --- tools/lib/url_file.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index c791444f74..c7ccab1ae3 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -164,7 +164,7 @@ class URLFile: return parts def seek(self, pos: int) -> None: - self._pos = pos + self._pos = int(pos) @property def name(self) -> str: From ea01a53711a01d4d88c1e4e8ae9cb7e93b7a070e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 10:42:49 -0800 Subject: [PATCH 28/68] switch from mypy to ty (#36961) --- common/git.py | 12 +-- common/prefix.py | 2 +- pyproject.toml | 78 ++++++++++--------- scripts/lint/lint.sh | 12 +-- selfdrive/debug/cycle_alerts.py | 6 +- selfdrive/debug/fingerprint_from_route.py | 11 +-- selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/helpers.py | 2 +- selfdrive/selfdrived/alertmanager.py | 2 +- selfdrive/test/fuzzy_generation.py | 2 +- selfdrive/test/process_replay/migration.py | 3 +- .../test/process_replay/process_replay.py | 6 +- selfdrive/test/process_replay/regen.py | 2 +- selfdrive/test/update_ci_routes.py | 2 +- selfdrive/ui/layouts/home.py | 2 +- selfdrive/ui/mici/widgets/button.py | 16 ++-- selfdrive/ui/mici/widgets/dialog.py | 4 +- selfdrive/ui/translations/auto_translate.py | 2 +- system/athena/athenad.py | 4 +- system/athena/tests/test_athenad.py | 2 +- system/loggerd/tests/loggerd_tests_common.py | 4 +- system/loggerd/tests/test_uploader.py | 2 +- system/loggerd/uploader.py | 2 +- system/manager/process.py | 2 +- system/ui/mici_updater.py | 17 ++-- system/ui/tici_updater.py | 17 ++-- system/ui/widgets/__init__.py | 6 +- system/ui/widgets/label.py | 4 +- system/ui/widgets/list_view.py | 11 +-- system/updated/casync/casync.py | 4 +- system/updated/updated.py | 2 +- system/webrtc/device/audio.py | 4 +- tools/jotpluggler/data.py | 2 +- tools/jotpluggler/views.py | 2 +- tools/lib/logreader.py | 5 +- tools/lib/vidindex.py | 2 +- uv.lock | 64 +++++++-------- 37 files changed, 160 insertions(+), 162 deletions(-) diff --git a/common/git.py b/common/git.py index 2296fa7088..6b662e5719 100644 --- a/common/git.py +++ b/common/git.py @@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default @cache -def get_commit(cwd: str = None, branch: str = "HEAD") -> str: +def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str: return run_cmd_default(["git", "rev-parse", branch], cwd=cwd) @cache -def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str: +def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str: return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd) @cache -def get_short_branch(cwd: str = None) -> str: +def get_short_branch(cwd: str | None = None) -> str: return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd) @cache -def get_branch(cwd: str = None) -> str: +def get_branch(cwd: str | None = None) -> str: return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd) @cache -def get_origin(cwd: str = None) -> str: +def get_origin(cwd: str | None = None) -> str: try: local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd) tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd) @@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str: @cache -def get_normalized_origin(cwd: str = None) -> str: +def get_normalized_origin(cwd: str | None = None) -> str: return get_origin(cwd) \ .replace("git@", "", 1) \ .replace(".git", "", 1) \ diff --git a/common/prefix.py b/common/prefix.py index 86f69671d8..d0a5f92628 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -10,7 +10,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): + def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm" self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix) diff --git a/pyproject.toml b/pyproject.toml index fc80488c69..bb4ac0e8d8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -87,7 +87,7 @@ docs = [ testing = [ "coverage", "hypothesis ==6.47.*", - "mypy", + "ty", "pytest", "pytest-cpp", "pytest-subtests", @@ -180,42 +180,6 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w builtin = "clear,rare,informal,code,names,en-GB_to_en-US" skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html" -[tool.mypy] -python_version = "3.11" -exclude = [ - "cereal/", - "msgq/", - "msgq_repo/", - "opendbc/", - "opendbc_repo/", - "panda/", - "rednose/", - "rednose_repo/", - "tinygrad/", - "tinygrad_repo/", - "teleoprtc/", - "teleoprtc_repo/", - "third_party/", -] - -# third-party packages -ignore_missing_imports=true - -# helpful warnings -warn_redundant_casts=true -warn_unreachable=true -warn_unused_ignores=true - -# restrict dynamic typing -warn_return_any=true - -# allow implicit optionals for default args -implicit_optional = true - -local_partial_types=true -explicit_package_bases=true -disable_error_code = "annotation-unchecked" - # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 @@ -274,3 +238,43 @@ lint.flake8-implicit-str-concat.allow-multiline = false [tool.ruff.format] quote-style = "preserve" + +[tool.ty.src] +exclude = [ + "cereal/", + "msgq/", + "msgq_repo/", + "opendbc/", + "opendbc_repo/", + "panda/", + "rednose/", + "rednose_repo/", + "tinygrad/", + "tinygrad_repo/", + "teleoprtc/", + "teleoprtc_repo/", + "third_party/", +] + +[tool.ty.rules] +# Ignore unresolved imports for Cython-compiled modules (.pyx) +unresolved-import = "ignore" +# Ignore unresolved attributes - many from capnp and Cython modules +unresolved-attribute = "ignore" +# Ignore invalid method overrides - signature variance issues +invalid-method-override = "ignore" +# Ignore possibly-missing-attribute - too many false positives +possibly-missing-attribute = "ignore" +# Ignore invalid assignment - often intentional monkey-patching +invalid-assignment = "ignore" +# Ignore no-matching-overload - numpy/ctypes overload matching issues +no-matching-overload = "ignore" +# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy +invalid-argument-type = "ignore" +# Ignore call-non-callable - false positives from dynamic types +call-non-callable = "ignore" +# Ignore unsupported-operator - false positives from dynamic types +unsupported-operator = "ignore" +# Ignore non-subscriptable - false positives from dynamic types +non-subscriptable = "ignore" +# not-iterable errors are now fixed diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh index 578c63cd18..5581171e8f 100755 --- a/scripts/lint/lint.sh +++ b/scripts/lint/lint.sh @@ -55,7 +55,7 @@ function run_tests() { run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES if [[ -z "$FAST" ]]; then - run "mypy" mypy $PYTHON_FILES + run "ty" ty check run "codespell" codespell $ALL_FILES fi @@ -69,7 +69,7 @@ function help() { echo "" echo -e "${BOLD}${UNDERLINE}Tests:${NC}" echo -e " ${BOLD}ruff${NC}" - echo -e " ${BOLD}mypy${NC}" + echo -e " ${BOLD}ty${NC}" echo -e " ${BOLD}codespell${NC}" echo -e " ${BOLD}check_added_large_files${NC}" echo -e " ${BOLD}check_shebang_scripts_are_executable${NC}" @@ -81,11 +81,11 @@ function help() { echo " Specify tests to skip separated by spaces" echo "" echo -e "${BOLD}${UNDERLINE}Examples:${NC}" - echo " op lint mypy ruff" - echo " Only run the mypy and ruff tests" + echo " op lint ty ruff" + echo " Only run the ty and ruff tests" echo "" - echo " op lint --skip mypy ruff" - echo " Skip the mypy and ruff tests" + echo " op lint --skip ty ruff" + echo " Skip the ty and ruff tests" echo "" echo " op lint" echo " Run all the tests" diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 11e75a7a8e..00fa33ac63 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False): alert = AM.process_alerts(frame, []) print(alert) for _ in range(duration): - dat = messaging.new_message() - dat.init('selfdriveState') + dat = messaging.new_message('selfdriveState') dat.selfdriveState.enabled = False if alert: @@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False): dat.selfdriveState.alertSound = alert.audible_alert pm.send('selfdriveState', dat) - dat = messaging.new_message() - dat.init('deviceState') + dat = messaging.new_message('deviceState') dat.deviceState.started = True pm.send('deviceState', dat) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index 179ff4c838..5fd46f5b76 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -28,11 +28,12 @@ def get_fingerprint(lr): # TODO: also print the fw fingerprint merged with the existing ones # show FW fingerprint - print("\nFW fingerprint:\n") - for f in fw: - print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [") - print(f" {f.fwVersion},") - print(" ],") + if fw: + print("\nFW fingerprint:\n") + for f in fw: + print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [") + print(f" {f.fwVersion},") + print(" ],") print() print(f"VIN: {vin}") diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 03c044982e..3843cf37f3 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -92,7 +92,7 @@ class Calibrator: valid_blocks: int = 0, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, height_init: np.ndarray = HEIGHT_INIT, - smooth_from: np.ndarray = None) -> None: + smooth_from: np.ndarray | None = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index 2a3ac8b861..73c4d8bf35 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -94,7 +94,7 @@ class PointBuckets: def add_point(self, x: float, y: float) -> None: raise NotImplementedError - def get_points(self, num_points: int = None) -> Any: + def get_points(self, num_points: int | None = None) -> Any: points = np.vstack([x.arr for x in self.buckets.values()]) if num_points is None: return points diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py index 251d32ba9a..385c276a94 100644 --- a/selfdrive/selfdrived/alertmanager.py +++ b/selfdrive/selfdrived/alertmanager.py @@ -13,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as OFFROAD_ALERTS = json.load(f) -def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None: +def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None: if show_alert: a = copy.copy(OFFROAD_ALERTS[alert]) a['extra'] = extra_text or '' diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 94eb0dfaa6..131dab47b2 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -44,7 +44,7 @@ class FuzzyGenerator: except capnp.lib.capnp.KjException: return self.generate_struct(field.schema) - def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]: + def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]: single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () fields_to_generate = schema.non_union_fields + single_fill return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 33b363cfd9..232722d1b1 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,5 +1,6 @@ from collections import defaultdict from collections.abc import Callable +from typing import cast import capnp import functools import traceback @@ -67,7 +68,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]): if migration.product in grouped: # skip if product already exists continue - sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i]) + sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, [])) msg_gen = [(i, lr[i]) for i in sorted_indices] r_ops, a_ops, d_ops = migration(msg_gen) replace_ops.extend(r_ops) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1144b7955e..8af72e5f4e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -610,9 +610,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args, def replay_process( - cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None, - fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None, - captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False + cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None, + fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None, + captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False ) -> list[capnp._DynamicStructReader]: if isinstance(cfg, Iterable): cfgs = list(cfg) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index ec35a5c3ac..c501a4b250 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -16,7 +16,7 @@ from openpilot.tools.lib.openpilotci import get_url def regen_segment( - lr: LogIterable, frs: dict[str, Any] = None, + lr: LogIterable, frs: dict[str, Any] | None = None, processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False ) -> list[capnp._DynamicStructReader]: all_msgs = sorted(lr, key=lambda m: m.logMonoTime) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 2bf06b4860..54e1c88718 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [ DEST = OpenpilotCIContainer -def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None: +def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None: if exclude_patterns is None: exclude_patterns = [r'dcamera\.hevc'] diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py index cd6ae600ef..a8404a20c3 100644 --- a/selfdrive/ui/layouts/home.py +++ b/selfdrive/ui/layouts/home.py @@ -39,7 +39,7 @@ class HomeLayout(Widget): self.current_state = HomeLayoutState.HOME self.last_refresh = 0 - self.settings_callback: callable | None = None + self.settings_callback: Callable[[], None] | None = None self.update_available = False self.alert_count = 0 diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index be08e0fee3..82310577b0 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -71,7 +71,7 @@ class BigCircleButton(Widget): class BigCircleToggle(BigCircleButton): - def __init__(self, icon: str, toggle_callback: Callable = None): + def __init__(self, icon: str, toggle_callback: Callable | None = None): super().__init__(icon, False) self._toggle_callback = toggle_callback @@ -251,7 +251,7 @@ class BigButton(Widget): class BigToggle(BigButton): - def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None): + def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None): super().__init__(text, value, "") self._checked = initial_state self._toggle_callback = toggle_callback @@ -288,8 +288,8 @@ class BigToggle(BigButton): class BigMultiToggle(BigToggle): - def __init__(self, text: str, options: list[str], toggle_callback: Callable = None, - select_callback: Callable = None): + def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None, + select_callback: Callable | None = None): super().__init__(text, "", toggle_callback=toggle_callback) assert len(options) > 0 self._options = options @@ -327,8 +327,8 @@ class BigMultiToggle(BigToggle): class BigMultiParamToggle(BigMultiToggle): - def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None, - select_callback: Callable = None): + def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None, + select_callback: Callable | None = None): super().__init__(text, options, toggle_callback, select_callback) self._param = param @@ -345,7 +345,7 @@ class BigMultiParamToggle(BigMultiToggle): class BigParamControl(BigToggle): - def __init__(self, text: str, param: str, toggle_callback: Callable = None): + def __init__(self, text: str, param: str, toggle_callback: Callable | None = None): super().__init__(text, "", toggle_callback=toggle_callback) self.param = param self.params = Params() @@ -361,7 +361,7 @@ class BigParamControl(BigToggle): # TODO: param control base class class BigCircleParamControl(BigCircleToggle): - def __init__(self, icon: str, param: str, toggle_callback: Callable = None): + def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None): super().__init__(icon, toggle_callback) self._param = param self.params = Params() diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 34760925a1..abd558aa8d 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -137,7 +137,7 @@ class BigInputDialog(BigDialogBase): hint: str, default_text: str = "", minimum_length: int = 1, - confirm_callback: Callable[[str], None] = None): + confirm_callback: Callable[[str], None] | None = None): super().__init__(None, None) self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)), font_weight=FontWeight.MEDIUM) @@ -317,7 +317,7 @@ class BigMultiOptionDialog(BigDialogBase): BACK_TOUCH_AREA_PERCENTAGE = 0.1 def __init__(self, options: list[str], default: str | None, - right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None): + right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None): super().__init__(right_btn, right_btn_callback=right_btn_callback) self._options = options if default is not None: diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py index 6251e03397..9354790f94 100755 --- a/selfdrive/ui/translations/auto_translate.py +++ b/selfdrive/ui/translations/auto_translate.py @@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." -def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]: +def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: files = {} with open(TRANSLATIONS_LANGUAGES) as fp: diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 3b71a9c31f..b52ef21ba6 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -314,7 +314,7 @@ def upload_handler(end_event: threading.Event) -> None: cloudlog.exception("athena.upload_handler.exception") -def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response: +def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response: path = upload_item.path compress = False @@ -805,7 +805,7 @@ def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) -def main(exit_event: threading.Event = None): +def main(exit_event: threading.Event | None = None): try: set_core_affinity([0, 1, 2, 3]) except Exception: diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index 99ac3b1c6b..5b3e0b41f4 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -97,7 +97,7 @@ class TestAthenadMethods: break @staticmethod - def _create_file(file: str, parent: str = None, data: bytes = b'') -> str: + def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str: fn = os.path.join(Paths.log_root() if parent is None else parent, file) os.makedirs(os.path.dirname(fn), exist_ok=True) with open(fn, 'wb') as f: diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 87c3da65c2..8bf609ae8d 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -10,7 +10,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr -def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None: +def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None: file_path.parent.mkdir(parents=True, exist_ok=True) if lock: @@ -80,7 +80,7 @@ class UploaderTestCase: self.params.put("DongleId", "0000000000000000") def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, - upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path: + upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn create_random_file(file_path, size_mb, lock, upload_xattr) diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 961a8aa36f..562bc068eb 100644 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -50,7 +50,7 @@ class TestUploader(UploaderTestCase): self.end_event.set() self.up_thread.join() - def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]: + def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]: f_paths = [] for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr)) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 5b6234e1d5..8ac38b6df6 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -226,7 +226,7 @@ class Uploader: return self.upload(name, key, fn, network_type, metered) -def main(exit_event: threading.Event = None) -> None: +def main(exit_event: threading.Event | None = None) -> None: if exit_event is None: exit_event = threading.Event() diff --git a/system/manager/process.py b/system/manager/process.py index 1e24198267..36e1ba77b2 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -81,7 +81,7 @@ class ManagerProcess(ABC): self.stop(sig=signal.SIGKILL) self.start() - def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None: + def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None: if self.proc is None: return None diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py index 2ae2f7cc19..7ebb4262ff 100755 --- a/system/ui/mici_updater.py +++ b/system/ui/mici_updater.py @@ -102,14 +102,15 @@ class Updater(Widget): self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, bufsize=1, universal_newlines=True) - for line in self.process.stdout: - parts = line.strip().split(":") - if len(parts) == 2: - self.progress_text = parts[0].lower() - try: - self.progress_value = int(float(parts[1])) - except ValueError: - pass + if self.process.stdout is not None: + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0].lower() + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass exit_code = self.process.wait() if exit_code == 0: diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py index 2e1a8687e1..ebf4b3bec3 100755 --- a/system/ui/tici_updater.py +++ b/system/ui/tici_updater.py @@ -71,14 +71,15 @@ class Updater(Widget): self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, bufsize=1, universal_newlines=True) - for line in self.process.stdout: - parts = line.strip().split(":") - if len(parts) == 2: - self.progress_text = parts[0] - try: - self.progress_value = int(float(parts[1])) - except ValueError: - pass + if self.process.stdout is not None: + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0] + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass exit_code = self.process.wait() if exit_code == 0: diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 8a46a3e43d..4f3c977d2e 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -1,3 +1,5 @@ +from __future__ import annotations + import abc import pyray as rl from enum import IntEnum @@ -91,7 +93,7 @@ class Widget(abc.ABC): return self._rect return rl.get_collision_rec(self._rect, self._parent_rect) - def render(self, rect: rl.Rectangle = None) -> bool | int | None: + def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: if rect is not None: self.set_rect(rect) @@ -359,7 +361,7 @@ class NavWidget(Widget, abc.ABC): self.set_position(self._rect.x, new_y) - def render(self, rect: rl.Rectangle = None) -> bool | int | None: + def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: ret = super().render(rect) if self.back_enabled: diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index 97b293083d..cb0cf66b14 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -31,13 +31,13 @@ class MiciLabel(Widget): def __init__(self, text: str, font_size: int = DEFAULT_TEXT_SIZE, - width: int = None, + width: int | None = None, color: rl.Color = DEFAULT_TEXT_COLOR, font_weight: FontWeight = FontWeight.NORMAL, alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, spacing: int = 0, - line_height: int = None, + line_height: int | None = None, elide_right: bool = True, wrap_text: bool = False, scroll: bool = False): diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index cfb8ab58a3..32bf01cfc8 100644 --- a/system/ui/widgets/list_view.py +++ b/system/ui/widgets/list_view.py @@ -174,8 +174,8 @@ class TextAction(ItemAction): class DualButtonAction(ItemAction): - def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, - right_callback: Callable = None, enabled: bool | Callable[[], bool] = True): + def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None, + right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True): super().__init__(width=0, enabled=enabled) # Width 0 means use full width self.left_button = Button(left_text, click_callback=left_callback, button_style=ButtonStyle.NORMAL, text_padding=0) self.right_button = Button(right_text, click_callback=right_callback, button_style=ButtonStyle.DANGER, text_padding=0) @@ -207,7 +207,7 @@ class DualButtonAction(ItemAction): class MultipleButtonAction(ItemAction): - def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None): + def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None): super().__init__(width=len(buttons) * button_width + (len(buttons) - 1) * RIGHT_ITEM_PADDING, enabled=True) self.buttons = buttons self.button_width = button_width @@ -454,13 +454,14 @@ def text_item(title: str | Callable[[], str], value: str | Callable[[], str], de return ListItem(title=title, description=description, action_item=action, callback=callback) -def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, right_callback: Callable = None, +def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str], + left_callback: Callable | None = None, right_callback: Callable | None = None, description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem: action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled) return ListItem(title="", description=description, action_item=action) def multiple_button_item(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]], selected_index: int, - button_width: int = BUTTON_WIDTH, callback: Callable = None, icon: str = ""): + button_width: int = BUTTON_WIDTH, callback: Callable | None = None, icon: str = ""): action = MultipleButtonAction(buttons, button_width, selected_index, callback=callback) return ListItem(title=title, description=description, icon=icon, action_item=action) diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py index 79ac26f1c6..2bd46a1ffb 100755 --- a/system/updated/casync/casync.py +++ b/system/updated/casync/casync.py @@ -168,7 +168,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict: def extract(target: list[Chunk], sources: list[tuple[str, ChunkReader, ChunkDict]], out_path: str, - progress: Callable[[int], None] = None): + progress: Callable[[int], None] | None = None): stats: dict[str, int] = defaultdict(int) mode = 'rb+' if os.path.exists(out_path) else 'wb' @@ -208,7 +208,7 @@ def extract_directory(target: list[Chunk], sources: list[tuple[str, ChunkReader, ChunkDict]], out_path: str, tmp_file: str, - progress: Callable[[int], None] = None): + progress: Callable[[int], None] | None = None): """extract a directory stored as a casync tar archive""" stats = extract(target, sources, tmp_file, progress) diff --git a/system/updated/updated.py b/system/updated/updated.py index a4a1f8f34f..ffd10e038d 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -68,7 +68,7 @@ def write_time_to_param(params, param) -> None: t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) params.put(param, t) -def run(cmd: list[str], cwd: str = None) -> str: +def run(cmd: list[str], cwd: str | None = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py index 4b22033e03..b1859518a1 100644 --- a/system/webrtc/device/audio.py +++ b/system/webrtc/device/audio.py @@ -16,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): pyaudio.paFloat32: 'flt', } - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None): super().__init__() self.p = pyaudio.PyAudio() @@ -48,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): class AudioOutputSpeaker: - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None): chunk_size = int(packet_time * rate) self.p = pyaudio.PyAudio() diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py index cf27857d1f..756b87bd20 100644 --- a/tools/jotpluggler/data.py +++ b/tools/jotpluggler/data.py @@ -9,7 +9,7 @@ from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.tools.lib.logreader import _LogFileReader, LogReader -def flatten_dict(d: dict, sep: str = "/", prefix: str = None) -> dict: +def flatten_dict(d: dict, sep: str = "/", prefix: str | None = None) -> dict: result = {} stack: list[tuple] = [(d, prefix)] diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py index 1c4d9a8f3c..cd723d161e 100644 --- a/tools/jotpluggler/views.py +++ b/tools/jotpluggler/views.py @@ -9,7 +9,7 @@ from abc import ABC, abstractmethod class ViewPanel(ABC): """Abstract base class for all view panels that can be displayed in a plot container""" - def __init__(self, panel_id: str = None): + def __init__(self, panel_id: str | None = None): self.panel_id = panel_id or str(uuid.uuid4()) self.title = "Untitled Panel" diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index f9a90490b9..9696c8524d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -13,7 +13,6 @@ import warnings import zstandard as zstd from collections.abc import Iterable, Iterator -from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -180,7 +179,7 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) # We've found all files, return them if len(needed_seg_idxs) == 0: - return cast(list[str], list(valid_files.values())) + return list(valid_files.values()) else: raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}") @@ -245,7 +244,7 @@ class LogReader: return identifiers def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG, - sources: list[Source] = None, 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"https://files.pythonhosted.org/packages/7f/f4/c4fc28410c4493982b7481fb23f62bacb02fd2912ebec3b9bc7de18bebb8/ty-0.0.7-py3-none-win_arm64.whl", hash = "sha256:c87d27484dba9fca0053b6a9eee47eecc760aab2bbb8e6eab3d7f81531d1ad0c", size = 9653112, upload-time = "2025-12-24T21:28:31.562Z" }, +] + [[package]] name = "types-requests" version = "2.32.4.20250913" From ce1491df9c6bfcc45113de3a974973d6057933fc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 11:45:19 -0800 Subject: [PATCH 29/68] tools: add LRU eviction for log cache (#36959) * tools: add LRU for log cache * lil more * cleanup: * less syscall * manifest * cleanup * cleanup * lil more * cleanup * lil more * simpler * lil more --- tools/lib/tests/test_caching.py | 36 ++++++++++++++++++++++++++++- tools/lib/url_file.py | 41 ++++++++++++++++++++++++++++----- 2 files changed, 70 insertions(+), 7 deletions(-) diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 2bb63b4dce..6e70ef90b0 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -2,11 +2,13 @@ import http.server import os import shutil import socket +import tempfile import pytest from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths -from openpilot.tools.lib.url_file import URLFile +from openpilot.tools.lib.url_file import URLFile, prune_cache +import openpilot.tools.lib.url_file as url_file_module class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): @@ -128,3 +130,35 @@ class TestFileDownload: CachingTestRequestHandler.FILE_EXISTS = True length = URLFile(file_url).get_length() assert length == 4 + + +class TestCache: + def test_prune_cache(self, monkeypatch): + with tempfile.TemporaryDirectory() as tmpdir: + monkeypatch.setattr(Paths, 'download_cache_root', staticmethod(lambda: tmpdir + "/")) + + # setup test files and manifest + manifest_lines = [] + for i in range(3): + fname = f"hash_{i}" + with open(tmpdir + "/" + fname, "wb") as f: + f.truncate(1000) + manifest_lines.append(f"{fname} {1000 + i}") + with open(tmpdir + "/manifest.txt", "w") as f: + f.write('\n'.join(manifest_lines)) + + # under limit, shouldn't prune + assert len(os.listdir(tmpdir)) == 4 + prune_cache() + assert len(os.listdir(tmpdir)) == 4 + + # set a tiny cache limit to force eviction (1.5 chunks worth) + monkeypatch.setattr(url_file_module, 'CACHE_SIZE', url_file_module.CHUNK_SIZE + url_file_module.CHUNK_SIZE // 2) + + # prune_cache should evict oldest files to get under limit + prune_cache() + remaining = os.listdir(tmpdir) + # should have evicted at least one file + manifest + assert len(remaining) < 4 + # newest file should remain + assert manifest_lines[2].split()[0] in remaining diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index c7ccab1ae3..790fa7e8fb 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,8 +1,9 @@ -import re import logging import os +import re import socket -from hashlib import sha256 +import time +from hashlib import md5 from urllib3 import PoolManager, Retry from urllib3.response import BaseHTTPResponse from urllib3.util import Timeout @@ -14,14 +15,41 @@ from urllib3.exceptions import MaxRetryError # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K +CACHE_SIZE = 10 * 1024 * 1024 * 1024 # total cache size in GB logging.getLogger("urllib3").setLevel(logging.WARNING) -def hash_256(link: str) -> str: - return sha256((link.split("?")[0]).encode('utf-8')).hexdigest() +def hash_url(link: str) -> str: + return md5((link.split("?")[0]).encode('utf-8')).hexdigest() +def prune_cache(new_entry: str | None = None) -> None: + """Evicts oldest cache files (LRU) until cache is under the size limit.""" + # we use a manifest to avoid tons of os.stat syscalls (slow) + manifest = {} + manifest_path = Paths.download_cache_root() + "manifest.txt" + if os.path.exists(manifest_path): + with open(manifest_path) as f: + manifest = {parts[0]: int(parts[1]) for line in f if (parts := line.strip().split()) and len(parts) == 2} + + if new_entry: + manifest[new_entry] = int(time.time()) # noqa: TID251 + + # evict the least recently used files until under limit + sorted_items = sorted(manifest.items(), key=lambda x: x[1]) + while len(manifest) * CHUNK_SIZE > CACHE_SIZE and sorted_items: + key, _ = sorted_items.pop(0) + try: + os.remove(Paths.download_cache_root() + key) + except OSError: + pass + manifest.pop(key, None) + + # write out manifest + with atomic_write(manifest_path, mode="w", overwrite=True) as f: + f.write('\n'.join(f"{k} {v}" for k, v in manifest.items())) + class URLFileException(Exception): pass @@ -77,7 +105,7 @@ class URLFile: if self._length is not None: return self._length - file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length") + file_length_path = os.path.join(Paths.download_cache_root(), hash_url(self._url) + "_length") if not self._force_download and os.path.exists(file_length_path): with open(file_length_path) as file_length: content = file_length.read() @@ -103,7 +131,7 @@ class URLFile: while True: self._pos = position chunk_number = self._pos / CHUNK_SIZE - file_name = hash_256(self._url) + "_" + str(chunk_number) + file_name = hash_url(self._url) + "_" + str(chunk_number) full_path = os.path.join(Paths.download_cache_root(), str(file_name)) data = None # If we don't have a file, download it @@ -111,6 +139,7 @@ class URLFile: data = self.read_aux(ll=CHUNK_SIZE) with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file: new_cached_file.write(data) + prune_cache(file_name) else: with open(full_path, "rb") as cached_file: data = cached_file.read() From b58fddb83eab27504e0ba351d567a91e0d62e7e6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 12:20:45 -0800 Subject: [PATCH 30/68] replay: add --benchmark mode (#36957) --- tools/replay/main.cc | 27 +++++++++++++++ tools/replay/replay.cc | 76 ++++++++++++++++++++++++++++++++++++++--- tools/replay/replay.h | 17 ++++++++- tools/replay/seg_mgr.cc | 6 ++++ tools/replay/seg_mgr.h | 2 ++ 5 files changed, 123 insertions(+), 5 deletions(-) diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 4609012194..30f85b1700 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -1,11 +1,13 @@ #include +#include #include #include #include #include #include "common/prefix.h" +#include "common/timing.h" #include "tools/replay/consoleui.h" #include "tools/replay/replay.h" #include "tools/replay/util.h" @@ -31,6 +33,7 @@ Options: --no-hw-decoder Disable HW video decoding --no-vipc Do not output video --all Output all messages including bookmarkButton, uiDebug, userBookmark + --benchmark Run in benchmark mode (process all events then exit with stats) -h, --help Show this help message )"; @@ -66,6 +69,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { {"no-hw-decoder", no_argument, nullptr, 0}, {"no-vipc", no_argument, nullptr, 0}, {"all", no_argument, nullptr, 0}, + {"benchmark", no_argument, nullptr, 0}, {"help", no_argument, nullptr, 'h'}, {nullptr, 0, nullptr, 0}, // Terminating entry }; @@ -79,6 +83,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER}, {"no-vipc", REPLAY_FLAG_NO_VIPC}, {"all", REPLAY_FLAG_ALL_SERVICES}, + {"benchmark", REPLAY_FLAG_BENCHMARK}, }; if (argc == 1) { @@ -149,6 +154,28 @@ int main(int argc, char *argv[]) { return 1; } + if (config.flags & REPLAY_FLAG_BENCHMARK) { + replay.start(config.start_seconds); + replay.waitForFinished(); + + const auto &stats = replay.getBenchmarkStats(); + uint64_t process_start = stats.process_start_ts; + + std::cout << "\n===== REPLAY BENCHMARK RESULTS =====\n"; + std::cout << "Route: " << replay.route().name() << "\n\n"; + + std::cout << "TIMELINE:\n"; + std::cout << " t=0 ms process start\n"; + for (const auto &[ts, event] : stats.timeline) { + double ms = (ts - process_start) / 1e6; + std::cout << " t=" << std::fixed << std::setprecision(0) << ms << " ms" + << std::string(std::max(1, 8 - static_cast(std::to_string(static_cast(ms)).length())), ' ') + << event << "\n"; + } + + return 0; + } + ConsoleUI console_ui(&replay); replay.start(config.start_seconds); return console_ui.exec(); diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index cc105dd10e..d8d59e41a4 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -2,6 +2,8 @@ #include #include +#include +#include #include "cereal/services.h" #include "common/params.h" #include "tools/replay/util.h" @@ -19,6 +21,14 @@ Replay::Replay(const std::string &route, std::vector allow, std::ve : sm_(sm), flags_(flags), seg_mgr_(std::make_unique(route, flags, data_dir, auto_source)) { std::signal(SIGUSR1, interrupt_sleep_handler); + if (flags_ & REPLAY_FLAG_BENCHMARK) { + benchmark_stats_.process_start_ts = nanos_since_boot(); + seg_mgr_->setBenchmarkCallback([this](int seg_num, const std::string& event) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), + "segment " + std::to_string(seg_num) + " " + event); + }); + } + if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { block.insert(block.end(), {"bookmarkButton", "uiDebug", "userBookmark"}); } @@ -78,8 +88,13 @@ Replay::~Replay() { bool Replay::load() { rInfo("loading route %s", seg_mgr_->route_.name().c_str()); + if (!seg_mgr_->load()) return false; + if (hasFlag(REPLAY_FLAG_BENCHMARK)) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "route metadata loaded"); + } + min_seconds_ = seg_mgr_->route_.segments().begin()->first * 60; max_seconds_ = (seg_mgr_->route_.segments().rbegin()->first + 1) * 60; return true; @@ -257,8 +272,13 @@ void Replay::streamThread() { stream_thread_id = pthread_self(); std::unique_lock lk(stream_lock_); + int last_processed_segment = -1; + uint64_t segment_start_time = 0; + bool streaming_started = false; + while (true) { stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); }); + if (exit_) break; event_data_ = seg_mgr_->getEventData(); @@ -270,14 +290,19 @@ void Replay::streamThread() { continue; } - auto it = publishEvents(first, events.cend()); + if (!streaming_started && hasFlag(REPLAY_FLAG_BENCHMARK)) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "streaming started"); + streaming_started = true; + } + + auto it = publishEvents(first, events.cend(), last_processed_segment, segment_start_time); // Ensure frames are sent before unlocking to prevent race conditions if (camera_server_) { camera_server_->waitForSent(); } - if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { + if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP) && !hasFlag(REPLAY_FLAG_BENCHMARK)) { int last_segment = seg_mgr_->route_.segments().rbegin()->first; if (event_data_->isSegmentLoaded(last_segment)) { rInfo("reaches the end of route, restart from beginning"); @@ -285,12 +310,28 @@ void Replay::streamThread() { seekTo(minSeconds(), false); stream_lock_.lock(); } + } else if (it == events.cend() && hasFlag(REPLAY_FLAG_BENCHMARK)) { + // Exit benchmark mode after first segment completes + exit_ = true; + break; } } + + if (hasFlag(REPLAY_FLAG_BENCHMARK)) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "benchmark done"); + + { + std::unique_lock lock(benchmark_lock_); + benchmark_done_ = true; + } + benchmark_cv_.notify_one(); + } } std::vector::const_iterator Replay::publishEvents(std::vector::const_iterator first, - std::vector::const_iterator last) { + std::vector::const_iterator last, + int &last_processed_segment, + uint64_t &segment_start_time) { uint64_t evt_start_ts = cur_mono_time_; uint64_t loop_start_ts = nanos_since_boot(); double prev_replay_speed = speed_; @@ -304,6 +345,23 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con seg_mgr_->setCurrentSegment(segment); } + // Track segment completion for benchmark timeline + if (hasFlag(REPLAY_FLAG_BENCHMARK) && segment != last_processed_segment) { + if (last_processed_segment >= 0 && segment_start_time > 0) { + uint64_t processing_time_ns = nanos_since_boot() - segment_start_time; + double processing_time_ms = processing_time_ns / 1e6; + double realtime_factor = 60.0 / (processing_time_ns / 1e9); // 60s per segment + + std::ostringstream oss; + oss << "segment " << last_processed_segment << " done publishing (" + << std::fixed << std::setprecision(0) << processing_time_ms << " ms, " + << std::fixed << std::setprecision(0) << realtime_factor << "x realtime)"; + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), oss.str()); + } + segment_start_time = nanos_since_boot(); + last_processed_segment = segment; + } + cur_mono_time_ = evt.mono_time; cur_which_ = evt.which; @@ -320,7 +378,8 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con evt_start_ts = evt.mono_time; loop_start_ts = current_nanos; prev_replay_speed = speed_; - } else if (time_diff > 0) { + } else if (time_diff > 0 && !hasFlag(REPLAY_FLAG_BENCHMARK)) { + // Skip sleep in benchmark mode for maximum throughput precise_nano_sleep(time_diff, interrupt_requested_); } @@ -338,3 +397,12 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con return first; } + +void Replay::waitForFinished() { + if (!hasFlag(REPLAY_FLAG_BENCHMARK)) { + return; + } + + std::unique_lock lock(benchmark_lock_); + benchmark_cv_.wait(lock, [this]() { return benchmark_done_; }); +} diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 5e868d2427..58c1b71b8a 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -24,6 +24,12 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_HW_DECODER = 0x0100, REPLAY_FLAG_NO_VIPC = 0x0400, REPLAY_FLAG_ALL_SERVICES = 0x0800, + REPLAY_FLAG_BENCHMARK = 0x1000, +}; + +struct BenchmarkStats { + uint64_t process_start_ts = 0; + std::vector> timeline; }; class Replay { @@ -57,6 +63,8 @@ public: inline const std::optional findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); } const std::shared_ptr getEventData() const { return seg_mgr_->getEventData(); } void installEventFilter(std::function filter) { event_filter_ = filter; } + void waitForFinished(); + const BenchmarkStats &getBenchmarkStats() const { return benchmark_stats_; } // Event callback functions std::function onSegmentsMerged = nullptr; @@ -72,7 +80,9 @@ private: void handleSegmentMerge(); void interruptStream(const std::function& update_fn); std::vector::const_iterator publishEvents(std::vector::const_iterator first, - std::vector::const_iterator last); + std::vector::const_iterator last, + int &last_processed_segment, + uint64_t &segment_start_time); void publishMessage(const Event *e); void publishFrame(const Event *e); void checkSeekProgress(); @@ -107,4 +117,9 @@ private: std::function event_filter_ = nullptr; std::shared_ptr event_data_ = std::make_shared(); + + BenchmarkStats benchmark_stats_; + std::condition_variable benchmark_cv_; + std::mutex benchmark_lock_; + bool benchmark_done_ = false; }; diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc index f4e865d476..0778cacbc1 100644 --- a/tools/replay/seg_mgr.cc +++ b/tools/replay/seg_mgr.cc @@ -118,9 +118,15 @@ void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap: for (auto it = first; it != last; ++it) { auto &segment_ptr = it->second; if (!segment_ptr) { + if (onBenchmarkEvent_) { + onBenchmarkEvent_(it->first, "loading"); + } segment_ptr = std::make_shared( it->first, route_.at(it->first), flags_, filters_, [this](int seg_num, bool success) { + if (onBenchmarkEvent_) { + onBenchmarkEvent_(seg_num, success ? "loaded" : "load failed"); + } std::unique_lock lock(mutex_); needs_update_ = true; cv_.notify_one(); diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h index 640169749e..54e156fb60 100644 --- a/tools/replay/seg_mgr.h +++ b/tools/replay/seg_mgr.h @@ -27,6 +27,7 @@ public: bool load(); void setCurrentSegment(int seg_num); void setCallback(const std::function &callback) { onSegmentMergedCallback_ = callback; } + void setBenchmarkCallback(const std::function &callback) { onBenchmarkEvent_ = callback; } void setFilters(const std::vector &filters) { filters_ = filters; } const std::shared_ptr getEventData() const { return std::atomic_load(&event_data_); } bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); } @@ -52,5 +53,6 @@ private: SegmentMap segments_; std::shared_ptr event_data_; std::function onSegmentMergedCallback_ = nullptr; + std::function onBenchmarkEvent_ = nullptr; std::set merged_segments_; }; From 883d1232d31bad9318d31d08ff5302f303192296 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sun, 28 Dec 2025 13:00:35 -0800 Subject: [PATCH 31/68] [bot] Update Python packages (#36606) update Co-authored-by: Adeeb Shihadeh --- msgq_repo | 2 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 2615 +++++++++++++++++++++++++------------------------ 5 files changed, 1338 insertions(+), 1285 deletions(-) diff --git a/msgq_repo b/msgq_repo index 349bf449b7..20f2493855 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 349bf449b7329527162598de357bfecf232abc3f +Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474 diff --git a/opendbc_repo b/opendbc_repo index 4aa7ca9722..edf19be8ef 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4aa7ca972290af6c6bbd314d1975eab46a888b6f +Subproject commit edf19be8efe06a5387265adc4650725bb56b5c46 diff --git a/panda b/panda index 1ffad74f88..e42367df97 160000 --- a/panda +++ b/panda @@ -1 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self._get_segments_remote() self.max_seg_number = self._segments[-1].name.segment_num - @property - def metadata(self): - if not self._metadata: - api = CommaApi(get_token()) - self._metadata = api.get('v1/route/' + self.name.canonical_name) - return self._metadata - @property def name(self): return self._name @@ -90,7 +82,6 @@ class Route: url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, - self.metadata['url'], ) else: segments[segment_name] = Segment( @@ -101,7 +92,6 @@ class Route: url if fn in FileName.DCAMERA else None, url if fn in FileName.ECAMERA else None, url if fn in FileName.QCAMERA else None, - self.metadata['url'], ) return sorted(segments.values(), key=lambda seg: seg.name.segment_num) @@ -167,7 +157,7 @@ class Route: except StopIteration: qcamera_path = None - segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, self.metadata['url'])) + segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) if len(segments) == 0: raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}') @@ -175,10 +165,9 @@ class Route: class Segment: - def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, url): + def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path): self._events = None self._name = SegmentName(name) - self.url = f'{url}/{self._name.segment_num}' self.log_path = log_path self.qlog_path = qlog_path self.camera_path = camera_path @@ -190,6 +179,18 @@ class Segment: def name(self): return self._name + @staticmethod + @cache + def _get_route_metadata(route_name: str): + api = CommaApi(get_token()) + return api.get(f'v1/route/{route_name}') + + @property + def url(self): + route_name = self._name.route_name.canonical_name + metadata = self._get_route_metadata(route_name) + return f'{metadata["url"]}/{self._name.segment_num}' + @property def events(self): if not self._events: From 63c9a85c6a15785d9c5182c54b770b4822cfc435 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 21:38:54 -0800 Subject: [PATCH 33/68] FrameReader: use HW accel if available (#36964) * FrameReader: add macOS hw accel * sys * more platforms * logging --- tools/lib/framereader.py | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 30ce1f80fe..64e2f9f434 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -1,6 +1,8 @@ import os import subprocess import json +import logging +from functools import cache from collections.abc import Iterator from collections import OrderedDict @@ -9,11 +11,24 @@ from openpilot.tools.lib.filereader import FileReader, resolve_name from openpilot.tools.lib.exceptions import DataUnreadableError from openpilot.tools.lib.vidindex import hevc_index +logger = logging.getLogger("tools") HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 HEVC_SLICE_I = 2 +@cache +def get_hw_accel() -> list[str]: + """Detect and return the best available ffmpeg hardware acceleration.""" + priority = ("videotoolbox", "cuda", "vaapi", "d3d11va") + result = subprocess.run(["ffmpeg", "-hwaccels"], capture_output=True, text=True, timeout=5) + for accel in priority: + if accel in result.stdout.lower(): + logger.info(f"HW accelerated video decode found, using ffmpeg's {accel}") + return ["-hwaccel", accel] + logger.warning("no HW accelerated video found with `ffmpeg -hwaccels`. falling back to ffmpeg CPU decode") + return [] + class LRUCache: def __init__(self, capacity: int): @@ -46,6 +61,7 @@ def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.n threads = os.getenv("FFMPEG_THREADS", "0") args = ["ffmpeg", "-v", "quiet", "-threads", threads, + *get_hw_accel(), "-c:v", "hevc", "-vsync", "0", "-f", vid_fmt, @@ -171,3 +187,7 @@ class FrameReader: self.fidx, frame = next(self.it) self._cache[self.fidx] = frame return self._cache[fidx] + + +if __name__ == "__main__": + get_hw_accel() From a5348b8679c45fd3e903bae6fe093bcc9fcbd971 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 29 Dec 2025 16:41:52 -0800 Subject: [PATCH 34/68] crcmod -> crcmod-plus (#36968) --- pyproject.toml | 2 +- uv.lock | 90 +++++++++++++++++++++++++++++--------------------- 2 files changed, 53 insertions(+), 39 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index bb4ac0e8d8..e048894494 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -14,7 +14,7 @@ dependencies = [ "pyserial", # pigeond + qcomgpsd "requests", # many one-off uses "sympy", # rednose + friends - "crcmod", # cars + qcomgpsd + "crcmod-plus", # cars + qcomgpsd "tqdm", # cars (fw_versions.py) on start + many one-off uses # hardwared diff 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!= '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:d0afaf3b005e35e14b929d5491d2d5b64562d0c1cd5093ba969fb63908670dd4" }, @@ -1298,7 +1312,7 @@ dependencies = [ { name = "aiortc" }, { name = "casadi" }, { name = "cffi" }, - { name = "crcmod" }, + { name = "crcmod-plus" }, { name = "cython" }, { name = "future-fstrings" }, { name = "inputs" }, @@ -1392,7 +1406,7 @@ requires-dist = [ { name = "cffi" }, { name = "codespell", marker = "extra == 'testing'" }, { name = "coverage", marker = "extra == 'testing'" }, - { name = "crcmod" }, + { name = "crcmod-plus" }, { name = "cython" }, { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dearpygui", marker = "(platform_machine != 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"panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/0d/be/c4d1ded04c22b357277cf6e6a44c1ab4abb285a700bd1991460460e05b99/panda3d_simplepbr-0.13.1.tar.gz", hash = "sha256:c83766d7c8f47499f365a07fe1dff078fc8b3054c2689bdc8dceabddfe7f1a35", size = 6216055, upload-time = "2025-03-30T16:57:41.087Z" } wheels = [ @@ -4287,10 +4301,10 @@ name = "pyopencl" version = "2025.2.7" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, - { name = "platformdirs" }, - { name = "pytools" }, - { name = "typing-extensions" }, + { 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'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/f8/cb/8927052160bc0d3bd1123a645aaf57f696da364216b57b49f92ba0777bcc/pyopencl-2025.2.7.tar.gz", hash = "sha256:a68d92eb2970418b1a7ca45aff71984c02d2e4261e01402b273f257b5d6d7511", size = 444787, upload-time = "2025-10-28T14:23:15.497Z" } wheels = [ @@ -4512,9 +4526,9 @@ name = "pytools" version = "2025.2.5" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs" }, - { name = "siphash24" }, - { name = "typing-extensions" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "siphash24", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/c3/7b/f885a57e61ded45b5b10ca60f0b7575c9fb9a282e7513d0e23a33ee647e1/pytools-2025.2.5.tar.gz", hash = "sha256:a7f5350644d46d98ee9c7e67b4b41693308aa0f5e9b188d8f0694b27dc94e3a2", size = 85594, upload-time = "2025-10-07T15:53:30.49Z" } wheels = [ @@ -4846,7 +4860,7 @@ name = "shapely" version = "2.1.2" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/4d/bc/0989043118a27cccb4e906a46b7565ce36ca7b57f5a18b78f4f1b0f72d9d/shapely-2.1.2.tar.gz", hash = "sha256:2ed4ecb28320a433db18a5bf029986aa8afcfd740745e78847e330d5d94922a9", size = 315489, upload-time = "2025-09-24T13:51:41.432Z" } wheels = [ @@ -5096,7 +5110,7 @@ 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, upload-time = "2024-11-14T00:11:41.584Z" } wheels = [ From 84b1f363e42293104b4d56ed5b07f549fce381cf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Dec 2025 12:43:36 -0800 Subject: [PATCH 35/68] Alert for stock LKAS (#36969) * alert stock lkas * high * i didn't do this --- cereal/log.capnp | 1 + selfdrive/car/car_specific.py | 2 ++ selfdrive/selfdrived/events.py | 9 +++++++++ 3 files changed, 12 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 3a6432c84d..2f300881b1 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { laneChange @50; lowMemory @51; stockAeb @52; + stockLkas @98; ldw @53; carUnrecognized @54; invalidLkasSetting @55; diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index cdeeebdcd5..bc903ec083 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -119,6 +119,8 @@ class CarSpecificEvents: events.add(EventName.stockFcw) if CS.stockAeb: events.add(EventName.stockAeb) + if CS.stockLkas: + events.add(EventName.stockLkas) if CS.vEgo > MAX_CTRL_SPEED: events.add(EventName.speedTooHigh) if CS.cruiseState.nonAdaptive: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 1acfa2964e..35d4bda42f 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -477,6 +477,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"), }, + EventName.stockLkas: { + ET.PERMANENT: Alert( + "TAKE CONTROL", + "Stock LKAS: Lane Departure Detected", + AlertStatus.critical, AlertSize.full, + Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.), + ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"), + }, + EventName.fcw: { ET.PERMANENT: Alert( "BRAKE!", From bb40d161e8d24f3e4c4835603610ea669ab00154 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 1 Jan 2026 20:13:18 -0300 Subject: [PATCH 36/68] Add back badges for keep multilanguage support (#36967) --- selfdrive/ui/translations/README.md | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 selfdrive/ui/translations/README.md diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md new file mode 100644 index 0000000000..433eb7d64a --- /dev/null +++ b/selfdrive/ui/translations/README.md @@ -0,0 +1,3 @@ +# Multilanguage + +[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#) From f62177a8274ac75b82011d1a7ae57f8458c85091 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 1 Jan 2026 19:06:31 -0800 Subject: [PATCH 37/68] FrameReader: use hwaccel auto (#36973) * FrameReader: use hwaccel auto * rm main block --- tools/lib/framereader.py | 46 ++++++++++++---------------------------- 1 file changed, 13 insertions(+), 33 deletions(-) diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 64e2f9f434..7f55718776 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -2,7 +2,6 @@ import os import subprocess import json import logging -from functools import cache from collections.abc import Iterator from collections import OrderedDict @@ -17,19 +16,6 @@ HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 HEVC_SLICE_I = 2 -@cache -def get_hw_accel() -> list[str]: - """Detect and return the best available ffmpeg hardware acceleration.""" - priority = ("videotoolbox", "cuda", "vaapi", "d3d11va") - result = subprocess.run(["ffmpeg", "-hwaccels"], capture_output=True, text=True, timeout=5) - for accel in priority: - if accel in result.stdout.lower(): - logger.info(f"HW accelerated video decode found, using ffmpeg's {accel}") - return ["-hwaccel", accel] - logger.warning("no HW accelerated video found with `ffmpeg -hwaccels`. falling back to ffmpeg CPU decode") - return [] - - class LRUCache: def __init__(self, capacity: int): self._cache: OrderedDict = OrderedDict() @@ -47,7 +33,6 @@ class LRUCache: def __contains__(self, key): return key in self._cache - def assert_hvec(fn: str) -> None: with FileReader(fn) as f: header = f.read(4) @@ -57,11 +42,11 @@ def assert_hvec(fn: str) -> None: if 'hevc' not in fn: raise NotImplementedError(fn) -def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.ndarray: +def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', loglevel="info") -> np.ndarray: threads = os.getenv("FFMPEG_THREADS", "0") - args = ["ffmpeg", "-v", "quiet", + args = ["ffmpeg", "-v", loglevel, "-threads", threads, - *get_hw_accel(), + "-hwaccel", "auto", "-c:v", "hevc", "-vsync", "0", "-f", vid_fmt, @@ -114,15 +99,15 @@ def get_video_index(fn): 'probe': probe } - class FfmpegDecoder: def __init__(self, fn: str, index_data: dict|None = None, - pix_fmt: str = "rgb24"): + pix_fmt: str = "rgb24", loglevel="quiet"): self.fn = fn self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data) self.frame_count = len(self.index) - 1 # sentinel row at the end self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0] self.pix_fmt = pix_fmt + self.loglevel = loglevel def _gop_bounds(self, frame_idx: int): f_b = frame_idx @@ -134,7 +119,7 @@ class FfmpegDecoder: return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1] def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]: - yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt) + yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel) def get_gop_start(self, frame_idx: int): return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1] @@ -149,7 +134,7 @@ class FfmpegDecoder: f.seek(off_b) raw = self.prefix + f.read(off_e - off_b) # number of frames to discard inside this GOP before the wanted one - for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt)): + for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel)): fidx = f_b + i if fidx >= end_fidx: return @@ -157,17 +142,16 @@ class FfmpegDecoder: yield fidx, frm fidx += 1 -def FrameIterator(fn: str, index_data: dict|None=None, - pix_fmt: str = "rgb24", - start_fidx:int=0, end_fidx=None, frame_skip:int=1) -> Iterator[np.ndarray]: - dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data) +def FrameIterator(fn: str, index_data: dict|None=None, pix_fmt: str = "rgb24", + start_fidx:int=0, end_fidx=None, frame_skip:int=1, loglevel="quiet") -> Iterator[np.ndarray]: + dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, loglevel=loglevel) for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip): yield frame class FrameReader: - def __init__(self, fn: str, index_data: dict|None = None, - cache_size: int = 30, pix_fmt: str = "rgb24"): - self.decoder = FfmpegDecoder(fn, index_data, pix_fmt) + def __init__(self, fn: str, index_data: dict|None = None, cache_size: int = 30, + pix_fmt: str = "rgb24", loglevel="quiet"): + self.decoder = FfmpegDecoder(fn, index_data, pix_fmt, loglevel=loglevel) self.iframes = self.decoder.iframes self._cache: LRUCache = LRUCache(cache_size) self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count @@ -187,7 +171,3 @@ class FrameReader: self.fidx, frame = next(self.it) self._cache[self.fidx] = frame return self._cache[fidx] - - -if __name__ == "__main__": - get_hw_accel() From adbf68f77120b4568de68c37b8bed4ed433e01fe Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 2 Jan 2026 11:29:45 -0800 Subject: [PATCH 38/68] FrameReader: add hwaccel arg and clear frames_cache (#36974) --- tools/lib/framereader.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 7f55718776..c13f7fd313 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -42,11 +42,11 @@ def assert_hvec(fn: str) -> None: if 'hevc' not in fn: raise NotImplementedError(fn) -def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', loglevel="info") -> np.ndarray: +def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', hwaccel="auto", loglevel="info") -> np.ndarray: threads = os.getenv("FFMPEG_THREADS", "0") args = ["ffmpeg", "-v", loglevel, "-threads", threads, - "-hwaccel", "auto", + "-hwaccel", hwaccel, "-c:v", "hevc", "-vsync", "0", "-f", vid_fmt, @@ -101,13 +101,13 @@ def get_video_index(fn): class FfmpegDecoder: def __init__(self, fn: str, index_data: dict|None = None, - pix_fmt: str = "rgb24", loglevel="quiet"): + pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"): self.fn = fn self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data) self.frame_count = len(self.index) - 1 # sentinel row at the end self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0] self.pix_fmt = pix_fmt - self.loglevel = loglevel + self.loglevel, self.hwaccel = loglevel, hwaccel def _gop_bounds(self, frame_idx: int): f_b = frame_idx @@ -119,7 +119,7 @@ class FfmpegDecoder: return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1] def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]: - yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel) + yield from decompress_video_data(raw, self.w, self.h, pix_fmt=self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel) def get_gop_start(self, frame_idx: int): return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1] @@ -134,7 +134,7 @@ class FfmpegDecoder: f.seek(off_b) raw = self.prefix + f.read(off_e - off_b) # number of frames to discard inside this GOP before the wanted one - for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel)): + for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel)): fidx = f_b + i if fidx >= end_fidx: return @@ -143,15 +143,15 @@ class FfmpegDecoder: fidx += 1 def FrameIterator(fn: str, index_data: dict|None=None, pix_fmt: str = "rgb24", - start_fidx:int=0, end_fidx=None, frame_skip:int=1, loglevel="quiet") -> Iterator[np.ndarray]: - dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, loglevel=loglevel) + start_fidx:int=0, end_fidx=None, frame_skip:int=1, hwaccel="auto", loglevel="quiet") -> Iterator[np.ndarray]: + dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, hwaccel=hwaccel, loglevel=loglevel) for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip): yield frame class FrameReader: def __init__(self, fn: str, index_data: dict|None = None, cache_size: int = 30, - pix_fmt: str = "rgb24", loglevel="quiet"): - self.decoder = FfmpegDecoder(fn, index_data, pix_fmt, loglevel=loglevel) + pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"): + self.decoder = FfmpegDecoder(fn, index_data=index_data, pix_fmt=pix_fmt, hwaccel=hwaccel, loglevel=loglevel) self.iframes = self.decoder.iframes self._cache: LRUCache = LRUCache(cache_size) self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count From be854df32d438cbd0e7977f61f9d104de179d2bc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 4 Jan 2026 13:46:30 -0800 Subject: [PATCH 39/68] remove unused dbus-next package (#36979) --- pyproject.toml | 1 - uv.lock | 11 ----------- 2 files changed, 12 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index e048894494..d6360a58ad 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -107,7 +107,6 @@ dev = [ "av", "azure-identity", "azure-storage-blob", - "dbus-next", # TODO: remove once we moved everything to jeepney "dictdiffer", "jeepney", "matplotlib", diff --git a/uv.lock b/uv.lock index a40167bb92..f0f3cb35b9 100644 --- a/uv.lock +++ b/uv.lock @@ -499,15 +499,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/e5/41/54fd429ff8147475fc24ca43246f85d78fb4e747c27f227e68f1594648f1/cython-3.2.3-py3-none-any.whl", hash = "sha256:06a1317097f540d3bb6c7b81ed58a0d8b9dbfa97abf39dfd4c22ee87a6c7241e", size = 1255561, upload-time = "2025-12-14T07:50:31.217Z" }, ] -[[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, upload-time = "2021-07-25T22:11:28.398Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, -] - [[package]] name = "dearpygui" version = "2.1.1" @@ -1352,7 +1343,6 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, - { name = "dbus-next" }, { name = "dictdiffer" }, { name = "jeepney" }, { name = "matplotlib" }, @@ -1408,7 +1398,6 @@ requires-dist = [ { name = "coverage", marker = "extra == 'testing'" }, { name = "crcmod-plus" }, { name = "cython" }, - { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, From 3c5974930aac69724a72aa895e2014807a9a0b52 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 4 Jan 2026 17:09:26 -0500 Subject: [PATCH 40/68] cleanup SecOC release gating (#36980) --- selfdrive/car/card.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index aa0d12e960..12b8313471 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -117,7 +117,7 @@ class Car: safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] - if self.CP.secOcRequired and not is_release: + if self.CP.secOcRequired: # Copy user key if available try: with open("/cache/params/SecOCKey") as f: From 84bce8ae020b0819cf41d31e832dd565a53e642d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 4 Jan 2026 17:52:10 -0800 Subject: [PATCH 41/68] rm pygame (#36982) * rm pygame * lil more * cleanup * lil more --- pyproject.toml | 1 - tools/replay/lib/ui_helpers.py | 91 ++++++------ tools/replay/ui.py | 244 +++++++++++++++++++-------------- 3 files changed, 182 insertions(+), 154 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index d6360a58ad..903995cf64 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -113,7 +113,6 @@ dev = [ "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", - "pygame", "pyopencl; platform_machine != 'aarch64'", # broken on arm64 "pytools>=2025.1.6; platform_machine != 'aarch64'", "pywinctl", diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index b90cbd93b0..7c95e9cad4 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -1,9 +1,8 @@ import itertools -from typing import Any import matplotlib.pyplot as plt import numpy as np -import pygame +import pyray as rl from matplotlib.backends.backend_agg import FigureCanvasAgg @@ -18,21 +17,25 @@ YELLOW = (255, 255, 0) BLACK = (0, 0, 0) WHITE = (255, 255, 255) + class UIParams: lidar_x, lidar_y, lidar_zoom = 384, 960, 6 - lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 + lidar_car_x, lidar_car_y = lidar_x / 2.0, lidar_y / 1.1 car_hwidth = 1.7272 / 2 * lidar_zoom car_front = 2.6924 * lidar_zoom car_back = 1.8796 * lidar_zoom car_color = 110 + + UP = UIParams METER_WIDTH = 20 + class Calibration: def __init__(self, num_px, rpy, intrinsic, calib_scale): self.intrinsic = intrinsic - self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] + self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:, :3] self.zoom = calib_scale def car_space_to_ff(self, x, y, z): @@ -47,19 +50,18 @@ class Calibration: return pts / self.zoom -_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} +_COLOR_CACHE: dict[tuple[int, int, int], int] = { + (255, 0, 0): 1, # RED + (0, 255, 0): 2, # GREEN + (0, 0, 255): 3, # BLUE + (255, 255, 0): 4, # YELLOW + (0, 0, 0): 0, # BLACK + (255, 255, 255): 255, # WHITE +} + + def find_color(lidar_surface, color): - if color in _COLOR_CACHE: - return _COLOR_CACHE[color] - tcolor = 0 - ret = 255 - for x in lidar_surface.get_palette(): - if x[0:3] == color: - ret = tcolor - break - tcolor += 1 - _COLOR_CACHE[color] = ret - return ret + return _COLOR_CACHE.get(color, 255) def to_topdown_pt(y, x): @@ -91,13 +93,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): - color_palette = { "r": (1, 0, 0), - "g": (0, 1, 0), - "b": (0, 0, 1), - "k": (0, 0, 0), - "y": (1, 1, 0), - "p": (0, 1, 1), - "m": (1, 0, 1)} + color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)} dpi = 90 fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) @@ -107,7 +103,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co axs = [] for pn in range(len(plot_ylims)): - ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1) + ax = fig.add_subplot(len(plot_ylims), 1, len(axs) + 1) ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1]) ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1]) ax.patch.set_facecolor((0.4, 0.4, 0.4)) @@ -116,15 +112,11 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co plots, idxs, plot_select = [], [], [] for i, pl_list in enumerate(plot_names): for j, item in enumerate(pl_list): - plot, = axs[i].plot(arr[:, name_to_arr_idx[item]], - label=item, - color=color_palette[plot_colors[i][j]], - linestyle=plot_styles[i][j]) + (plot,) = axs[i].plot(arr[:, name_to_arr_idx[item]], label=item, color=color_palette[plot_colors[i][j]], linestyle=plot_styles[i][j]) plots.append(plot) idxs.append(name_to_arr_idx[item]) plot_select.append(i) - axs[i].set_title(", ".join(f"{nm} ({cl})" - for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) + axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) axs[i].tick_params(axis="x", colors="white") axs[i].tick_params(axis="y", colors="white") axs[i].title.set_color("white") @@ -134,6 +126,12 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co canvas.draw() + # Pre-create texture for plots (reuse each frame to avoid log spam) + w, h = canvas.get_width_height() + plot_image = rl.gen_image_color(w, h, rl.BLACK) + plot_texture = rl.load_texture_from_image(plot_image) + rl.unload_image(plot_image) + def draw_plots(arr): for ax in axs: ax.draw_artist(ax.patch) @@ -141,17 +139,13 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co plots[i].set_ydata(arr[:, idxs[i]]) axs[plot_select[i]].draw_artist(plots[i]) - raw_data = canvas.buffer_rgba() - plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert() - return plot_surface + raw_data = np.ascontiguousarray(canvas.buffer_rgba(), dtype=np.uint8) + rl.update_texture(plot_texture, rl.ffi.cast("void *", raw_data.ctypes.data)) + return plot_texture return draw_plots -def pygame_modules_have_loaded(): - return pygame.display.get_init() and pygame.font.get_init() - - def plot_model(m, img, calibration, top_down): if calibration is None or top_down is None: return @@ -166,7 +160,7 @@ def plot_model(m, img, calibration, top_down): _, py_top = to_topdown_pt(x + x_std, y) px, py_bottom = to_topdown_pt(x - x_std, y) - top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) + top_down[1][int(round(px - 4)) : int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): color = (0, int(255 * prob), 0) @@ -202,22 +196,15 @@ def maybe_update_radar_points(lt, lid_overlay): # negative here since radar is left positive px, py = to_topdown_pt(pt[0], -pt[1]) if px != -1: - lid_overlay[px - 4:px + 4, py - 4:py + 4] = 0 - lid_overlay[px - 2:px + 2, py - 2:py + 2] = 255 + lid_overlay[px - 4 : px + 4, py - 4 : py + 4] = 0 + lid_overlay[px - 2 : px + 2, py - 2 : py + 2] = 255 + def get_blank_lid_overlay(UP): lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') # Draw the car. - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - - UP.car_front))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + - UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color return lid_overlay diff --git a/tools/replay/ui.py b/tools/replay/ui.py index d71d63d1ce..54667ebfe9 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -5,57 +5,88 @@ import sys import cv2 import numpy as np -import pygame +import pyray as rl import cereal.messaging as messaging from openpilot.common.basedir import BASEDIR from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.tools.replay.lib.ui_helpers import (UP, - BLACK, GREEN, - YELLOW, Calibration, - get_blank_lid_overlay, init_plots, - maybe_update_radar_points, plot_lead, - plot_model, - pygame_modules_have_loaded) +from openpilot.tools.replay.lib.ui_helpers import ( + UP, + BLACK, + GREEN, + YELLOW, + Calibration, + get_blank_lid_overlay, + init_plots, + maybe_update_radar_points, + plot_lead, + plot_model, +) from msgq.visionipc import VisionIpcClient, VisionStreamType os.environ['BASEDIR'] = BASEDIR ANGLE_SCALE = 5.0 + def ui_thread(addr): cv2.setNumThreads(1) - pygame.init() - pygame.font.init() - assert pygame_modules_have_loaded() - disp_info = pygame.display.Info() - max_height = disp_info.current_h + # Get monitor info before creating window + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) + rl.init_window(1, 1, "") + max_height = rl.get_monitor_height(0) + rl.close_window() hor_mode = os.getenv("HORIZONTAL") is not None - hor_mode = True if max_height < 960+300 else hor_mode + hor_mode = True if max_height < 960 + 300 else hor_mode if hor_mode: - size = (640+384+640, 960) + size = (640 + 384 + 640, 960) write_x = 5 write_y = 680 else: - size = (640+384, 960+300) + size = (640 + 384, 960 + 300) write_x = 645 write_y = 970 - pygame.display.set_caption("openpilot debug UI") - screen = pygame.display.set_mode(size, pygame.DOUBLEBUF) + rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR) + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) + rl.init_window(size[0], size[1], "openpilot debug UI") + rl.set_target_fps(60) - alert1_font = pygame.font.SysFont("arial", 30) - alert2_font = pygame.font.SysFont("arial", 20) - info_font = pygame.font.SysFont("arial", 15) + # Load font + font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf") + font = rl.load_font_ex(font_path, 32, None, 0) - camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert() - top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) + # Create textures for camera and top-down view + camera_image = rl.gen_image_color(640, 480, rl.BLACK) + camera_texture = rl.load_texture_from_image(camera_image) + rl.unload_image(camera_image) - sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', - 'selfdriveState', 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr) + # lid_overlay array is (lidar_x, lidar_y) = (384, 960) + # pygame treats first axis as width, so texture is 384 wide x 960 tall + # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array + top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK) + top_down_texture = rl.load_texture_from_image(top_down_image) + rl.unload_image(top_down_image) + + sm = messaging.SubMaster( + [ + 'carState', + 'longitudinalPlan', + 'carControl', + 'radarState', + 'liveCalibration', + 'controlsState', + 'selfdriveState', + 'liveTracks', + 'modelV2', + 'liveParameters', + 'roadCameraState', + ], + addr=addr, + ) img = np.zeros((480, 640, 3), dtype='uint8') imgff = None @@ -65,74 +96,78 @@ def ui_thread(addr): lid_overlay_blank = get_blank_lid_overlay(UP) # plots - name_to_arr_idx = { "gas": 0, - "computer_gas": 1, - "user_brake": 2, - "computer_brake": 3, - "v_ego": 4, - "v_pid": 5, - "angle_steers_des": 6, - "angle_steers": 7, - "angle_steers_k": 8, - "steer_torque": 9, - "v_override": 10, - "v_cruise": 11, - "a_ego": 12, - "a_target": 13} + name_to_arr_idx = { + "gas": 0, + "computer_gas": 1, + "user_brake": 2, + "computer_brake": 3, + "v_ego": 4, + "v_pid": 5, + "angle_steers_des": 6, + "angle_steers": 7, + "angle_steers_k": 8, + "steer_torque": 9, + "v_override": 10, + "v_cruise": 11, + "a_ego": 12, + "a_target": 13, + } plot_arr = np.zeros((100, len(name_to_arr_idx.values()))) plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])] - plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)] - plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"], - ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], - ["v_ego", "v_override", "v_pid", "v_cruise"], - ["a_ego", "a_target"]] - plot_colors = [["b", "b", "g", "r", "y"], - ["b", "g", "y", "r"], - ["b", "g", "r", "y"], - ["b", "r"]] - plot_styles = [["-", "-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-"]] + plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)] + plot_names = [ + ["gas", "computer_gas", "user_brake", "computer_brake"], + ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], + ["v_ego", "v_override", "v_pid", "v_cruise"], + ["a_ego", "a_target"], + ] + plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"], ["b", "g", "r", "y"], ["b", "r"]] + plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-"]] draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles) + # Palette for converting lid_overlay grayscale indices to RGBA colors + palette = np.zeros((256, 4), dtype=np.uint8) + palette[:, 3] = 255 # alpha + palette[1] = [255, 0, 0, 255] # RED + palette[2] = [0, 255, 0, 255] # GREEN + palette[3] = [0, 0, 255, 255] # BLUE + palette[4] = [255, 255, 0, 255] # YELLOW + palette[110] = [110, 110, 110, 255] # car_color (gray) + palette[255] = [255, 255, 255, 255] # WHITE + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while True: - for event in pygame.event.get(): - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - - screen.fill((64, 64, 64)) - lid_overlay = lid_overlay_blank.copy() - top_down = top_down_surface, lid_overlay - + while not rl.window_should_close(): # ***** frame ***** if not vipc_client.is_connected(): - vipc_client.connect(True) + vipc_client.connect(False) + + rl.begin_drawing() + rl.clear_background(rl.Color(64, 64, 64, 255)) yuv_img_raw = vipc_client.recv() if yuv_img_raw is None or not yuv_img_raw.data.any(): + rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE) + rl.end_drawing() continue + lid_overlay = lid_overlay_blank.copy() + top_down = top_down_texture, lid_overlay + sm.update(0) camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) num_px = vipc_client.width * vipc_client.height - rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) + rgb = cv2.cvtColor(imgff[: vipc_client.height * 3 // 2, : vipc_client.width], cv2.COLOR_YUV2RGB_NV12) qcam = "QCAM" in os.environ - bb_scale = (528 if qcam else camera.fcam.width) / 640. - calib_scale = camera.fcam.width / 640. - zoom_matrix = np.asarray([ - [bb_scale, 0., 0.], - [0., bb_scale, 0.], - [0., 0., 1.]]) + bb_scale = (528 if qcam else camera.fcam.width) / 640.0 + calib_scale = camera.fcam.width / 640.0 + zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]]) cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) intrinsic_matrix = camera.fcam.intrinsics @@ -151,11 +186,11 @@ def ui_thread(addr): plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED # TODO gas is deprecated - plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0) + plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0) plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE # TODO brake is deprecated - plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0) + plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0) plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo @@ -177,56 +212,63 @@ def ui_thread(addr): calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale) # *** blits *** - pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1)) - screen.blit(camera_surface, (0, 0)) + # Update camera texture from numpy array + img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA) + rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data)) + rl.draw_texture(camera_texture, 0, 0, rl.WHITE) # display alerts - alert_line1 = alert1_font.render(sm['selfdriveState'].alertText1, True, (255, 0, 0)) - alert_line2 = alert2_font.render(sm['selfdriveState'].alertText2, True, (255, 0, 0)) - screen.blit(alert_line1, (180, 150)) - screen.blit(alert_line2, (180, 190)) + rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED) + rl.draw_text_ex(font, sm['selfdriveState'].alertText2, rl.Vector2(180, 190), 20, 0, rl.RED) + # draw plots (texture is reused internally) + plot_texture = draw_plots(plot_arr) if hor_mode: - screen.blit(draw_plots(plot_arr), (640+384, 0)) + rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE) else: - screen.blit(draw_plots(plot_arr), (0, 600)) + rl.draw_texture(plot_texture, 0, 600, rl.WHITE) - pygame.surfarray.blit_array(*top_down) - screen.blit(top_down[0], (640, 0)) + # Convert lid_overlay to RGBA and update top_down texture + # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer + lid_rgba = palette[lid_overlay.T] + rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data)) + rl.draw_texture(top_down_texture, 640, 0, rl.WHITE) SPACING = 25 - lines = [ - info_font.render("ENABLED", True, GREEN if sm['selfdriveState'].enabled else BLACK), - info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW), - info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW), - info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW), + ("ENABLED", GREEN if sm['selfdriveState'].enabled else BLACK), + ("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", YELLOW), + ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), YELLOW), + ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), YELLOW), None, - info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW), - info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW), - info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW), - info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW) + ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW), + ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", YELLOW), + ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW), + ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), YELLOW), ] for i, line in enumerate(lines): if line is not None: - screen.blit(line, (write_x, write_y + i * SPACING)) + color = rl.Color(line[1][0], line[1][1], line[1][2], 255) + rl.draw_text_ex(font, line[0], rl.Vector2(write_x, write_y + i * SPACING), 20, 0, color) + + rl.end_drawing() + + rl.unload_texture(camera_texture) + rl.unload_texture(top_down_texture) + rl.unload_font(font) + rl.close_window() - # this takes time...vsync or something - pygame.display.flip() def get_arg_parser(): - parser = argparse.ArgumentParser( - description="Show replay data in a UI.", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser = argparse.ArgumentParser(description="Show replay data in a UI.", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("ip_address", nargs="?", default="127.0.0.1", - help="The ip address on which to receive zmq messages.") + parser.add_argument("ip_address", nargs="?", default="127.0.0.1", help="The ip address on which to receive zmq messages.") - parser.add_argument("--frame-address", default=None, - help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") + parser.add_argument("--frame-address", default=None, help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") return parser + if __name__ == "__main__": args = get_arg_parser().parse_args(sys.argv[1:]) From ea64c4c0ae71e22b51852dc82065f76d96973235 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 4 Jan 2026 21:35:13 -0500 Subject: [PATCH 42/68] VW: Enable torqued (#36983) --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 3f9b846e82..f4dc5a1471 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -33,7 +33,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda'] +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen'] def slope2rot(slope): From 5d3ab260e1ca25f3e196a42e2e2d7dc08f5dc1e3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 5 Jan 2026 10:15:20 -0800 Subject: [PATCH 43/68] welcome lexus ls --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 186f1bc047..6191c6ba3d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.10.4 (2026-02-17) ======================== +* Lexus LS 2018 support thanks to Hacheoy! Version 0.10.3 (2025-12-17) ======================== From c693bc1247e5c5f066262a1790cca4229c1e98a1 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 5 Jan 2026 16:14:05 -0800 Subject: [PATCH 44/68] =?UTF-8?q?MacroStiff=20Model=20=F0=9F=9F=A5?= =?UTF-8?q?=F0=9F=9F=A9=F0=9F=9F=A6=F0=9F=9F=A8=20(#36972)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 8c06e95e-d7c0-4fd9-ba02-9f0b6848785e/400 * test * test * test now --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index e0eb918125..4f7aaf0865 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7 +oid sha256:4cf2023d6742c20aac7cecbf520afe370a64bcf5efdcf3531b1b128f9dfa3cc8 size 13926324 From 3edb3243f6ecfcf4a8db6ffa8b2e86ab179a5730 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 9 Jan 2026 09:16:57 -0800 Subject: [PATCH 45/68] SC driving (#36986) f1d30a23-4122-400a-80a6-557502284c36/200 --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 4f7aaf0865..27e4c8f7b9 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4cf2023d6742c20aac7cecbf520afe370a64bcf5efdcf3531b1b128f9dfa3cc8 +oid sha256:66f406ee179d984a4d8c93e38da479dcd1893127308dd3a7c322a7481a6b51b2 size 13926324 From f51c2aecede836a9fa9246cd2436a47d844a2e7f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 9 Jan 2026 15:04:33 -0800 Subject: [PATCH 46/68] Modeld: less lat smoothing (#36987) * lat is plenty smooth! * fix --- selfdrive/modeld/modeld.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 006eeef6f5..1f347dc32a 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -40,7 +40,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.1 +LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4a58e321fc..c109bf49f1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e0ad86508edb61b3eaa1b84662c515d2c3368295 \ No newline at end of file +b259f6f8f099a9d82e4c65dd5deae2e4e293007b \ No newline at end of file From 15d3a166f725725697e670cae3b5087624a42bf6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 9 Jan 2026 20:49:14 -0800 Subject: [PATCH 47/68] enable pyopencl on arm64 (#36990) --- pyproject.toml | 2 +- uv.lock | 42 +++++++++--------------------------------- 2 files changed, 10 insertions(+), 34 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 903995cf64..c21ba734dd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -113,7 +113,7 @@ dev = [ "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", - 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{ name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy" }, + { name = "platformdirs" }, + { name = "pytools" }, + { name = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/f8/cb/8927052160bc0d3bd1123a645aaf57f696da364216b57b49f92ba0777bcc/pyopencl-2025.2.7.tar.gz", hash = "sha256:a68d92eb2970418b1a7ca45aff71984c02d2e4261e01402b273f257b5d6d7511", size = 444787, upload-time = "2025-10-28T14:23:15.497Z" } wheels = [ @@ -4515,9 +4491,9 @@ name = "pytools" version = "2025.2.5" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "siphash24", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "platformdirs" }, + { name = "siphash24" }, + { name = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/c3/7b/f885a57e61ded45b5b10ca60f0b7575c9fb9a282e7513d0e23a33ee647e1/pytools-2025.2.5.tar.gz", hash = "sha256:a7f5350644d46d98ee9c7e67b4b41693308aa0f5e9b188d8f0694b27dc94e3a2", size = 85594, upload-time = "2025-10-07T15:53:30.49Z" } wheels = [ From 1252188b4b8e4228af29ed12639d4183186ef9c7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 Jan 2026 14:33:13 -0800 Subject: [PATCH 48/68] sensord: tighten temperature threshold (#36994) * sensord: tighten temperature threshold * lil more --- system/sensord/tests/test_sensord.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 5e98e12243..20214e12ff 100644 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -32,23 +32,17 @@ SENSOR_CONFIGURATIONS: list[set] = { Sensor = log.SensorEventData.SensorSource SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { - Sensor.lsm6ds3: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), - }, - Sensor.lsm6ds3trc: { SensorConfig("acceleration", 5, 15), SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), + SensorConfig("temperature", 10, 40), # set for max range of our office }, Sensor.mmc5603nj: { SensorConfig("magneticUncalibrated", 0, 300), } } - +ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc] def get_irq_count(irq: int): with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f: From 5e4b88201e78a2c4d84f29b919c333a2ea1997ce Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Jan 2026 14:38:43 -0800 Subject: [PATCH 49/68] Toyota: whitelist hybrids for standstill resume behaviour (#36996) tioyota --- selfdrive/car/car_specific.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index bc903ec083..c93d7ac4a2 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -2,6 +2,7 @@ from cereal import car, log from opendbc.car import DT_CTRL, structs from opendbc.car.car_helpers import interfaces from opendbc.car.interfaces import MAX_CTRL_SPEED +from opendbc.car.toyota.values import ToyotaFlags from openpilot.selfdrive.selfdrived.events import Events @@ -58,7 +59,7 @@ class CarSpecificEvents: # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3 if self.CP.openpilotLongitudinalControl: # Only can leave standstill when planner wants to move - if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume: + if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value): events.add(EventName.resumeRequired) if CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) From 7f8dbf24e72a37cc1b587d7390c6b6274ef581e7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Jan 2026 17:18:40 -0800 Subject: [PATCH 50/68] Cabana: fix for internal source (#36998) * fix for internal sources from cursor * clean up * more * not needed * clean up * sure --- tools/replay/filereader.cc | 2 +- tools/replay/framereader.cc | 2 +- tools/replay/util.cc | 2 ++ 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc index d74aaebaba..cb13775a34 100644 --- a/tools/replay/filereader.cc +++ b/tools/replay/filereader.cc @@ -17,7 +17,7 @@ std::string cacheFilePath(const std::string &url) { } std::string FileReader::read(const std::string &file, std::atomic *abort) { - const bool is_remote = file.find("https://") == 0; + const bool is_remote = (file.find("https://") == 0) || (file.find("http://") == 0); const std::string local_file = is_remote ? cacheFilePath(file) : file; std::string result; diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index a5f0f748c7..96ec5915b4 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -72,7 +72,7 @@ FrameReader::~FrameReader() { } bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic *abort, bool local_cache, int chunk_size, int retries) { - auto local_file_path = url.find("https://") == 0 ? cacheFilePath(url) : url; + auto local_file_path = (url.find("https://") == 0 || url.find("http://") == 0) ? cacheFilePath(url) : url; if (!util::file_exists(local_file_path)) { FileReader f(local_cache, chunk_size, retries); if (f.read(url, abort).empty()) { diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 94cea961ff..481564322e 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -154,6 +154,8 @@ size_t getRemoteFileSize(const std::string &url, std::atomic *abort) { curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb); curl_easy_setopt(curl, CURLOPT_HEADER, 1); curl_easy_setopt(curl, CURLOPT_NOBODY, 1); + curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1); + curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); CURLM *cm = curl_multi_init(); curl_multi_add_handle(cm, curl); From 1f9efd93115db3dba28459bec790cfb35ee58e2f Mon Sep 17 00:00:00 2001 From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com> Date: Sat, 17 Jan 2026 00:31:26 -0600 Subject: [PATCH 51/68] transformations: move Cython to pure Python (#36830) * Remove cython for transformations * Add new test * Switch back to program to fix mac builds * Convert to Python instead * Fix failing builds * lint * Implement conversion in pure python/numpy * Add more tests * Fix bugs in tests --- common/SConscript | 7 +- common/transformations/SConscript | 5 - common/transformations/coordinates.cc | 100 ----- common/transformations/coordinates.hpp | 43 --- common/transformations/orientation.cc | 144 -------- common/transformations/orientation.hpp | 17 - .../transformations/tests/test_coordinates.py | 33 ++ .../transformations/tests/test_orientation.py | 30 ++ common/transformations/transformations.pxd | 72 ---- common/transformations/transformations.py | 342 ++++++++++++++++++ common/transformations/transformations.pyx | 173 --------- selfdrive/modeld/SConscript | 2 +- 12 files changed, 407 insertions(+), 561 deletions(-) delete mode 100644 common/transformations/SConscript delete mode 100644 common/transformations/coordinates.cc delete mode 100644 common/transformations/coordinates.hpp delete mode 100644 common/transformations/orientation.cc delete mode 100644 common/transformations/orientation.hpp delete mode 100644 common/transformations/transformations.pxd create mode 100644 common/transformations/transformations.py delete mode 100644 common/transformations/transformations.pyx diff --git a/common/SConscript b/common/SConscript index c771ee78b7..1c68cf05c7 100644 --- a/common/SConscript +++ b/common/SConscript @@ -19,11 +19,6 @@ if GetOption('extras'): # Cython bindings params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) -SConscript([ - 'transformations/SConscript', -]) - -Import('transformations_python') -common_python = [params_python, transformations_python] +common_python = [params_python] Export('common_python') diff --git a/common/transformations/SConscript b/common/transformations/SConscript deleted file mode 100644 index 4ac73a165e..0000000000 --- a/common/transformations/SConscript +++ /dev/null @@ -1,5 +0,0 @@ -Import('env', 'envCython') - -transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc']) -transformations_python = envCython.Program('transformations.so', 'transformations.pyx') -Export('transformations', 'transformations_python') diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc deleted file mode 100644 index f3f10e547f..0000000000 --- a/common/transformations/coordinates.cc +++ /dev/null @@ -1,100 +0,0 @@ -#define _USE_MATH_DEFINES - -#include "common/transformations/coordinates.hpp" - -#include -#include -#include - -double a = 6378137; // lgtm [cpp/short-global-name] -double b = 6356752.3142; // lgtm [cpp/short-global-name] -double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name] -double e1sq = 6.73949674228 * 0.001; - - -static Geodetic to_degrees(Geodetic geodetic){ - geodetic.lat = RAD2DEG(geodetic.lat); - geodetic.lon = RAD2DEG(geodetic.lon); - return geodetic; -} - -static Geodetic to_radians(Geodetic geodetic){ - geodetic.lat = DEG2RAD(geodetic.lat); - geodetic.lon = DEG2RAD(geodetic.lon); - return geodetic; -} - - -ECEF geodetic2ecef(const Geodetic &geodetic) { - auto g = to_radians(geodetic); - double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2)); - double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon); - double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon); - double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat); - return {x, y, z}; -} - -Geodetic ecef2geodetic(const ECEF &e) { - // Convert from ECEF to geodetic using Ferrari's methods - // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution - double x = e.x; - double y = e.y; - double z = e.z; - - double r = sqrt(x * x + y * y); - double Esq = a * a - b * b; - double F = 54 * b * b * z * z; - double G = r * r + (1 - esq) * z * z - esq * Esq; - double C = (esq * esq * F * r * r) / (pow(G, 3)); - double S = cbrt(1 + C + sqrt(C * C + 2 * C)); - double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G); - double Q = sqrt(1 + 2 * esq * esq * P); - double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r); - double U = sqrt(pow((r - esq * r_0), 2) + z * z); - double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z); - double Z_0 = b * b * z / (a * V); - double h = U * (1 - b * b / (a * V)); - - double lat = atan((z + e1sq * Z_0) / r); - double lon = atan2(y, x); - - return to_degrees({lat, lon, h}); -} - -LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) { - init_ecef << e.x, e.y, e.z; - - auto g = to_radians(geodetic); - - ned2ecef_matrix << - -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon), - -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon), - cos(g.lat), 0, -sin(g.lat); - ecef2ned_matrix = ned2ecef_matrix.transpose(); -} - -NED LocalCoord::ecef2ned(const ECEF &e) { - Eigen::Vector3d ecef; - ecef << e.x, e.y, e.z; - - Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef)); - return {ned[0], ned[1], ned[2]}; -} - -ECEF LocalCoord::ned2ecef(const NED &n) { - Eigen::Vector3d ned; - ned << n.n, n.e, n.d; - - Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef; - return {ecef[0], ecef[1], ecef[2]}; -} - -NED LocalCoord::geodetic2ned(const Geodetic &g) { - ECEF e = ::geodetic2ecef(g); - return ecef2ned(e); -} - -Geodetic LocalCoord::ned2geodetic(const NED &n) { - ECEF e = ned2ecef(n); - return ::ecef2geodetic(e); -} diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp deleted file mode 100644 index dc8ff7a4b6..0000000000 --- a/common/transformations/coordinates.hpp +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -#include - -#define DEG2RAD(x) ((x) * M_PI / 180.0) -#define RAD2DEG(x) ((x) * 180.0 / M_PI) - -struct ECEF { - double x, y, z; - Eigen::Vector3d to_vector() const { - return Eigen::Vector3d(x, y, z); - } -}; - -struct NED { - double n, e, d; - Eigen::Vector3d to_vector() const { - return Eigen::Vector3d(n, e, d); - } -}; - -struct Geodetic { - double lat, lon, alt; - bool radians=false; -}; - -ECEF geodetic2ecef(const Geodetic &g); -Geodetic ecef2geodetic(const ECEF &e); - -class LocalCoord { -public: - Eigen::Matrix3d ned2ecef_matrix; - Eigen::Matrix3d ecef2ned_matrix; - Eigen::Vector3d init_ecef; - LocalCoord(const Geodetic &g, const ECEF &e); - LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {} - LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {} - - NED ecef2ned(const ECEF &e); - ECEF ned2ecef(const NED &n); - NED geodetic2ned(const Geodetic &g); - Geodetic ned2geodetic(const NED &n); -}; diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc deleted file mode 100644 index fb5e47a86a..0000000000 --- a/common/transformations/orientation.cc +++ /dev/null @@ -1,144 +0,0 @@ -#define _USE_MATH_DEFINES - -#include -#include -#include - -#include "common/transformations/orientation.hpp" -#include "common/transformations/coordinates.hpp" - -Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) { - if (quat.w() > 0){ - return quat; - } else { - return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z()); - } -} - -Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) { - Eigen::Quaterniond q; - - q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ()) - * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY()) - * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX()); - return ensure_unique(q); -} - - -Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) { - // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore - // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0); - // return {euler(2), euler(1), euler(0)}; - double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y())); - double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0); - double theta = asin(asin_arg_clipped); - double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z())); - return {gamma, theta, psi}; -} - -Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) { - return quat.toRotationMatrix(); -} - -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) { - return ensure_unique(Eigen::Quaterniond(rot)); -} - -Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) { - return quat2rot(euler2quat(euler)); -} - -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) { - return quat2euler(rot2quat(rot)); -} - -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) { - return euler2rot({roll, pitch, yaw}); -} - -Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) { - Eigen::Quaterniond q; - q = Eigen::AngleAxisd(angle, axis); - return q.toRotationMatrix(); -} - - -Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) { - /* - Using Rotations to Build Aerospace Coordinate Systems - Don Koks - https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf - */ - LocalCoord converter = LocalCoord(ecef_init); - Eigen::Vector3d zero = ecef_init.to_vector(); - - Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero; - Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero; - Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero; - - Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0; - Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0; - Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0; - - Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1; - Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1; - Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1; - - Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2; - Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2; - - - x0 = Eigen::Vector3d(1, 0, 0); - y0 = Eigen::Vector3d(0, 1, 0); - z0 = Eigen::Vector3d(0, 0, 1); - - double psi = atan2(x3.dot(y0), x3.dot(x0)); - double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2))); - - y2 = rot(z0, psi) * y0; - z2 = rot(y2, theta) * z0; - - double phi = atan2(y3.dot(z2), y3.dot(y2)); - - return {phi, theta, psi}; -} - -Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) { - /* - Using Rotations to Build Aerospace Coordinate Systems - Don Koks - https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf - */ - LocalCoord converter = LocalCoord(ecef_init); - - Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0); - Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0); - Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1); - - Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0; - Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0; - Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0; - - Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1; - Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1; - Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1; - - Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2; - Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2; - - Eigen::Vector3d zero = ecef_init.to_vector(); - x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero; - y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero; - z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero; - - double psi = atan2(x3.dot(y0), x3.dot(x0)); - double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2))); - - y2 = rot(z0, psi) * y0; - z2 = rot(y2, theta) * z0; - - double phi = atan2(y3.dot(z2), y3.dot(y2)); - - return {phi, theta, psi}; -} - diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp deleted file mode 100644 index 0874a0a814..0000000000 --- a/common/transformations/orientation.hpp +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once -#include -#include "common/transformations/coordinates.hpp" - - -Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat); - -Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler); -Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat); -Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat); -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot); -Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler); -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot); -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw); -Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle); -Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose); -Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose); diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index 11a6bf70ee..0b5d1c36df 100644 --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -102,3 +102,36 @@ class TestNED: np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch), ecef_positions_offset_batch, rtol=1e-9, atol=1e-7) + + def test_errors(self): + # Test wrong shape/type for geodetic2ecef + # numpy_wrap raises IndexError for scalar input + with np.testing.assert_raises(IndexError): + coord.geodetic2ecef(1.0) + + with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"): + coord.geodetic2ecef([0, 0]) + + with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"): + coord.geodetic2ecef([0, 0, 0, 0]) + + with np.testing.assert_raises(TypeError): + coord.geodetic2ecef(['a', 'b', 'c']) + + # Test LocalCoord constructor errors + with np.testing.assert_raises(ValueError): + coord.LocalCoord.from_geodetic([0, 0]) + + with np.testing.assert_raises(ValueError): + coord.LocalCoord.from_geodetic(1) + + with np.testing.assert_raises(TypeError): + coord.LocalCoord.from_geodetic(['a', 'b', 'c']) + + # Test wrong shape/type for ecef2geodetic + with np.testing.assert_raises(ValueError): + coord.ecef2geodetic([1, 2]) + with np.testing.assert_raises(ValueError): + coord.ecef2geodetic([1, 2, 3, 4]) + with np.testing.assert_raises(IndexError): + coord.ecef2geodetic(1.0) diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py index 55fbc6581e..1bf94115c8 100644 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -1,4 +1,5 @@ import numpy as np +import pytest from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ @@ -59,3 +60,32 @@ class TestOrientation: np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7) #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7) # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7) + + def test_inputs(self): + with pytest.raises(ValueError): + euler2quat([1, 2]) + + with pytest.raises(ValueError): + quat2rot([1, 2, 3]) + + with pytest.raises(IndexError): + rot2quat(np.zeros((2, 2))) + + def test_euler_rot_consistency(self): + rpy = [0.1, 0.2, 0.3] + R = euler2rot(rpy) + + # R -> q -> R + q = rot2quat(R) + R_new = quat2rot(q) + np.testing.assert_allclose(R, R_new, atol=1e-15) + + # q -> R -> Euler (quat2euler) -> R + rpy_new = quat2euler(q) + R_new2 = euler2rot(rpy_new) + np.testing.assert_allclose(R, R_new2, atol=1e-15) + + # R -> Euler (rot2euler) -> R + rpy_from_rot = rot2euler(R) + R_new3 = euler2rot(rpy_from_rot) + np.testing.assert_allclose(R, R_new3, atol=1e-15) diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd deleted file mode 100644 index fe32e18dea..0000000000 --- a/common/transformations/transformations.pxd +++ /dev/null @@ -1,72 +0,0 @@ -# cython: language_level=3 -from libcpp cimport bool - -cdef extern from "orientation.cc": - pass - -cdef extern from "orientation.hpp": - cdef cppclass Quaternion "Eigen::Quaterniond": - Quaternion() - Quaternion(double, double, double, double) - double w() - double x() - double y() - double z() - - cdef cppclass Vector3 "Eigen::Vector3d": - Vector3() - Vector3(double, double, double) - double operator()(int) - - cdef cppclass Matrix3 "Eigen::Matrix3d": - Matrix3() - Matrix3(double*) - - double operator()(int, int) - - Quaternion euler2quat(const Vector3 &) - Vector3 quat2euler(const Quaternion &) - Matrix3 quat2rot(const Quaternion &) - Quaternion rot2quat(const Matrix3 &) - Vector3 rot2euler(const Matrix3 &) - Matrix3 euler2rot(const Vector3 &) - Matrix3 rot_matrix(double, double, double) - Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &) - Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &) - - -cdef extern from "coordinates.cc": - cdef struct ECEF: - double x - double y - double z - - cdef struct NED: - double n - double e - double d - - cdef struct Geodetic: - double lat - double lon - double alt - bool radians - - ECEF geodetic2ecef(const Geodetic &) - Geodetic ecef2geodetic(const ECEF &) - - cdef cppclass LocalCoord_c "LocalCoord": - Matrix3 ned2ecef_matrix - Matrix3 ecef2ned_matrix - - LocalCoord_c(const Geodetic &, const ECEF &) - LocalCoord_c(const Geodetic &) - LocalCoord_c(const ECEF &) - - NED ecef2ned(const ECEF &) - ECEF ned2ecef(const NED &) - NED geodetic2ned(const Geodetic &) - Geodetic ned2geodetic(const NED &) - -cdef extern from "coordinates.hpp": - pass diff --git a/common/transformations/transformations.py b/common/transformations/transformations.py new file mode 100644 index 0000000000..5cb6220f95 --- /dev/null +++ b/common/transformations/transformations.py @@ -0,0 +1,342 @@ +import numpy as np + + +# Constants +a = 6378137.0 +b = 6356752.3142 +esq = 6.69437999014e-3 +e1sq = 6.73949674228e-3 + + +def geodetic2ecef_single(g): + """ + Convert geodetic coordinates (latitude, longitude, altitude) to ECEF. + """ + try: + if len(g) != 3: + raise ValueError("Geodetic must be size 3") + except TypeError: + raise ValueError("Geodetic must be a sequence of length 3") from None + + lat, lon, alt = g + lat = np.radians(lat) + lon = np.radians(lon) + xi = np.sqrt(1.0 - esq * np.sin(lat)**2) + x = (a / xi + alt) * np.cos(lat) * np.cos(lon) + y = (a / xi + alt) * np.cos(lat) * np.sin(lon) + z = (a / xi * (1.0 - esq) + alt) * np.sin(lat) + return np.array([x, y, z]) + + +def ecef2geodetic_single(e): + """ + Convert ECEF to geodetic coordinates using Ferrari's solution. + """ + x, y, z = e + r = np.sqrt(x**2 + y**2) + Esq = a**2 - b**2 + F = 54 * b**2 * z**2 + G = r**2 + (1 - esq) * z**2 - esq * Esq + C = (esq**2 * F * r**2) / (G**3) + S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C)) + P = F / (3 * (S + 1 / S + 1)**2 * G**2) + Q = np.sqrt(1 + 2 * esq**2 * P) + r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2) + U = np.sqrt((r - esq * r_0)**2 + z**2) + V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2) + Z_0 = b**2 * z / (a * V) + h = U * (1 - b**2 / (a * V)) + lat = np.arctan((z + e1sq * Z_0) / r) + lon = np.arctan2(y, x) + return np.array([np.degrees(lat), np.degrees(lon), h]) + + +def euler2quat_single(euler): + """ + Convert Euler angles (roll, pitch, yaw) to a quaternion. + Rotation order: Z-Y-X (yaw, pitch, roll). + """ + phi, theta, psi = euler + + c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2) + c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2) + c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2) + + w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi + x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi + y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi + z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi + + if w < 0: + return np.array([-w, -x, -y, -z]) + return np.array([w, x, y, z]) + + +def quat2euler_single(q): + """ + Convert a quaternion to Euler angles (roll, pitch, yaw). + """ + w, x, y, z = q + gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2)) + sin_arg = 2 * (w * y - z * x) + sin_arg = np.clip(sin_arg, -1.0, 1.0) + theta = np.arcsin(sin_arg) + psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2)) + return np.array([gamma, theta, psi]) + + +def quat2rot_single(q): + """ + Convert a quaternion to a 3x3 rotation matrix. + """ + w, x, y, z = q + xx, yy, zz = x * x, y * y, z * z + xy, xz, yz = x * y, x * z, y * z + wx, wy, wz = w * x, w * y, w * z + + mat = np.array([ + [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)], + [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)], + [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)] + ]) + return mat + + +def rot2quat_single(rot): + """ + Convert a 3x3 rotation matrix to a quaternion. + """ + trace = np.trace(rot) + if trace > 0: + s = 0.5 / np.sqrt(trace + 1.0) + w = 0.25 / s + x = (rot[2, 1] - rot[1, 2]) * s + y = (rot[0, 2] - rot[2, 0]) * s + z = (rot[1, 0] - rot[0, 1]) * s + else: + if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]: + s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2]) + w = (rot[2, 1] - rot[1, 2]) / s + x = 0.25 * s + y = (rot[0, 1] + rot[1, 0]) / s + z = (rot[0, 2] + rot[2, 0]) / s + elif rot[1, 1] > rot[2, 2]: + s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2]) + w = (rot[0, 2] - rot[2, 0]) / s + x = (rot[0, 1] + rot[1, 0]) / s + y = 0.25 * s + z = (rot[1, 2] + rot[2, 1]) / s + else: + s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1]) + w = (rot[1, 0] - rot[0, 1]) / s + x = (rot[0, 2] + rot[2, 0]) / s + y = (rot[1, 2] + rot[2, 1]) / s + z = 0.25 * s + + if w < 0: + return np.array([-w, -x, -y, -z]) + return np.array([w, x, y, z]) + + +def euler2rot_single(euler): + """ + Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix. + Rotation order: Z-Y-X (yaw, pitch, roll). + """ + phi, theta, psi = euler + + cx, sx = np.cos(phi), np.sin(phi) + cy, sy = np.cos(theta), np.sin(theta) + cz, sz = np.cos(psi), np.sin(psi) + + Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]]) + Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]]) + Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]]) + + return Rz @ Ry @ Rx + + +def rot2euler_single(rot): + """ + Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw). + """ + return quat2euler_single(rot2quat_single(rot)) + + +def rot_matrix(roll, pitch, yaw): + """ + Create a 3x3 rotation matrix from roll, pitch, and yaw angles. + """ + return euler2rot_single([roll, pitch, yaw]) + + +def axis_angle_to_rot(axis, angle): + """ + Convert an axis-angle representation to a 3x3 rotation matrix. + """ + c = np.cos(angle / 2) + s = np.sin(angle / 2) + q = np.array([c, s*axis[0], s*axis[1], s*axis[2]]) + return quat2rot_single(q) + + +class LocalCoord: + """ + A class to handle conversions between ECEF and local NED coordinates. + """ + def __init__(self, geodetic=None, ecef=None): + """ + Initialize LocalCoord with either geodetic or ECEF coordinates. + """ + if geodetic is not None: + self.init_ecef = geodetic2ecef_single(geodetic) + lat, lon, _ = geodetic + elif ecef is not None: + self.init_ecef = np.array(ecef) + lat, lon, _ = ecef2geodetic_single(ecef) + else: + raise ValueError("Must provide geodetic or ecef") + + lat = np.radians(lat) + lon = np.radians(lon) + + self.ned2ecef_matrix = np.array([ + [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)], + [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)], + [np.cos(lat), 0, -np.sin(lat)] + ]) + self.ecef2ned_matrix = self.ned2ecef_matrix.T + + @classmethod + def from_geodetic(cls, geodetic): + """ + Create a LocalCoord instance from geodetic coordinates. + """ + return cls(geodetic=geodetic) + + @classmethod + def from_ecef(cls, ecef): + """ + Create a LocalCoord instance from ECEF coordinates. + """ + return cls(ecef=ecef) + + def ecef2ned_single(self, ecef): + """ + Convert a single ECEF point to NED coordinates relative to the origin. + """ + return self.ecef2ned_matrix @ (ecef - self.init_ecef) + + def ned2ecef_single(self, ned): + """ + Convert a single NED point to ECEF coordinates. + """ + return self.ned2ecef_matrix @ ned + self.init_ecef + + def geodetic2ned_single(self, geodetic): + """ + Convert a single geodetic point to NED coordinates. + """ + ecef = geodetic2ecef_single(geodetic) + return self.ecef2ned_single(ecef) + + def ned2geodetic_single(self, ned): + """ + Convert a single NED point to geodetic coordinates. + """ + ecef = self.ned2ecef_single(ned) + return ecef2geodetic_single(ecef) + + @property + def ned_from_ecef_matrix(self): + """ + Returns the rotation matrix from ECEF to NED coordinates. + """ + return self.ecef2ned_matrix + + @property + def ecef_from_ned_matrix(self): + """ + Returns the rotation matrix from NED to ECEF coordinates. + """ + return self.ned2ecef_matrix + + +def ecef_euler_from_ned_single(ecef_init, ned_pose): + """ + Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin + to equivalent ECEF Euler angles. + """ + converter = LocalCoord(ecef=ecef_init) + zero = np.array(ecef_init) + + x0 = converter.ned2ecef_single([1, 0, 0]) - zero + y0 = converter.ned2ecef_single([0, 1, 0]) - zero + z0 = converter.ned2ecef_single([0, 0, 1]) - zero + + phi, theta, psi = ned_pose + + x1 = axis_angle_to_rot(z0, psi) @ x0 + y1 = axis_angle_to_rot(z0, psi) @ y0 + z1 = axis_angle_to_rot(z0, psi) @ z0 + + x2 = axis_angle_to_rot(y1, theta) @ x1 + y2 = axis_angle_to_rot(y1, theta) @ y1 + z2 = axis_angle_to_rot(y1, theta) @ z1 + + x3 = axis_angle_to_rot(x2, phi) @ x2 + y3 = axis_angle_to_rot(x2, phi) @ y2 + + x0 = np.array([1.0, 0, 0]) + y0 = np.array([0, 1.0, 0]) + z0 = np.array([0, 0, 1.0]) + + psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0)) + theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2)) + + y2 = axis_angle_to_rot(z0, psi_out) @ y0 + z2 = axis_angle_to_rot(y2, theta_out) @ z0 + + phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2)) + + return np.array([phi_out, theta_out, psi_out]) + + +def ned_euler_from_ecef_single(ecef_init, ecef_pose): + """ + Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin + to equivalent NED Euler angles. + """ + converter = LocalCoord(ecef=ecef_init) + + x0 = np.array([1.0, 0, 0]) + y0 = np.array([0, 1.0, 0]) + z0 = np.array([0, 0, 1.0]) + + phi, theta, psi = ecef_pose + + x1 = axis_angle_to_rot(z0, psi) @ x0 + y1 = axis_angle_to_rot(z0, psi) @ y0 + z1 = axis_angle_to_rot(z0, psi) @ z0 + + x2 = axis_angle_to_rot(y1, theta) @ x1 + y2 = axis_angle_to_rot(y1, theta) @ y1 + z2 = axis_angle_to_rot(y1, theta) @ z1 + + x3 = axis_angle_to_rot(x2, phi) @ x2 + y3 = axis_angle_to_rot(x2, phi) @ y2 + + zero = np.array(ecef_init) + x0 = converter.ned2ecef_single([1, 0, 0]) - zero + y0 = converter.ned2ecef_single([0, 1, 0]) - zero + z0 = converter.ned2ecef_single([0, 0, 1]) - zero + + psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0)) + theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2)) + + y2 = axis_angle_to_rot(z0, psi_out) @ y0 + z2 = axis_angle_to_rot(y2, theta_out) @ z0 + + phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2)) + + return np.array([phi_out, theta_out, psi_out]) diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx deleted file mode 100644 index ae045c369d..0000000000 --- a/common/transformations/transformations.pyx +++ /dev/null @@ -1,173 +0,0 @@ -# distutils: language = c++ -# cython: language_level = 3 -from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion -from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic - -from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c -from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c -from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c -from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c -from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c -from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c -from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c -from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c -from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c -from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c -from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c -from openpilot.common.transformations.transformations cimport LocalCoord_c - - -import numpy as np -cimport numpy as np - -cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m): - return np.array([ - [m(0, 0), m(0, 1), m(0, 2)], - [m(1, 0), m(1, 1), m(1, 2)], - [m(2, 0), m(2, 1), m(2, 2)], - ]) - -cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m): - assert m.shape[0] == 3 - assert m.shape[1] == 3 - return Matrix3(m.data) - -cdef ECEF list2ecef(ecef): - cdef ECEF e - e.x = ecef[0] - e.y = ecef[1] - e.z = ecef[2] - return e - -cdef NED list2ned(ned): - cdef NED n - n.n = ned[0] - n.e = ned[1] - n.d = ned[2] - return n - -cdef Geodetic list2geodetic(geodetic): - cdef Geodetic g - g.lat = geodetic[0] - g.lon = geodetic[1] - g.alt = geodetic[2] - return g - -def euler2quat_single(euler): - cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) - cdef Quaternion q = euler2quat_c(e) - return [q.w(), q.x(), q.y(), q.z()] - -def quat2euler_single(quat): - cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) - cdef Vector3 e = quat2euler_c(q) - return [e(0), e(1), e(2)] - -def quat2rot_single(quat): - cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) - cdef Matrix3 r = quat2rot_c(q) - return matrix2numpy(r) - -def rot2quat_single(rot): - cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) - cdef Quaternion q = rot2quat_c(r) - return [q.w(), q.x(), q.y(), q.z()] - -def euler2rot_single(euler): - cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) - cdef Matrix3 r = euler2rot_c(e) - return matrix2numpy(r) - -def rot2euler_single(rot): - cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) - cdef Vector3 e = rot2euler_c(r) - return [e(0), e(1), e(2)] - -def rot_matrix(roll, pitch, yaw): - return matrix2numpy(rot_matrix_c(roll, pitch, yaw)) - -def ecef_euler_from_ned_single(ecef_init, ned_pose): - cdef ECEF init = list2ecef(ecef_init) - cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2]) - - cdef Vector3 e = ecef_euler_from_ned_c(init, pose) - return [e(0), e(1), e(2)] - -def ned_euler_from_ecef_single(ecef_init, ecef_pose): - cdef ECEF init = list2ecef(ecef_init) - cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2]) - - cdef Vector3 e = ned_euler_from_ecef_c(init, pose) - return [e(0), e(1), e(2)] - -def geodetic2ecef_single(geodetic): - cdef Geodetic g = list2geodetic(geodetic) - cdef ECEF e = geodetic2ecef_c(g) - return [e.x, e.y, e.z] - -def ecef2geodetic_single(ecef): - cdef ECEF e = list2ecef(ecef) - cdef Geodetic g = ecef2geodetic_c(e) - return [g.lat, g.lon, g.alt] - - -cdef class LocalCoord: - cdef LocalCoord_c * lc - - def __init__(self, geodetic=None, ecef=None): - assert (geodetic is not None) or (ecef is not None) - if geodetic is not None: - self.lc = new LocalCoord_c(list2geodetic(geodetic)) - elif ecef is not None: - self.lc = new LocalCoord_c(list2ecef(ecef)) - - @property - def ned2ecef_matrix(self): - return matrix2numpy(self.lc.ned2ecef_matrix) - - @property - def ecef2ned_matrix(self): - return matrix2numpy(self.lc.ecef2ned_matrix) - - @property - def ned_from_ecef_matrix(self): - return self.ecef2ned_matrix - - @property - def ecef_from_ned_matrix(self): - return self.ned2ecef_matrix - - @classmethod - def from_geodetic(cls, geodetic): - return cls(geodetic=geodetic) - - @classmethod - def from_ecef(cls, ecef): - return cls(ecef=ecef) - - def ecef2ned_single(self, ecef): - assert self.lc - cdef ECEF e = list2ecef(ecef) - cdef NED n = self.lc.ecef2ned(e) - return [n.n, n.e, n.d] - - def ned2ecef_single(self, ned): - assert self.lc - cdef NED n = list2ned(ned) - cdef ECEF e = self.lc.ned2ecef(n) - return [e.x, e.y, e.z] - - def geodetic2ned_single(self, geodetic): - assert self.lc - cdef Geodetic g = list2geodetic(geodetic) - cdef NED n = self.lc.geodetic2ned(g) - return [n.n, n.e, n.d] - - def ned2geodetic_single(self, ned): - assert self.lc - cdef NED n = list2ned(ned) - cdef Geodetic g = self.lc.ned2geodetic(n) - return [g.lat, g.lon, g.alt] - - def __dealloc__(self): - del self.lc diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 8b33a457f2..a184b6a23d 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,7 +1,7 @@ import os import glob -Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations') +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') lenv = env.Clone() lenvCython = envCython.Clone() From a46ff01cab6d79ec35b1fd91b5180da534804d0b Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 19 Jan 2026 11:39:21 -0800 Subject: [PATCH 52/68] [bot] Update Python packages (#36966) * Update Python packages * ty fixes --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- common/pid.py | 12 +- docs/CARS.md | 159 +- panda | 2 +- pyproject.toml | 4 +- selfdrive/car/car_specific.py | 2 +- .../debug/car/hyundai_enable_radar_points.py | 6 +- selfdrive/debug/car/vw_mqb_config.py | 10 +- selfdrive/debug/cpu_usage_stat.py | 1 - selfdrive/debug/fuzz_fw_fingerprint.py | 1 - selfdrive/debug/measure_torque_time_to_max.py | 1 - selfdrive/debug/test_fw_query_on_routes.py | 1 - selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/paramsd.py | 4 +- system/qcomgpsd/nmeaport.py | 4 +- system/ui/lib/application.py | 3 +- system/ui/widgets/__init__.py | 4 +- system/ui/widgets/network.py | 4 +- tinygrad_repo | 2 +- tools/jotpluggler/pluggle.py | 2 +- tools/tuning/measure_steering_accuracy.py | 1 - uv.lock | 1640 ++++++++--------- 21 files changed, 912 insertions(+), 953 deletions(-) diff --git a/common/pid.py b/common/pid.py index e3fa8afdf4..b3d64d6fcd 100644 --- a/common/pid.py +++ b/common/pid.py @@ -3,15 +3,9 @@ from numbers import Number class PIDController: def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100): - self._k_p = k_p - self._k_i = k_i - self._k_d = k_d - if isinstance(self._k_p, Number): - self._k_p = [[0], [self._k_p]] - if isinstance(self._k_i, Number): - self._k_i = [[0], [self._k_i]] - if isinstance(self._k_d, Number): - self._k_d = [[0], [self._k_d]] + self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p + self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i + self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d self.set_limits(pos_limit, neg_limit) diff --git a/docs/CARS.md b/docs/CARS.md index e0d61cd415..08c06b2303 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,22 +4,22 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 325 Supported Cars +# 326 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|TLX 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| @@ -31,33 +31,33 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Focus 2018[2](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Focus Hybrid 2018[2](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Mustang Mach-E 2021-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Mustang Mach-E 2021-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -91,7 +91,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -201,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -216,19 +217,19 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| @@ -239,19 +240,19 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Škoda|Fabia 2022-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Škoda|Kamiq 2021-23[11,13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Škoda|Karoq 2019-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Kodiaq 2017-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia 2015-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia RS 2016[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia Scout 2017-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Scala 2020-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Škoda|Superb 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model Y (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Fabia 2022-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Kamiq 2021-23[11,13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Karoq 2019-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Kodiaq 2017-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia 2015-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia RS 2016[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia Scout 2017-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Scala 2020-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Superb 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model Y (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -297,42 +298,42 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
diff --git a/panda b/panda index e42367df97..3dd38b76b4 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e42367df97f1a5ea4ddb152566022c3ae4672e58 +Subproject commit 3dd38b76b48903efb4705f55752e9719ba2f5564 diff --git a/pyproject.toml b/pyproject.toml index c21ba734dd..9a70f69d26 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -273,6 +273,6 @@ invalid-argument-type = "ignore" call-non-callable = "ignore" # Ignore unsupported-operator - false positives from dynamic types unsupported-operator = "ignore" -# Ignore non-subscriptable - false positives from dynamic types -non-subscriptable = "ignore" +# Ignore not-subscriptable - false positives from dynamic types +not-subscriptable = "ignore" # not-iterable errors are now fixed diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index c93d7ac4a2..86494afc7a 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -87,7 +87,7 @@ class CarSpecificEvents: events.add(EventName.speedTooLow) # TODO: this needs to be implemented generically in carState struct - # if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined] + # if CC.eps_timer_soft_disable_alert: # events.add(EventName.steerTimeLimit) return events diff --git a/selfdrive/debug/car/hyundai_enable_radar_points.py b/selfdrive/debug/car/hyundai_enable_radar_points.py index 93f5949eac..df150a5224 100755 --- a/selfdrive/debug/car/hyundai_enable_radar_points.py +++ b/selfdrive/debug/car/hyundai_enable_radar_points.py @@ -101,11 +101,11 @@ if __name__ == "__main__": uds_client = UdsClient(panda, 0x7D0, bus=args.bus) print("\n[START DIAGNOSTIC SESSION]") - session_type : SESSION_TYPE = 0x07 # type: ignore + session_type : SESSION_TYPE = 0x07 uds_client.diagnostic_session_control(session_type) print("[HARDWARE/SOFTWARE VERSION]") - fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore + fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 fw_version = uds_client.read_data_by_identifier(fw_version_data_id) print(fw_version) if fw_version not in SUPPORTED_FW_VERSIONS.keys(): @@ -113,7 +113,7 @@ if __name__ == "__main__": sys.exit(1) print("[GET CONFIGURATION]") - config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore + config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 current_config = uds_client.read_data_by_identifier(config_data_id) config_values = SUPPORTED_FW_VERSIONS[fw_version] new_config = config_values.default_config if args.default else config_values.tracks_enabled diff --git a/selfdrive/debug/car/vw_mqb_config.py b/selfdrive/debug/car/vw_mqb_config.py index 3c55642e40..13ee7786d9 100755 --- a/selfdrive/debug/car/vw_mqb_config.py +++ b/selfdrive/debug/car/vw_mqb_config.py @@ -55,7 +55,7 @@ if __name__ == "__main__": sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') - current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore + current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) coding_text = current_coding.hex() print("\nEPS diagnostic data\n") @@ -126,9 +126,9 @@ if __name__ == "__main__": new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:] try: - seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore + seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) key = struct.unpack("!I", seed)[0] + 28183 # yeah, it's like that - uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore + uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) except (NegativeResponseError, MessageTimeoutError): print("Security access failed!") print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)") @@ -148,7 +148,7 @@ if __name__ == "__main__": uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num) - uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) # type: ignore + uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) except (NegativeResponseError, MessageTimeoutError): print("Writing new configuration failed!") print("Make sure the comma processes are stopped: tmux kill-session -t comma") @@ -156,7 +156,7 @@ if __name__ == "__main__": try: # Read back result just to make 100% sure everything worked - current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() # type: ignore + current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() print(f" New coding: {current_coding_text}") except (NegativeResponseError, MessageTimeoutError): print("Reading back updated coding failed!") diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 397e9f35f5..089685103f 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore ''' System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs. Features: diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/selfdrive/debug/fuzz_fw_fingerprint.py index fa99e6bfbe..b4276c0c1a 100755 --- a/selfdrive/debug/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/fuzz_fw_fingerprint.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore import random from collections import defaultdict diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/selfdrive/debug/measure_torque_time_to_max.py index 7052dccf7d..e99aeae464 100755 --- a/selfdrive/debug/measure_torque_time_to_max.py +++ b/selfdrive/debug/measure_torque_time_to_max.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore import os import argparse diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 1216b7299f..ab539e4feb 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore from collections import defaultdict import argparse diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 3843cf37f3..036f5822d2 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -47,7 +47,7 @@ DEBUG = os.getenv("DEBUG") is not None def is_calibration_valid(rpy: np.ndarray) -> bool: - return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) # type: ignore + return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) def sanity_clip(rpy: np.ndarray) -> np.ndarray: diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index b4084fe5bc..fd03d3d093 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -127,8 +127,8 @@ class VehicleParamsLearner: if not self.active: # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) # type: ignore - self.kf.filter.reset_rewind() # type: ignore + self.kf.filter.set_filter_time(t) + self.kf.filter.reset_rewind() def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: x = self.kf.x diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py index 8b9ab51086..10b8516ed0 100644 --- a/system/qcomgpsd/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -107,11 +107,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: match fields[0]: case "$GNCLK": # fields at end are reserved (not used) - gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + gnss_clock = GnssClockNmeaPort(*fields[1:10]) print(gnss_clock) case "$GNMEAS": # fields at end are reserved (not used) - gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) print(gnss_meas) except Exception as e: print(e) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 04cd37af3e..151f22ac12 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -184,7 +184,8 @@ class MouseState: time.monotonic(), ) # Only add changes - if self._prev_mouse_event[slot] is None or ev[:-1] != self._prev_mouse_event[slot][:-1]: + prev = self._prev_mouse_event[slot] + if prev is None or ev[:-1] != prev[:-1]: with self._lock: self._events.append(ev) self._prev_mouse_event[slot] = ev diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 4f3c977d2e..42d9a910aa 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -12,7 +12,7 @@ try: except ImportError: class Device: awake = True - device = Device() # type: ignore + device = Device() class DialogResult(IntEnum): @@ -299,7 +299,7 @@ class NavWidget(Widget, abc.ABC): # block horizontal swiping if now swiping away if self._can_swipe_away: - if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD: # type: ignore + if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD: self._swiping_away = True elif mouse_event.left_released: diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index f41a04c249..8f5168958f 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -22,8 +22,8 @@ try: from openpilot.selfdrive.ui.lib.prime_state import PrimeType except Exception: Params = None - ui_state = None # type: ignore - PrimeType = None # type: ignore + ui_state = None + PrimeType = None NM_DEVICE_STATE_NEED_AUTH = 60 MIN_PASSWORD_LENGTH = 8 diff --git a/tinygrad_repo b/tinygrad_repo index f5090192c8..7cb7abeeb0 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit f5090192c84760be1227f7e3c4f99ad0603117ae +Subproject commit 7cb7abeeb02c681a463f252179354db4bb5e3809 diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py index 879b677514..6fb8d5049b 100755 --- a/tools/jotpluggler/pluggle.py +++ b/tools/jotpluggler/pluggle.py @@ -7,7 +7,7 @@ import dearpygui.dearpygui as dpg import multiprocessing import uuid import signal -import yaml # type: ignore +import yaml from openpilot.common.swaglog import cloudlog from openpilot.common.basedir import BASEDIR from openpilot.tools.jotpluggler.data import DataManager diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 7e4e975742..e4aef0ba15 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore import os import time diff --git a/uv.lock b/uv.lock index 73c8fe7c9c..674b18b7ea 100644 --- a/uv.lock +++ b/uv.lock @@ -2,12 +2,8 @@ version = 1 revision = 3 requires-python = ">=3.11, <3.13" resolution-markers = [ - "python_full_version >= '3.12' and sys_platform == 'darwin'", - "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", - "python_full_version < '3.12' and sys_platform == 'darwin'", - "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "python_full_version >= '3.12'", + "python_full_version < '3.12'", ] [[package]] @@ -21,7 +17,7 @@ wheels = [ [[package]] name = "aiohttp" -version = "3.13.2" +version = "3.13.3" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aiohappyeyeballs" }, @@ -32,42 +28,42 @@ dependencies = [ { name = "propcache" }, { name = "yarl" }, ] -sdist = { url = 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[PATCH 53/68] =?UTF-8?q?WMI=20model=20=F0=9F=8D=89=20(#36798)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 1791ea0f-8667-4e0b-be73-084d912f6c4c/100 * eab53871-1f8c-45be-9a98-f6b3dd6a0adc/100 * dd075c9d-0c49-402e-b4f2-9adbe5301c84/100 * e8b5b1b0-2d37-4b62-bd39-21ff0d08ee68/100 * 1aff00c7-06c5-46a6-8a79-7e56f77d81bf/100 * 3547a2cc-1699-4e7d-a2ab-4eb87d0b8684/100 * 849aa9fb-dae6-4604-923e-050883def218/100 * 0e0f6dd2-96dc-4f34-a7cd-63bccc2f5616/100 * 887f923b-7e79-43c6-8f1f-053e1490f859/100 * 1fa82260-1171-4db5-9968-d34ce2e14694/100 * Revert "1fa82260-1171-4db5-9968-d34ce2e14694/100" This reverts commit 855f5e4ddefd69a20cc4e9da004eb53f3e00d950. * a27b3122-733e-4a65-938b-acfebebbe5e8/100 --------- Co-authored-by: Yassine Yousfi --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 27e4c8f7b9..92c81954d2 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:66f406ee179d984a4d8c93e38da479dcd1893127308dd3a7c322a7481a6b51b2 +oid sha256:1edea5bb56f876db4cec97c150799513f6a59373f3ad152d55e4dcaab1b809e3 size 13926324 From 039b85f355d6a6638575cd0a311d354ded99b5b3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Jan 2026 15:33:23 -0800 Subject: [PATCH 54/68] bump opendbc (#37003) * bump opendbc * bump * bump * bump * bump bump bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index edf19be8ef..796ece26ac 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit edf19be8efe06a5387265adc4650725bb56b5c46 +Subproject commit 796ece26acd8b9255810ca71941ed72626589ee7 From 10db1edc7f6eaba28e93479b11d483340bd3826b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Jan 2026 15:50:00 -0800 Subject: [PATCH 55/68] merge common.util and common.utils (#36951) * common: merge common.util and common.utils * cleanup * cleanup --- cereal/messaging/__init__.py | 2 +- common/realtime.py | 2 +- common/util.py | 46 --------------------------- common/utils.py | 53 ++++++++++++++++++++++++++++++-- system/hardware/tici/hardware.py | 2 +- system/sensord/sensord.py | 2 +- 6 files changed, 54 insertions(+), 53 deletions(-) delete mode 100644 common/util.py diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 0ad846f0f4..d5033cd634 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -13,7 +13,7 @@ from typing import Optional, List, Union, Dict from cereal import log from cereal.services import SERVICE_LIST -from openpilot.common.util import MovingAverage +from openpilot.common.utils import MovingAverage NO_TRAVERSAL_LIMIT = 2**64-1 diff --git a/common/realtime.py b/common/realtime.py index 57926b4c4f..0b14681021 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -6,7 +6,7 @@ import time from setproctitle import getproctitle -from openpilot.common.util import MovingAverage +from openpilot.common.utils import MovingAverage from openpilot.system.hardware import PC diff --git a/common/util.py b/common/util.py deleted file mode 100644 index e6ddb46e7b..0000000000 --- a/common/util.py +++ /dev/null @@ -1,46 +0,0 @@ -import os -import subprocess - -def sudo_write(val: str, path: str) -> None: - try: - with open(path, 'w') as f: - f.write(str(val)) - except PermissionError: - os.system(f"sudo chmod a+w {path}") - try: - with open(path, 'w') as f: - f.write(str(val)) - except PermissionError: - # fallback for debugfs files - os.system(f"sudo su -c 'echo {val} > {path}'") - -def sudo_read(path: str) -> str: - try: - return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() - except Exception: - return "" - -class MovingAverage: - def __init__(self, window_size: int): - self.window_size: int = window_size - self.buffer: list[float] = [0.0] * window_size - self.index: int = 0 - self.count: int = 0 - self.sum: float = 0.0 - - def add_value(self, new_value: float): - # Update the sum: subtract the value being replaced and add the new value - self.sum -= self.buffer[self.index] - self.buffer[self.index] = new_value - self.sum += new_value - - # Update the index in a circular manner - self.index = (self.index + 1) % self.window_size - - # Track the number of added values (for partial windows) - self.count = min(self.count + 1, self.window_size) - - def get_average(self) -> float: - if self.count == 0: - return float('nan') - return self.sum / self.count diff --git a/common/utils.py b/common/utils.py index 71b29a0c4e..caa9a57958 100644 --- a/common/utils.py +++ b/common/utils.py @@ -7,14 +7,61 @@ import time import functools from subprocess import Popen, PIPE, TimeoutExpired import zstandard as zstd -from openpilot.common.swaglog import cloudlog LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change +def sudo_write(val: str, path: str) -> None: + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + os.system(f"sudo chmod a+w {path}") + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + # fallback for debugfs files + os.system(f"sudo su -c 'echo {val} > {path}'") + + +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() + except Exception: + return "" + + +class MovingAverage: + def __init__(self, window_size: int): + self.window_size: int = window_size + self.buffer: list[float] = [0.0] * window_size + self.index: int = 0 + self.count: int = 0 + self.sum: float = 0.0 + + def add_value(self, new_value: float): + # Update the sum: subtract the value being replaced and add the new value + self.sum -= self.buffer[self.index] + self.buffer[self.index] = new_value + self.sum += new_value + + # Update the index in a circular manner + self.index = (self.index + 1) % self.window_size + + # Track the number of added values (for partial windows) + self.count = min(self.count + 1, self.window_size) + + def get_average(self) -> float: + if self.count == 0: + return float('nan') + return self.sum / self.count + + class CallbackReader: """Wraps a file, but overrides the read method to also call a callback function with the number of bytes read so far.""" + def __init__(self, f, callback, *args): self.f = f self.callback = callback @@ -107,11 +154,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False): try: return func(*args, **kwargs) except Exception: - cloudlog.exception(f"{func.__name__} failed, trying again") + print(f"{func.__name__} failed, trying again") time.sleep(delay) if ignore_failure: - cloudlog.error(f"{func.__name__} failed after retry") + print(f"{func.__name__} failed after retry") else: raise Exception(f"{func.__name__} failed after retry") return wrapper diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 3cdb336086..5a84afce03 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -8,7 +8,7 @@ from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from openpilot.common.util import sudo_read, sudo_write +from openpilot.common.utils import sudo_read, sudo_write from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone from openpilot.system.hardware.tici import iwlist diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py index cc0366881b..62908c6f18 100755 --- a/system/sensord/sensord.py +++ b/system/sensord/sensord.py @@ -7,7 +7,7 @@ import threading import cereal.messaging as messaging from cereal.services import SERVICE_LIST -from openpilot.common.util import sudo_write +from openpilot.common.utils import sudo_write from openpilot.common.realtime import config_realtime_process, Ratekeeper from openpilot.common.swaglog import cloudlog from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data From 13efc421c42f6e9c06430d80be02ba2a8ea50643 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 19 Jan 2026 16:27:41 -0800 Subject: [PATCH 56/68] NV12 buffer shape helpers (#36683) * Give this a try * can codex debug? * simpler * Revert "simpler" This reverts commit 572335008c1c719aa985d14bd740253ff94b94a9. * better * cleanup * try again * tie * try this * try this * do tests fail without this? * doesn't seem needed * unused * don't need duplicate * passes CI? * try this * try this * try this * I don't understand this, so back to before * keep that alignment * set uv_height --------- Co-authored-by: Adeeb Shihadeh --- system/camerad/cameras/camera_common.cc | 6 +----- system/camerad/cameras/nv12_info.h | 19 +++++++++++++++++++ system/camerad/cameras/spectra.cc | 14 +++----------- system/camerad/cameras/spectra.h | 1 + tools/replay/camera.cc | 11 ++--------- tools/replay/camera.h | 2 -- 6 files changed, 26 insertions(+), 27 deletions(-) create mode 100644 system/camerad/cameras/nv12_info.h diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1f6ad9b4be..88bca7f775 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,11 +26,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } - // the encoder HW tells us the size it wants after setting it up. - // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; - - vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height); } diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h new file mode 100644 index 0000000000..0f4aee81a0 --- /dev/null +++ b/system/camerad/cameras/nv12_info.h @@ -0,0 +1,19 @@ +#pragma once + +#include +#include +#include + +#include "third_party/linux/include/msm_media_info.h" + +// Returns NV12 aligned width, height, and buffer size for the given frame. +inline std::tuple get_nv12_info(int width, int height) { + // the encoder HW tells us the size it wants after setting it up. + // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? + const uint32_t nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + const uint32_t nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); + assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); + assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); + const uint32_t nv12_buffer_size = (width <= 1344 ? 2900 : 2346)*nv12_width; + return {nv12_width, nv12_height, nv12_buffer_size}; +} diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 0d93b70465..20f48bb556 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -283,20 +283,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c buf.out_img_width = sensor->frame_width / sensor->out_scale; buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - - // size is driven by all the HW that handles frames, - // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_offset = stride*y_height; - yuv_size = uv_offset + stride*uv_height; + std::tie(stride, y_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height); + uv_height = y_height / 2; + uv_offset = stride * y_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); - yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); - assert(y_height/2 == uv_height); open = true; configISP(); diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 13cb13f98f..983873c7f8 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -12,6 +12,7 @@ #include "common/util.h" #include "common/swaglog.h" #include "system/camerad/cameras/hw.h" +#include "system/camerad/cameras/nv12_info.h" #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/sensor.h" diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 73243ed20d..2962195aff 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -7,18 +7,11 @@ #include "third_party/linux/include/msm_media_info.h" #include "tools/replay/util.h" +#include "system/camerad/cameras/nv12_info.h" + const int BUFFER_COUNT = 40; -std::tuple get_nv12_info(int width, int height) { - int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); - int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); - assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); - size_t nv12_buffer_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage - return {nv12_width, nv12_height, nv12_buffer_size}; -} - CameraServer::CameraServer(std::pair camera_size[MAX_CAMERAS]) { for (int i = 0; i < MAX_CAMERAS; ++i) { std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i]; diff --git a/tools/replay/camera.h b/tools/replay/camera.h index 21c3d98dcf..9433018848 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -10,8 +10,6 @@ #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" -std::tuple get_nv12_info(int width, int height); - class CameraServer { public: CameraServer(std::pair camera_size[MAX_CAMERAS] = nullptr); From c179a3ccb7a5e3a6ff550feb04e97255f40256f2 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Mon, 19 Jan 2026 16:45:45 -0800 Subject: [PATCH 57/68] `CI`: enable `macos` tests (#37005) enable macos tests --- .github/workflows/tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index f0028841a0..c5802b5cb2 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -91,7 +91,6 @@ jobs: build_mac: name: build macOS - if: false # tmp disable due to brew install not working runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} steps: - uses: actions/checkout@v4 From 6c7f3751e7fb30680810fe6d7141121099a21aa0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Jan 2026 17:18:22 -0800 Subject: [PATCH 58/68] camerad: calculate buffer sizes with VENUS helpers (#37006) * Revert "NV12 buffer shape helpers (#36683)" This reverts commit 13efc421c42f6e9c06430d80be02ba2a8ea50643. * camerad: calculate buffer sizes with VENUS helpers * copy header: * assert aligned * python nv12 info * debug * handle padding * use the helper --- system/camerad/cameras/nv12_info.h | 23 +- system/camerad/cameras/nv12_info.py | 21 + system/camerad/cameras/spectra.cc | 11 +- system/camerad/cameras/spectra.h | 1 - system/camerad/snapshot.py | 10 +- third_party/linux/include/msm_media_info.h | 587 ++++++++++++++++++++- tools/replay/camera.cc | 10 +- 7 files changed, 631 insertions(+), 32 deletions(-) create mode 100644 system/camerad/cameras/nv12_info.py diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h index 0f4aee81a0..e8eb117406 100644 --- a/system/camerad/cameras/nv12_info.h +++ b/system/camerad/cameras/nv12_info.h @@ -6,14 +6,17 @@ #include "third_party/linux/include/msm_media_info.h" -// Returns NV12 aligned width, height, and buffer size for the given frame. -inline std::tuple get_nv12_info(int width, int height) { - // the encoder HW tells us the size it wants after setting it up. - // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - const uint32_t nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); - const uint32_t nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); - assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); - const uint32_t nv12_buffer_size = (width <= 1344 ? 2900 : 2346)*nv12_width; - return {nv12_width, nv12_height, nv12_buffer_size}; +// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions. +inline std::tuple get_nv12_info(int width, int height) { + const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); + const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height); + const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); + + // Sanity checks for NV12 format assumptions + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); + assert(y_height / 2 == uv_height); + assert((stride * y_height) % 0x1000 == 0); // uv_offset must be page-aligned + + return {stride, y_height, uv_height, size}; } diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py new file mode 100644 index 0000000000..bcb6312d2b --- /dev/null +++ b/system/camerad/cameras/nv12_info.py @@ -0,0 +1,21 @@ +# Python version of system/camerad/cameras/nv12_info.h +# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE) + +def align(val: int, alignment: int) -> int: + return ((val + alignment - 1) // alignment) * alignment + +def get_nv12_info(width: int, height: int) -> tuple[int, int, int, int]: + """Returns (stride, y_height, uv_height, buffer_size) for NV12 frame dimensions.""" + stride = align(width, 128) + y_height = align(height, 32) + uv_height = align(height // 2, 16) + + # VENUS_BUFFER_SIZE for NV12 + y_plane = stride * y_height + uv_plane = stride * uv_height + 4096 + size = y_plane + uv_plane + max(16 * 1024, 8 * stride) + size = align(size, 4096) + size += align(width, 512) * 512 # kernel padding for non-aligned frames + size = align(size, 4096) + + return stride, y_height, uv_height, size diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 20f48bb556..5c3e7a9d23 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -12,11 +12,11 @@ #include "media/cam_isp_ife.h" #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" -#include "third_party/linux/include/msm_media_info.h" #include "common/util.h" #include "common/swaglog.h" #include "system/camerad/cameras/ife.h" +#include "system/camerad/cameras/nv12_info.h" #include "system/camerad/cameras/spectra.h" #include "system/camerad/cameras/bps_blobs.h" @@ -283,12 +283,11 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c buf.out_img_width = sensor->frame_width / sensor->out_scale; buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - std::tie(stride, y_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height); - uv_height = y_height / 2; + + // size is driven by all the HW that handles frames, + // the video encoder has certain alignment requirements in this case + std::tie(stride, y_height, uv_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height); uv_offset = stride * y_height; - if (cc.output_type != ISP_RAW_OUTPUT) { - uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); - } open = true; configISP(); diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 983873c7f8..13cb13f98f 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -12,7 +12,6 @@ #include "common/util.h" #include "common/swaglog.h" #include "system/camerad/cameras/hw.h" -#include "system/camerad/cameras/nv12_info.h" #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/sensor.h" diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py index b3369891d7..035a4acdcf 100755 --- a/system/camerad/snapshot.py +++ b/system/camerad/snapshot.py @@ -43,9 +43,15 @@ def yuv_to_rgb(y, u, v): def extract_image(buf): + # NV12 format: Y plane followed by interleaved UV plane + # UV plane size is stride * uv_height, where uv_height = align(height/2, 16) + uv_height = ((buf.height // 2) + 15) // 16 * 16 + uv_plane_size = buf.stride * uv_height + y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width] - u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] - v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] + uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size] + u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] + v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] return yuv_to_rgb(y, u, v) diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h index 39dceb2c49..3fd0c8849a 100644 --- a/third_party/linux/include/msm_media_info.h +++ b/third_party/linux/include/msm_media_info.h @@ -2,7 +2,9 @@ #define __MEDIA_INFO_H__ #ifndef MSM_MEDIA_ALIGN -#define MSM_MEDIA_ALIGN(__sz, __align) (((__sz) + (__align-1)) & (~(__align-1))) +#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\ + ((((__sz) + (__align) - 1) / (__align)) * (__align)) :\ + (((__sz) + (__align) - 1) & (~((__align) - 1)))) #endif #ifndef MSM_MEDIA_ROUNDUP @@ -148,7 +150,12 @@ enum color_fmts { * + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096) */ COLOR_FMT_NV12_MVTB, - /* Venus NV12 UBWC: + /* + * The buffer can be of 2 types: + * (1) Venus NV12 UBWC Progressive + * (2) Venus NV12 UBWC Interlaced + * + * (1) Venus NV12 UBWC Progressive Buffer Format: * Compressed Macro-tile format for NV12. * Contains 4 planes in the following order - * (A) Y_Meta_Plane @@ -234,6 +241,186 @@ enum color_fmts { * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size + * Y_Meta_Plane_size + UV_Meta_Plane_size * + max(Extradata, Y_Stride * 48), 4096) + * + * + * (2) Venus NV12 UBWC Interlaced Buffer Format: + * Compressed Macro-tile format for NV12 interlaced. + * Contains 8 planes in the following order - + * (A) Y_Meta_Top_Field_Plane + * (B) Y_UBWC_Top_Field_Plane + * (C) UV_Meta_Top_Field_Plane + * (D) UV_UBWC_Top_Field_Plane + * (E) Y_Meta_Bottom_Field_Plane + * (F) Y_UBWC_Bottom_Field_Plane + * (G) UV_Meta_Bottom_Field_Plane + * (H) UV_UBWC_Bottom_Field_Plane + * Y_Meta_Top_Field_Plane consists of meta information to decode + * compressed tile data for Y_UBWC_Top_Field_Plane. + * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile + * format for top field of an interlaced frame. + * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together + * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed + * 8 bit Y samples for top field of an interlaced frame. + * + * UV_Meta_Top_Field_Plane consists of meta information to decode + * compressed tile data in UV_UBWC_Top_Field_Plane. + * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile + * format for top field of an interlaced frame. + * UBWC decoder block will use UV_Meta_Top_Field_Plane data together + * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed + * 8 bit subsampled color difference samples for top field of an + * interlaced frame. + * + * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is + * independently decodable and randomly accessible. There is no + * dependency between tiles. + * + * Y_Meta_Bottom_Field_Plane consists of meta information to decode + * compressed tile data for Y_UBWC_Bottom_Field_Plane. + * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile + * format for bottom field of an interlaced frame. + * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data + * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less + * uncompressed 8 bit Y samples for bottom field of an interlaced frame. + * + * UV_Meta_Bottom_Field_Plane consists of meta information to decode + * compressed tile data in UV_UBWC_Bottom_Field_Plane. + * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed + * macro-tile format for bottom field of an interlaced frame. + * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together + * with UV_UBWC_Bottom_Field_Plane data to produce loss-less + * uncompressed 8 bit subsampled color difference samples for bottom + * field of an interlaced frame. + * + * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is + * independently decodable and randomly accessible. There is no + * dependency between tiles. + * + * <-----Y_TF_Meta_Stride----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Half_height | + * M M M M M M M M M M M M . . | Meta_Y_TF_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-Compressed tile Y_TF Stride-> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_TF_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----UV_TF_Meta_Stride----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_TF_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <-Compressed tile UV_TF Stride-> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_TF_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <-----Y_BF_Meta_Stride----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Half_height | + * M M M M M M M M M M M M . . | Meta_Y_BF_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-Compressed tile Y_BF Stride-> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_BF_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----UV_BF_Meta_Stride----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_BF_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <-Compressed tile UV_BF Stride-> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_BF_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * + * Half_height = (Height+1)>>1 + * Y_TF_Stride = align(Width, 128) + * UV_TF_Stride = align(Width, 128) + * Y_TF_Scanlines = align(Half_height, 32) + * UV_TF_Scanlines = align((Half_height+1)/2, 32) + * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096) + * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096) + * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16) + * Y_TF_Meta_Plane_size = + * align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096) + * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16) + * UV_TF_Meta_Plane_size = + * align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096) + * Y_BF_Stride = align(Width, 128) + * UV_BF_Stride = align(Width, 128) + * Y_BF_Scanlines = align(Half_height, 32) + * UV_BF_Scanlines = align((Half_height+1)/2, 32) + * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096) + * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096) + * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16) + * Y_BF_Meta_Plane_size = + * align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096) + * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16) + * UV_BF_Meta_Plane_size = + * align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size + + * Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size + + * Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size + + * Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size + + * + max(Extradata, Y_TF_Stride * 48), 4096) */ COLOR_FMT_NV12_UBWC, /* Venus NV12 10-bit UBWC: @@ -399,8 +586,233 @@ enum color_fmts { * Extradata, 4096) */ COLOR_FMT_RGBA8888_UBWC, + /* Venus RGBA1010102 UBWC format: + * Contains 2 planes in the following order - + * (A) Meta plane + * (B) RGBA plane + * + * <--- RGB_Meta_Stride ----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_RGB_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-------- RGB_Stride --------> + * <------- Width -------> + * R R R R R R R R R R R R . . . . ^ ^ + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . Height | + * R R R R R R R R R R R R . . . . | RGB_Scanlines + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * + * RGB_Stride = align(Width * 4, 256) + * RGB_Scanlines = align(Height, 16) + * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096) + * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64) + * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16) + * RGB_Meta_Plane_size = align(RGB_Meta_Stride * + * RGB_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size + + * Extradata, 4096) + */ + COLOR_FMT_RGBA1010102_UBWC, + /* Venus RGB565 UBWC format: + * Contains 2 planes in the following order - + * (A) Meta plane + * (B) RGB plane + * + * <--- RGB_Meta_Stride ----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_RGB_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-------- RGB_Stride --------> + * <------- Width -------> + * R R R R R R R R R R R R . . . . ^ ^ + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . Height | + * R R R R R R R R R R R R . . . . | RGB_Scanlines + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * + * RGB_Stride = align(Width * 2, 128) + * RGB_Scanlines = align(Height, 16) + * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096) + * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64) + * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16) + * RGB_Meta_Plane_size = align(RGB_Meta_Stride * + * RGB_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size + + * Extradata, 4096) + */ + COLOR_FMT_RGB565_UBWC, + /* P010 UBWC: + * Compressed Macro-tile format for NV12. + * Contains 4 planes in the following order - + * (A) Y_Meta_Plane + * (B) Y_UBWC_Plane + * (C) UV_Meta_Plane + * (D) UV_UBWC_Plane + * + * Y_Meta_Plane consists of meta information to decode compressed + * tile data in Y_UBWC_Plane. + * Y_UBWC_Plane consists of Y data in compressed macro-tile format. + * UBWC decoder block will use the Y_Meta_Plane data together with + * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples. + * + * UV_Meta_Plane consists of meta information to decode compressed + * tile data in UV_UBWC_Plane. + * UV_UBWC_Plane consists of UV data in compressed macro-tile format. + * UBWC decoder block will use UV_Meta_Plane data together with + * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2 + * subsampled color difference samples. + * + * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable + * and randomly accessible. There is no dependency between tiles. + * + * <----- Y_Meta_Stride -----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_Y_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <--Compressed tile Y Stride---> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----- UV_Meta_Stride ----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <--Compressed tile UV Stride---> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * + * + * Y_Stride = align(Width * 2, 256) + * UV_Stride = align(Width * 2, 256) + * Y_Scanlines = align(Height, 16) + * UV_Scanlines = align(Height/2, 16) + * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096) + * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096) + * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16) + * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096) + * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16) + * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size + + * Y_Meta_Plane_size + UV_Meta_Plane_size + * + max(Extradata, Y_Stride * 48), 4096) + */ + COLOR_FMT_P010_UBWC, + /* Venus P010: + * YUV 4:2:0 image with a plane of 10 bit Y samples followed + * by an interleaved U/V plane containing 10 bit 2x2 subsampled + * colour difference samples. + * + * <-------- Y/UV_Stride --------> + * <------- Width -------> + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . ^ ^ + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . Height | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | Y_Scanlines + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * U V U V U V U V U V U V . . . . ^ + * U V U V U V U V U V U V . . . . | + * U V U V U V U V U V U V . . . . | + * U V U V U V U V U V U V . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . --> Buffer size alignment + * + * Y_Stride : Width * 2 aligned to 128 + * UV_Stride : Width * 2 aligned to 128 + * Y_Scanlines: Height aligned to 32 + * UV_Scanlines: Height/2 aligned to 16 + * Extradata: Arbitrary (software-imposed) padding + * Total size = align((Y_Stride * Y_Scanlines + * + UV_Stride * UV_Scanlines + * + max(Extradata, Y_Stride * 8), 4096) + */ + COLOR_FMT_P010, }; +#define COLOR_FMT_RGBA1010102_UBWC COLOR_FMT_RGBA1010102_UBWC +#define COLOR_FMT_RGB565_UBWC COLOR_FMT_RGB565_UBWC +#define COLOR_FMT_P010_UBWC COLOR_FMT_P010_UBWC +#define COLOR_FMT_P010 COLOR_FMT_P010 + static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) { (void)height; @@ -413,9 +825,17 @@ static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) return 16 * 1024; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) { unsigned int alignment, stride = 0; + if (!width) goto invalid_input; @@ -432,6 +852,14 @@ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) stride = MSM_MEDIA_ALIGN(width, 192); stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment); break; + case COLOR_FMT_P010_UBWC: + alignment = 256; + stride = MSM_MEDIA_ALIGN(width * 2, alignment); + break; + case COLOR_FMT_P010: + alignment = 128; + stride = MSM_MEDIA_ALIGN(width*2, alignment); + break; default: break; } @@ -439,9 +867,17 @@ invalid_input: return stride; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) { unsigned int alignment, stride = 0; + if (!width) goto invalid_input; @@ -458,6 +894,14 @@ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) stride = MSM_MEDIA_ALIGN(width, 192); stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment); break; + case COLOR_FMT_P010_UBWC: + alignment = 256; + stride = MSM_MEDIA_ALIGN(width * 2, alignment); + break; + case COLOR_FMT_P010: + alignment = 128; + stride = MSM_MEDIA_ALIGN(width*2, alignment); + break; default: break; } @@ -465,9 +909,17 @@ invalid_input: return stride; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) { unsigned int alignment, sclines = 0; + if (!height) goto invalid_input; @@ -476,9 +928,11 @@ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) case COLOR_FMT_NV12: case COLOR_FMT_NV12_MVTB: case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_P010: alignment = 32; break; case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: alignment = 16; break; default: @@ -489,9 +943,17 @@ invalid_input: return sclines; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) { unsigned int alignment, sclines = 0; + if (!height) goto invalid_input; @@ -500,6 +962,8 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) case COLOR_FMT_NV12: case COLOR_FMT_NV12_MVTB: case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: + case COLOR_FMT_P010: alignment = 16; break; case COLOR_FMT_NV12_UBWC: @@ -509,12 +973,19 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) goto invalid_input; } - sclines = MSM_MEDIA_ALIGN(height / 2, alignment); + sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment); invalid_input: return sclines; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width) { int y_tile_width = 0, y_meta_stride = 0; @@ -524,6 +995,7 @@ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width) switch (color_fmt) { case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_P010_UBWC: y_tile_width = 32; break; case COLOR_FMT_NV12_BPP10_UBWC: @@ -540,6 +1012,13 @@ invalid_input: return y_meta_stride; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height) { int y_tile_height = 0, y_meta_scanlines = 0; @@ -552,6 +1031,7 @@ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height) y_tile_height = 8; break; case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: y_tile_height = 4; break; default: @@ -565,6 +1045,13 @@ invalid_input: return y_meta_scanlines; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) { int uv_tile_width = 0, uv_meta_stride = 0; @@ -574,6 +1061,7 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) switch (color_fmt) { case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_P010_UBWC: uv_tile_width = 16; break; case COLOR_FMT_NV12_BPP10_UBWC: @@ -583,13 +1071,20 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) goto invalid_input; } - uv_meta_stride = MSM_MEDIA_ROUNDUP(width / 2, uv_tile_width); + uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width); uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64); invalid_input: return uv_meta_stride; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height) { int uv_tile_height = 0, uv_meta_scanlines = 0; @@ -602,13 +1097,14 @@ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height) uv_tile_height = 8; break; case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: uv_tile_height = 4; break; default: goto invalid_input; } - uv_meta_scanlines = MSM_MEDIA_ROUNDUP(height / 2, uv_tile_height); + uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height); uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16); invalid_input: @@ -617,7 +1113,8 @@ invalid_input: static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width) { - unsigned int alignment = 0, stride = 0; + unsigned int alignment = 0, stride = 0, bpp = 4; + if (!width) goto invalid_input; @@ -625,14 +1122,19 @@ static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width) case COLOR_FMT_RGBA8888: alignment = 128; break; + case COLOR_FMT_RGB565_UBWC: + alignment = 256; + bpp = 2; + break; case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: alignment = 256; break; default: goto invalid_input; } - stride = MSM_MEDIA_ALIGN(width * 4, alignment); + stride = MSM_MEDIA_ALIGN(width * bpp, alignment); invalid_input: return stride; @@ -650,6 +1152,8 @@ static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height) alignment = 32; break; case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: alignment = 16; break; default: @@ -671,6 +1175,8 @@ static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width) switch (color_fmt) { case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: rgb_tile_width = 16; break; default: @@ -693,6 +1199,8 @@ static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height) switch (color_fmt) { case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: rgb_tile_height = 4; break; default: @@ -706,11 +1214,22 @@ invalid_input: return rgb_meta_scanlines; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + * @height + * Progressive: height + * Interlaced: height + */ static inline unsigned int VENUS_BUFFER_SIZE( int color_fmt, int width, int height) { const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height); unsigned int uv_alignment = 0, size = 0; + unsigned int w_alignment = 512; unsigned int y_plane, uv_plane, y_stride, uv_stride, y_sclines, uv_sclines; unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0; @@ -740,6 +1259,18 @@ static inline unsigned int VENUS_BUFFER_SIZE( size = y_plane + uv_plane + MSM_MEDIA_MAX(extra_size, 8 * y_stride); size = MSM_MEDIA_ALIGN(size, 4096); + + /* Additional size to cover last row of non-aligned frame */ + size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment; + size = MSM_MEDIA_ALIGN(size, 4096); + break; + case COLOR_FMT_P010: + uv_alignment = 4096; + y_plane = y_stride * y_sclines; + uv_plane = uv_stride * uv_sclines + uv_alignment; + size = y_plane + uv_plane + + MSM_MEDIA_MAX(extra_size, 8 * y_stride); + size = MSM_MEDIA_ALIGN(size, 4096); break; case COLOR_FMT_NV12_MVTB: uv_alignment = 4096; @@ -750,6 +1281,30 @@ static inline unsigned int VENUS_BUFFER_SIZE( size = MSM_MEDIA_ALIGN(size, 4096); break; case COLOR_FMT_NV12_UBWC: + y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1); + y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); + uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1); + uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); + y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width); + y_meta_scanlines = + VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1); + y_meta_plane = MSM_MEDIA_ALIGN( + y_meta_stride * y_meta_scanlines, 4096); + uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width); + uv_meta_scanlines = + VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1); + uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride * + uv_meta_scanlines, 4096); + + size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane + + uv_meta_plane)*2 + + MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride); + size = MSM_MEDIA_ALIGN(size, 4096); + + /* Additional size to cover last row of non-aligned frame */ + size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment; + size = MSM_MEDIA_ALIGN(size, 4096); + break; case COLOR_FMT_NV12_BPP10_UBWC: y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); @@ -767,12 +1322,30 @@ static inline unsigned int VENUS_BUFFER_SIZE( MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride); size = MSM_MEDIA_ALIGN(size, 4096); break; + case COLOR_FMT_P010_UBWC: + y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); + uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); + y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width); + y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height); + y_meta_plane = MSM_MEDIA_ALIGN( + y_meta_stride * y_meta_scanlines, 4096); + uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width); + uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height); + uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride * + uv_meta_scanlines, 4096); + + size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane + + uv_meta_plane; + size = MSM_MEDIA_ALIGN(size, 4096); + break; case COLOR_FMT_RGBA8888: rgb_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines, 4096); size = rgb_plane; size = MSM_MEDIA_ALIGN(size, 4096); break; case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines, 4096); rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width); diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 2962195aff..671c0320bb 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,14 +1,11 @@ #include "tools/replay/camera.h" -#include #include #include -#include "third_party/linux/include/msm_media_info.h" -#include "tools/replay/util.h" #include "system/camerad/cameras/nv12_info.h" - +#include "tools/replay/util.h" const int BUFFER_COUNT = 40; @@ -43,9 +40,10 @@ void CameraServer::startVipcServer() { if (cam.width > 0 && cam.height > 0) { rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height); - auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height); + auto [stride, y_height, uv_height_, buffer_size] = get_nv12_info(cam.width, cam.height); + (void)uv_height_; // unused in replay vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height, - nv12_buffer_size, nv12_width, nv12_width * nv12_height); + buffer_size, stride, stride * y_height); if (!cam.thread.joinable()) { cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam)); } From a0a5c9b9ca19833e7fac3b73c3c25899aa11e49b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 23 Jan 2026 22:49:10 -0500 Subject: [PATCH 59/68] ui: add `set_title` and improve state updates in `ListViewSP` (#1656) --- system/ui/sunnypilot/widgets/list_view.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py index 1241f8eda0..39e88169d2 100644 --- a/system/ui/sunnypilot/widgets/list_view.py +++ b/system/ui/sunnypilot/widgets/list_view.py @@ -192,6 +192,9 @@ class ListItemSP(ListItem): self._right_value_font = gui_app.font(FontWeight.NORMAL) self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR + def set_title(self, title: str | Callable[[], str] = ""): + self._title = title + def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR): self._right_value_source = value self._right_value_color = color @@ -202,6 +205,13 @@ class ListItemSP(ListItem): return "" return str(_resolve_value(self._right_value_source, "")) + def _update_state(self): + prev_desc = self._prev_description + super()._update_state() + if self.description_visible and self._prev_description != prev_desc: + content_width = int(self._rect.width - style.ITEM_PADDING * 2) + self._rect.height = self.get_item_height(self._font, content_width) + def get_item_height(self, font: rl.Font, max_width: int) -> float: height = super().get_item_height(font, max_width) From 2e788ae54dc2758215ffd725fe553316bab7d67a Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 23 Jan 2026 22:55:50 -0500 Subject: [PATCH 60/68] [TIZI/TICI] ui: Steering panel (#1540) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b * bump opendbc * bump opendbc * bump opendbc * bump opendbc * bump opendbc * sunnypilot: remove Qt * cabana: revert to stock Qt * commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9 * commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e * commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e * sum more * bump opendbc * not yet * should've been symlink'ed * raylib says wut * quiet mode back * more fixes * no more * too extra red diff on the side * need to bring this back * too extra * let's update docs here * Revert "let's update docs here" This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851. * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * multi-button * Lint * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * Panels. With Icons. And Scroller. * patience, grasshopper * more patience, grasshopper * sp raylib preview * fix callback * fix ui preview * add ui previews * Option Control * Need this * sunnylink state * introducing ui_state_sp for py * poll from ui_state_sp * cloudlog & ruff * param to control stock vs sp ui * better * sponsor & pairing qr * init panel elements * backup & restore * fruit loops * update * enable, disable, enable, disable * handle layout updates * not needed * add ui_update callback * change it up * better padding * this * support for next line multi-button * uhh * disabled colors * better * listitem -> listitemsp * listitem -> listitemsp * Revert "add ui_update callback" This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958. * add show_description method * remove padding from line separator. like, WHY? 😩😩 * simplify * I. SAID. SIMPLIFY. * AAARGGGGGG..... * option control value fix * left button * more init * simple_button, yay * simple_button, yay * more more init * scroller -> scroller_tici * scroller -> scroller_tici * ui: `GuiApplicationExt` * simple button * simple button * add to readme * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * optimizations * change order * subpanels * lane change timer * update toggles * update toggles * add cp_sp to ui_state * mads * add cp_sp to ui_state_sp * fix ui crash * update params * ui_state changes * descriptions * Update scroller.py * wrong pr * listen nessa, yes nessa * i've got something to confessa * some bs * # Conflicts: # selfdrive/ui/sunnypilot/layouts/settings/steering.py # selfdrive/ui/sunnypilot/layouts/settings/vehicle.py # system/ui/sunnypilot/widgets/list_view.py * sine * more * Delete selfdrive/ui/sunnypilot/layouts/vehicle_settings/platform_selector.py * Update styles.py * allow sunnylink * nah * more * sync * lint * revert * button is always shown, just disabled if off * revert * Fix SimpleButtonActionSP not respecting enabled state * some changes * new pr * some more * ui: `ButtonSP` * slight cleanup * fixes * no * fix * much better * ui: `LineSeparatorSP` * ui: add `inline` to `option_item_sp` * small cleanup mads * lane change * allow changing title * torque settings init * lont * more logic * import directly * more --------- Co-authored-by: Jason Wen Co-authored-by: DevTekVE Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: discountchubbs --- .../sunnypilot/layouts/settings/steering.py | 130 ++++++++++++++++- .../lane_change_settings.py | 81 +++++++++++ .../steering_sub_layouts/mads_settings.py | 135 ++++++++++++++++++ .../steering_sub_layouts/torque_settings.py | 115 +++++++++++++++ 4 files changed, 456 insertions(+), 5 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py index ac67eb9163..f82c4097c3 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py @@ -4,27 +4,147 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from openpilot.common.params import Params +from cereal import car +from enum import IntEnum + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP from openpilot.system.ui.widgets.scroller_tici import Scroller from openpilot.system.ui.widgets import Widget +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.lane_change_settings import LaneChangeSettingsLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.mads_settings import MadsSettingsLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.torque_settings import TorqueSettingsLayout + + +class PanelType(IntEnum): + STEERING = 0 + MADS = 1 + LANE_CHANGE = 2 + TORQUE_CONTROL = 3 class SteeringLayout(Widget): def __init__(self): super().__init__() - self._params = Params() + self._current_panel = PanelType.STEERING + self._lane_change_settings_layout = LaneChangeSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING)) + self._mads_settings_layout = MadsSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING)) + self._torque_control_layout = TorqueSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING)) + items = self._initialize_items() - self._scroller = Scroller(items, line_separator=True, spacing=0) + self._scroller = Scroller(items, line_separator=False, spacing=0) def _initialize_items(self): - items = [ + self._mads_base_desc = tr("Enable the beloved MADS feature. " + + "Disable toggle to revert back to stock sunnypilot engagement/disengagement.") + self._mads_limited_desc = tr("This platform supports limited MADS settings.") + self._mads_full_desc = tr("This platform supports all MADS settings.") + self._mads_check_compat_desc = tr("Start the vehicle to check vehicle compatibility.") + self._mads_toggle = toggle_item_sp( + param="Mads", + title=lambda: tr("Modular Assistive Driving System (MADS)"), + description=self._mads_base_desc, + ) + self._mads_settings_button = simple_button_item_sp( + button_text=lambda: tr("Customize MADS"), + button_width=800, + callback=lambda: self._set_current_panel(PanelType.MADS) + ) + self._lane_change_settings_button = simple_button_item_sp( + button_text=lambda: tr("Customize Lane Change"), + button_width=800, + callback=lambda: self._set_current_panel(PanelType.LANE_CHANGE) + ) + self._blinker_control_toggle = toggle_item_sp( + param="BlinkerPauseLateralControl", + description=lambda: tr("Pause lateral control with blinker when traveling below the desired speed selected."), + title=lambda: tr("Pause Lateral Control with Blinker"), + ) + self._blinker_control_options = option_item_sp( + param="BlinkerMinLateralControlSpeed", + title=lambda: tr("Minimum Speed to Pause Lateral Control"), + min_value=0, + max_value=255, + value_change_step=5, + description="", + label_callback=lambda speed: f'{speed} {"km/h" if ui_state.is_metric else "mph"}', + ) + self._torque_control_toggle = toggle_item_sp( + param="EnforceTorqueControl", + title=lambda: tr("Enforce Torque Lateral Control"), + description=lambda: tr("Enable this to enforce sunnypilot to steer with Torque lateral control."), + ) + self._torque_customization_button = simple_button_item_sp( + button_text=lambda: tr("Customize Torque Params"), + button_width=850, + callback=lambda: self._set_current_panel(PanelType.TORQUE_CONTROL) + ) + self._nnlc_toggle = toggle_item_sp( + param="NeuralNetworkLateralControl", + title=lambda: tr("Neural Network Lateral Control (NNLC)"), + description="" + ) + + items = [ + self._mads_toggle, + self._mads_settings_button, + LineSeparatorSP(40), + self._lane_change_settings_button, + LineSeparatorSP(40), + self._blinker_control_toggle, + self._blinker_control_options, + LineSeparatorSP(40), + self._torque_control_toggle, + self._torque_customization_button, + LineSeparatorSP(40), + self._nnlc_toggle, ] return items + def _set_current_panel(self, panel: PanelType): + self._current_panel = panel + + def _update_state(self): + super()._update_state() + + torque_allowed = True + if ui_state.CP is not None: + mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc + self._mads_toggle.set_description(f"{mads_main_desc}

{self._mads_base_desc}") + + if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle: + ui_state.params.remove("EnforceTorqueControl") + ui_state.params.remove("NeuralNetworkLateralControl") + torque_allowed = False + else: + self._mads_toggle.set_description(f"{self._mads_check_compat_desc}

{self._mads_base_desc}") + ui_state.params.remove("EnforceTorqueControl") + ui_state.params.remove("NeuralNetworkLateralControl") + torque_allowed = False + + self._mads_toggle.action_item.set_enabled(ui_state.is_offroad()) + self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state()) + self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state()) + + enforce_torque_enabled = self._torque_control_toggle.action_item.get_state() + nnlc_enabled = self._nnlc_toggle.action_item.get_state() + self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled) + self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled) + self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state()) + def _render(self, rect): - self._scroller.render(rect) + if self._current_panel == PanelType.LANE_CHANGE: + self._lane_change_settings_layout.render(rect) + elif self._current_panel == PanelType.MADS: + self._mads_settings_layout.render(rect) + elif self._current_panel == PanelType.TORQUE_CONTROL: + self._torque_control_layout.render(rect) + else: + self._scroller.render(rect) def show_event(self): + self._set_current_panel(PanelType.STEERING) self._scroller.show_event() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py new file mode 100644 index 0000000000..9a5d5202a5 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py @@ -0,0 +1,81 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, LineSeparatorSP +from openpilot.system.ui.widgets.network import NavButton +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.widgets import Widget + +from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode + + +class LaneChangeSettingsLayout(Widget): + def __init__(self, back_btn_callback: Callable): + super().__init__() + self._back_button = NavButton(tr("Back")) + self._back_button.set_click_callback(back_btn_callback) + + items = self._initialize_items() + self._scroller = Scroller(items, line_separator=False, spacing=0) + + def _initialize_items(self): + self._lane_change_timer = option_item_sp( + title=lambda: tr("Auto Lane Change by Blinker"), + param="AutoLaneChangeTimer", + description=lambda: tr("Set a timer to delay the auto lane change operation when the blinker is used. " + + "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
" + + "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."), + min_value=-1, + max_value=5, + value_change_step=1, + label_callback=(lambda x: + tr("Off") if x == -1 else + tr("Nudge") if x == 0 else + tr("Nudgeless") if x == 1 else + f"0.5 {tr('s')}" if x == 2 else + f"1 {tr('s')}" if x == 3 else + f"2 {tr('s')}" if x == 4 else + f"3 {tr('s')}") + ) + self._bsm_delay = toggle_item_sp( + param="AutoLaneChangeBsmDelay", + title=lambda: tr("Auto Lane Change: Delay with Blind Spot"), + description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " + + "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."), + ) + + items = [ + self._lane_change_timer, + LineSeparatorSP(40), + self._bsm_delay, + ] + + return items + + def _update_state(self): + super()._update_state() + self._update_toggles() + + def _render(self, rect): + self._back_button.set_position(self._rect.x, self._rect.y + 20) + self._back_button.render() + # subtract button + content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40) + self._scroller.render(content_rect) + + def show_event(self): + self._scroller.show_event() + + def _update_toggles(self): + enable_bsm = ui_state.CP and ui_state.CP.enableBsm + if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"): + ui_state.params.remove("AutoLaneChangeBsmDelay") + self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py new file mode 100644 index 0000000000..d3f38e04d1 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py @@ -0,0 +1,135 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable +import pyray as rl + +from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr, tr_noop +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.network import NavButton +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp + +MADS_STEERING_MODE_OPTIONS = [ + (tr("Remain Active"), tr_noop("Remain Active: ALC will remain active when the brake pedal is pressed.")), + (tr("Pause"), tr_noop("Pause: ALC will pause when the brake pedal is pressed.")), + (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")), +] + +MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.") +MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}

{note}

".format( + engage=tr("Engage lateral and longitudinal control with cruise control engagement."), + note=tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."), +) + +STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.") +DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.") +DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.") +STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.") + + +class MadsSettingsLayout(Widget): + def __init__(self, back_btn_callback: Callable): + super().__init__() + self._back_button = NavButton(tr("Back")) + self._back_button.set_click_callback(back_btn_callback) + self._initialize_items() + self._scroller = Scroller(self.items, line_separator=True, spacing=0) + + def _initialize_items(self): + self._main_cruise_toggle = toggle_item_sp( + title=lambda: tr("Toggle with Main Cruise"), + description=MADS_MAIN_CRUISE_BASE_DESC, + param="MadsMainCruiseAllowed", + ) + self._unified_engagement_toggle = toggle_item_sp( + title=lambda: tr("Unified Engagement Mode (UEM)"), + description=MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC, + param="MadsUnifiedEngagementMode" + ) + self._steering_mode = multiple_button_item_sp( + param="MadsSteeringMode", + title=lambda: tr("Steering Mode on Brake Pedal"), + description="", + buttons=[opt[0] for opt in MADS_STEERING_MODE_OPTIONS], + inline=False, + button_width=350, + callback=self._update_steering_mode_description, + ) + + self.items = [ + self._main_cruise_toggle, + self._unified_engagement_toggle, + self._steering_mode, + ] + + def _update_state(self): + super()._update_state() + self._update_toggles() + + def _render(self, rect): + self._back_button.set_position(self._rect.x, self._rect.y + 20) + self._back_button.render() + # subtract button + content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40) + self._scroller.render(content_rect) + + def show_event(self): + self._scroller.show_event() + + @staticmethod + def _mads_limited_settings() -> bool: + brand = "" + if ui_state.is_offroad(): + bundle = ui_state.params.get("CarPlatformBundle") + if bundle: + brand = bundle.get("brand", "") + if not brand: + brand = ui_state.CP.brand if ui_state.CP else "" + + if brand == "rivian": + return True + elif brand == "tesla": + return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS) + return False + + def _update_steering_mode_description(self, button_index: int): + base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.") + result = base_desc + "

" + for opt in MADS_STEERING_MODE_OPTIONS: + desc = "" + opt[1] + "" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1] + result += desc + "
" + self._steering_mode.set_description(result) + self._steering_mode.show_description(True) + + def _update_toggles(self): + self._update_steering_mode_description(self._steering_mode.action_item.get_selected_button()) + if self._mads_limited_settings(): + ui_state.params.remove("MadsMainCruiseAllowed") + ui_state.params.put_bool("MadsUnifiedEngagementMode", True) + ui_state.params.put("MadsSteeringMode", 2) + + self._main_cruise_toggle.action_item.set_enabled(False) + self._main_cruise_toggle.action_item.set_state(False) + self._main_cruise_toggle.set_description("" + DEFAULT_TO_OFF + "
" + MADS_MAIN_CRUISE_BASE_DESC) + + self._unified_engagement_toggle.action_item.set_enabled(False) + self._unified_engagement_toggle.action_item.set_state(True) + self._unified_engagement_toggle.set_description("" + DEFAULT_TO_ON + "
" + MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC) + + self._steering_mode.action_item.set_enabled(False) + self._steering_mode.set_description(STATUS_DISENGAGE_ONLY) + self._steering_mode.action_item.set_selected_button(2) + else: + self._main_cruise_toggle.action_item.set_enabled(True) + self._main_cruise_toggle.set_description(MADS_MAIN_CRUISE_BASE_DESC) + + self._unified_engagement_toggle.action_item.set_enabled(True) + self._unified_engagement_toggle.set_description(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC) + + self._steering_mode.action_item.set_enabled(True) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py new file mode 100644 index 0000000000..dceee8b518 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py @@ -0,0 +1,115 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp +from openpilot.system.ui.widgets.network import NavButton +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.widgets import Widget + + +class TorqueSettingsLayout(Widget): + def __init__(self, back_btn_callback: Callable): + super().__init__() + self._back_button = NavButton(tr("Back")) + self._back_button.set_click_callback(back_btn_callback) + items = self._initialize_items() + self._scroller = Scroller(items, line_separator=True, spacing=0) + + def _initialize_items(self): + self._self_tune_toggle = toggle_item_sp( + param="LiveTorqueParamsToggle", + title=lambda: tr("Self-Tune"), + description=lambda: tr("Enables self-tune for Torque lateral control for platforms that do not use " + + "Torque lateral control by default."), + ) + self._relaxed_tune_toggle = toggle_item_sp( + param="LiveTorqueParamsRelaxedToggle", + title=lambda: tr("Less Restrict Settings for Self-Tune (Beta)"), + description=lambda: tr("Less strict settings when using Self-Tune. This allows torqued to be more " + + "forgiving when learning values."), + ) + self._custom_tune_toggle = toggle_item_sp( + param="CustomTorqueParams", + title=lambda: tr("Enable Custom Tuning"), + description=lambda: tr("Enables custom tuning for Torque lateral control. " + + "Modifying Lateral Acceleration Factor and Friction below will override the offline values " + + "indicated in the YAML files within \"opendbc/car/torque_data\". " + + "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."), + ) + self._torque_prams_override_toggle = toggle_item_sp( + param="TorqueParamsOverrideEnabled", + title=lambda: tr("Manual Real-Time Tuning"), + description=lambda: tr("Enforces the torque lateral controller to use the fixed values instead of the learned " + + "values from Self-Tune. Enabling this toggle overrides Self-Tune values."), + ) + self._torque_lat_accel_factor = option_item_sp( + title=lambda: tr("Lateral Acceleration Factor"), + param="TorqueParamsOverrideLatAccelFactor", + description="", + min_value=1, + max_value=500, + value_change_step=1, + label_callback=(lambda x: f"{x/100} m/s^2"), + use_float_scaling=True + ) + + self._torque_friction = option_item_sp( + title=lambda: tr("Friction"), + param="TorqueParamsOverrideFriction", + description="", + min_value=1, + max_value=100, + value_change_step=1, + label_callback=(lambda x: f"{x/100}"), + use_float_scaling=True + ) + + items = [ + self._self_tune_toggle, + self._relaxed_tune_toggle, + self._custom_tune_toggle, + self._torque_prams_override_toggle, + self._torque_lat_accel_factor, + self._torque_friction, + ] + return items + + def _update_state(self): + super()._update_state() + if not ui_state.params.get_bool("LiveTorqueParamsToggle"): + ui_state.params.remove("LiveTorqueParamsRelaxedToggle") + self._relaxed_tune_toggle.action_item.set_state(False) + self._self_tune_toggle.action_item.set_enabled(ui_state.is_offroad()) + self._relaxed_tune_toggle.action_item.set_enabled(ui_state.is_offroad() and self._self_tune_toggle.action_item.get_state()) + self._custom_tune_toggle.action_item.set_enabled(ui_state.is_offroad()) + custom_tune_enabled = self._custom_tune_toggle.action_item.get_state() + self._torque_prams_override_toggle.set_visible(custom_tune_enabled) + self._torque_lat_accel_factor.set_visible(custom_tune_enabled) + self._torque_friction.set_visible(custom_tune_enabled) + + self._torque_prams_override_toggle.action_item.set_enabled(ui_state.is_offroad()) + sliders_enabled = self._torque_prams_override_toggle.action_item.get_state() or ui_state.is_offroad() + self._torque_lat_accel_factor.action_item.set_enabled(sliders_enabled) + self._torque_friction.action_item.set_enabled(sliders_enabled) + + title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only") + self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")") + self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")") + + def _render(self, rect): + self._back_button.set_position(self._rect.x, self._rect.y + 20) + self._back_button.render() + # subtract button + content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40) + self._scroller.render(content_rect) + + def show_event(self): + self._scroller.show_event() From 8c36739ebd346f3a52e89978f4dcf657841b61da Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 23 Jan 2026 21:27:12 -0700 Subject: [PATCH 61/68] [TIZI/TICI] ui: Rocket Fuel (#1337) * rocket * raylib * extra --------- Co-authored-by: Jason Wen --- common/params_keys.h | 1 + .../ui/sunnypilot/onroad/hud_renderer.py | 5 +++ selfdrive/ui/sunnypilot/onroad/rocket_fuel.py | 45 +++++++++++++++++++ selfdrive/ui/sunnypilot/ui_state.py | 1 + sunnypilot/sunnylink/params_metadata.json | 4 ++ 5 files changed, 56 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/rocket_fuel.py diff --git a/common/params_keys.h b/common/params_keys.h index e042113927..ecc656cc78 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -173,6 +173,7 @@ inline static std::unordered_map keys = { {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}}, {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}}, {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}}, {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}}, {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}}, {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}}, diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 33582df191..9a29a97b9f 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -6,15 +6,20 @@ See the LICENSE.md file in the root directory for more details. """ import pyray as rl +from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel class HudRendererSP(HudRenderer): def __init__(self): super().__init__() self.developer_ui = DeveloperUiRenderer() + self.rocket_fuel = RocketFuel() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) + if ui_state.rocket_fuel: + self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py new file mode 100644 index 0000000000..af25711a92 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py @@ -0,0 +1,45 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + + +class RocketFuel: + def __init__(self): + self.vc_accel = 0.0 + + def render(self, rect: rl.Rectangle, sm) -> None: + vc_accel0 = sm['carState'].aEgo + + # Smooth the acceleration + self.vc_accel = self.vc_accel + (vc_accel0 - self.vc_accel) / 5.0 + + hha = 0.0 + color = rl.Color(0, 0, 0, 0) # Transparent by default + + if self.vc_accel > 0: + hha = 0.85 - 0.1 / self.vc_accel # only extend up to 85% + color = rl.Color(0, 245, 0, 200) + elif self.vc_accel < 0: + hha = 0.85 + 0.1 / self.vc_accel # only extend up to 85% + color = rl.Color(245, 0, 0, 200) + + if hha < 0: + hha = 0.0 + + hha = hha * rect.height + wp = 28.0 + + # Draw + rect_h = rect.height + + if self.vc_accel > 0: + ra_y = rect_h / 2.0 - hha / 2.0 + else: + ra_y = rect_h / 2.0 + + if hha > 0: + rl.draw_rectangle(int(rect.x), int(rect.y + ra_y), int(wp), int(hha / 2.0), color) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 2644c157ad..9ef4e1d7c8 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -122,6 +122,7 @@ class UIStateSP: self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP) self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled") self.developer_ui = self.params.get("DevUIInfo") + self.rocket_fuel = self.params.get_bool("RocketFuel") self.rainbow_path = self.params.get_bool("RainbowMode") self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index e4390586bc..7f597a9621 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -1082,6 +1082,10 @@ "title": "Display Road Name", "description": "" }, + "RocketFuel": { + "title": "Display Rocket Fuel Bar", + "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration." + }, "RouteCount": { "title": "Route Count", "description": "" From 76d50df4665ec83e1dc6d9fc6502fbf90d5d8d94 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 23 Jan 2026 22:46:00 -0700 Subject: [PATCH 62/68] [TIZI/TICI] ui: MICI style turn signals (#1504) * mici turn signal for c3x * sp dir * decouple * more * ty * refactor and slim down * bigger --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 9 ++ selfdrive/ui/sunnypilot/onroad/turn_signal.py | 125 ++++++++++++++++++ 2 files changed, 134 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/turn_signal.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 9a29a97b9f..0155e38a6e 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel +from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController class HudRendererSP(HudRenderer): @@ -17,9 +18,17 @@ class HudRendererSP(HudRenderer): super().__init__() self.developer_ui = DeveloperUiRenderer() self.rocket_fuel = RocketFuel() + self.turn_signal_controller = TurnSignalController() + + def _update_state(self) -> None: + super()._update_state() + self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) + + self.turn_signal_controller.render() + if ui_state.rocket_fuel: self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py new file mode 100644 index 0000000000..ad14e72f5a --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -0,0 +1,125 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +import time +from dataclasses import dataclass + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import Widget +from openpilot.common.filter_simple import FirstOrderFilter + + +@dataclass(frozen=True) +class TurnSignalConfig: + left_x: int = 870 + left_y: int = 220 + right_x: int = 1140 + right_y: int = 220 + size: int = 150 + + +class TurnSignalWidget(Widget): + def __init__(self, direction: IconSide): + super().__init__() + self._direction = direction + self._active = False + + self._turn_signal_timer = 0.0 + self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps) + + texture_path = f'icons_mici/onroad/turn_signal_{direction}.png' + self._texture = gui_app.texture(texture_path, 120, 109) + + def _render(self, _): + if not self._active: + return + + if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD: + self._turn_signal_timer = time.monotonic() + self._turn_signal_alpha_filter.x = 255 * 2 + else: + self._turn_signal_alpha_filter.update(255 * 0.2) + + icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255)) + + if self._texture: + pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2) + pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2) + color = rl.Color(255, 255, 255, icon_alpha) + rl.draw_texture(self._texture, pos_x, pos_y, color) + + def activate(self): + if not self._active: + self._turn_signal_timer = 0.0 + self._active = True + + def deactivate(self): + self._active = False + self._turn_signal_timer = 0.0 + + +class TurnSignalController: + def __init__(self, config: TurnSignalConfig | None = None): + self._config = config or TurnSignalConfig() + self._left_signal = TurnSignalWidget(direction=IconSide.left) + self._right_signal = TurnSignalWidget(direction=IconSide.right) + self._last_icon_side = None + + def update(self): + sm = ui_state.sm + ss = sm['selfdriveState'] + + event_name = ss.alertType.split('/')[0] if ss.alertType else '' + + if event_name == 'preLaneChangeLeft': + self._last_icon_side = IconSide.left + self._left_signal.activate() + self._right_signal.deactivate() + + elif event_name == 'preLaneChangeRight': + self._last_icon_side = IconSide.right + self._right_signal.activate() + self._left_signal.deactivate() + + elif event_name == 'laneChange': + if self._last_icon_side == IconSide.left: + self._left_signal.activate() + self._right_signal.deactivate() + elif self._last_icon_side == IconSide.right: + self._right_signal.activate() + self._left_signal.deactivate() + + else: + self._last_icon_side = None + self._left_signal.deactivate() + self._right_signal.deactivate() + + def render(self): + if self._last_icon_side == IconSide.left: + self._left_signal.render(rl.Rectangle( + self._config.left_x, + self._config.left_y, + self._config.size, + self._config.size + )) + elif self._last_icon_side == IconSide.right: + self._right_signal.render(rl.Rectangle( + self._config.right_x, + self._config.right_y, + self._config.size, + self._config.size + )) + + @property + def config(self) -> TurnSignalConfig: + return self._config + + @config.setter + def config(self, new_config: TurnSignalConfig): + self._config = new_config From 1bd3255f14f9e32bca542778652e979412538972 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 24 Jan 2026 01:04:25 -0500 Subject: [PATCH 63/68] [TIZI/TICI] ui: MICI style blindspot indicators (#1657) * introduce blinker * add blind spot * bigger * nah * lint --- selfdrive/ui/sunnypilot/onroad/turn_signal.py | 71 ++++++++++++++----- 1 file changed, 54 insertions(+), 17 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index ad14e72f5a..4e5f1183d8 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -29,24 +29,30 @@ class TurnSignalWidget(Widget): super().__init__() self._direction = direction self._active = False + self._type = 'signal' self._turn_signal_timer = 0.0 self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps) - texture_path = f'icons_mici/onroad/turn_signal_{direction}.png' - self._texture = gui_app.texture(texture_path, 120, 109) + self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109) + self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109) + self._texture = self._signal_texture def _render(self, _): if not self._active: return - if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD: - self._turn_signal_timer = time.monotonic() - self._turn_signal_alpha_filter.x = 255 * 2 + if self._type == 'signal': + if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD: + self._turn_signal_timer = time.monotonic() + self._turn_signal_alpha_filter.x = 255 * 2 + else: + self._turn_signal_alpha_filter.update(255 * 0.2) + icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255)) else: - self._turn_signal_alpha_filter.update(255 * 0.2) + icon_alpha = 255 - icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255)) + self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture if self._texture: pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2) @@ -54,10 +60,11 @@ class TurnSignalWidget(Widget): color = rl.Color(255, 255, 255, icon_alpha) rl.draw_texture(self._texture, pos_x, pos_y, color) - def activate(self): - if not self._active: + def activate(self, _type: str = 'signal'): + if not self._active or self._type != _type: self._turn_signal_timer = 0.0 self._active = True + self._type = _type def deactivate(self): self._active = False @@ -79,36 +86,66 @@ class TurnSignalController: if event_name == 'preLaneChangeLeft': self._last_icon_side = IconSide.left - self._left_signal.activate() + self._left_signal.activate('signal') self._right_signal.deactivate() elif event_name == 'preLaneChangeRight': self._last_icon_side = IconSide.right - self._right_signal.activate() + self._right_signal.activate('signal') self._left_signal.deactivate() elif event_name == 'laneChange': if self._last_icon_side == IconSide.left: - self._left_signal.activate() + self._left_signal.activate('signal') self._right_signal.deactivate() elif self._last_icon_side == IconSide.right: - self._right_signal.activate() + self._right_signal.activate('signal') + self._left_signal.deactivate() + + elif event_name == 'laneChangeBlocked': + CS = sm['carState'] + if CS.leftBlinker: + icon_side = IconSide.left + elif CS.rightBlinker: + icon_side = IconSide.right + else: + icon_side = self._last_icon_side + + if icon_side == IconSide.left: + self._left_signal.activate('blind_spot') + self._right_signal.deactivate() + elif icon_side == IconSide.right: + self._right_signal.activate('blind_spot') self._left_signal.deactivate() else: self._last_icon_side = None - self._left_signal.deactivate() - self._right_signal.deactivate() + CS = sm['carState'] + + if CS.leftBlindspot: + self._left_signal.activate('blind_spot') + elif CS.leftBlinker: + self._left_signal.activate('signal') + else: + self._left_signal.deactivate() + + if CS.rightBlindspot: + self._right_signal.activate('blind_spot') + elif CS.rightBlinker: + self._right_signal.activate('signal') + else: + self._right_signal.deactivate() def render(self): - if self._last_icon_side == IconSide.left: + if self._left_signal._active: self._left_signal.render(rl.Rectangle( self._config.left_x, self._config.left_y, self._config.size, self._config.size )) - elif self._last_icon_side == IconSide.right: + + if self._right_signal._active: self._right_signal.render(rl.Rectangle( self._config.right_x, self._config.right_y, From d7770ad55ca67fc15f766e75b66e7e3946d8595e Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 23 Jan 2026 23:36:47 -0700 Subject: [PATCH 64/68] [MICI] ui: display blindspot indicators when available (#1525) * always bsm * c4 bsm for c3x * position * sperate * sp dir * revert * decouple * final --------- Co-authored-by: Jason Wen --- .../ui/mici/onroad/augmented_road_view.py | 1 + selfdrive/ui/mici/onroad/hud_renderer.py | 4 +- .../ui/sunnypilot/mici/onroad/hud_renderer.py | 27 ++++++++++ .../onroad/blind_spot_indicators.py | 49 +++++++++++++++++++ 4 files changed, 80 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py create mode 100644 selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 0546920e53..316052fdc1 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -20,6 +20,7 @@ from openpilot.common.transformations.orientation import rot_from_euler from enum import IntEnum if gui_app.sunnypilot_ui(): + from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus OpState = log.SelfdriveState.OpenpilotState diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index 7f489ccf98..44ce12437a 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -183,11 +183,13 @@ class HudRenderer(Widget): def _draw_steering_wheel(self, rect: rl.Rectangle) -> None: wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel + bsm_detected = self._has_blind_spot_detected() if gui_app.sunnypilot_ui() else False + if self._show_wheel_critical: self._wheel_alpha_filter.update(255) self._wheel_y_filter.update(0) else: - if ui_state.status == UIStatus.DISENGAGED: + if ui_state.status == UIStatus.DISENGAGED or bsm_detected: self._wheel_alpha_filter.update(0) self._wheel_y_filter.update(wheel_txt.height / 2) else: diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py new file mode 100644 index 0000000000..de52bb4622 --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py @@ -0,0 +1,27 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators + + +class HudRendererSP(HudRenderer): + def __init__(self): + super().__init__() + self.blind_spot_indicators = BlindSpotIndicators() + + def _update_state(self) -> None: + super()._update_state() + self.blind_spot_indicators.update() + + def _render(self, rect: rl.Rectangle) -> None: + super()._render(rect) + self.blind_spot_indicators.render(rect) + + def _has_blind_spot_detected(self) -> bool: + return self.blind_spot_indicators.detected diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py new file mode 100644 index 0000000000..1087579fef --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py @@ -0,0 +1,49 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app +from openpilot.common.filter_simple import FirstOrderFilter + + +class BlindSpotIndicators: + def __init__(self): + self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128) + self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128) + + self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps) + self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps) + + def update(self) -> None: + sm = ui_state.sm + CS = sm['carState'] + + self._blind_spot_left_alpha_filter.update(1.0 if CS.leftBlindspot else 0.0) + self._blind_spot_right_alpha_filter.update(1.0 if CS.rightBlindspot else 0.0) + + @property + def detected(self) -> bool: + return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01 + + def render(self, rect: rl.Rectangle) -> None: + BLIND_SPOT_MARGIN_X = 20 # Distance from edge of screen + BLIND_SPOT_Y_OFFSET = 100 # Distance from top of screen + + if self._blind_spot_left_alpha_filter.x > 0.01: + pos_x = int(rect.x + BLIND_SPOT_MARGIN_X) + pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET) + alpha = int(255 * self._blind_spot_left_alpha_filter.x) + color = rl.Color(255, 255, 255, alpha) + rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color) + + if self._blind_spot_right_alpha_filter.x > 0.01: + pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width) + pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET) + alpha = int(255 * self._blind_spot_right_alpha_filter.x) + color = rl.Color(255, 255, 255, alpha) + rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color) From 5c01365125c1b1fff9239a8cde5f9482e3265022 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sat, 24 Jan 2026 00:04:42 -0700 Subject: [PATCH 65/68] [TIZI/TICI] ui: Road Name (#1654) * road name * decouple * rename --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 4 ++ selfdrive/ui/sunnypilot/onroad/road_name.py | 56 +++++++++++++++++++ 2 files changed, 60 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/road_name.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 0155e38a6e..933b573bf1 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -9,6 +9,7 @@ import pyray as rl from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController @@ -17,17 +18,20 @@ class HudRendererSP(HudRenderer): def __init__(self): super().__init__() self.developer_ui = DeveloperUiRenderer() + self.road_name_renderer = RoadNameRenderer() self.rocket_fuel = RocketFuel() self.turn_signal_controller = TurnSignalController() def _update_state(self) -> None: super()._update_state() + self.road_name_renderer.update() self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) + self.road_name_renderer.render(rect) self.turn_signal_controller.render() if ui_state.rocket_fuel: diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/selfdrive/ui/sunnypilot/onroad/road_name.py new file mode 100644 index 0000000000..652e620ad6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/road_name.py @@ -0,0 +1,56 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets import Widget + + +class RoadNameRenderer(Widget): + def __init__(self): + super().__init__() + self.road_name = "" + self.is_metric = False + self.font_demi = gui_app.font(FontWeight.SEMI_BOLD) + + def update(self): + sm = ui_state.sm + if sm.recv_frame["carState"] < ui_state.started_frame: + return + + self.is_metric = ui_state.is_metric + + if sm.updated["liveMapDataSP"]: + lmd = sm["liveMapDataSP"] + self.road_name = lmd.roadName + + def _render(self, rect: rl.Rectangle): + if not self.road_name: + return + + text = self.road_name + text_size = measure_text_cached(self.font_demi, text, 46) + + padding = 40 + rect_width = max(200, min(text_size.x + padding, rect.width - 40)) + + road_rect = rl.Rectangle(rect.x + rect.width / 2 - rect_width / 2, rect.y - 4, rect_width, 60) + + rl.draw_rectangle_rounded(road_rect, 0.2, 10, rl.Color(0, 0, 0, 120)) + + max_text_width = road_rect.width - 20 + if text_size.x > max_text_width: + while text_size.x > max_text_width and len(text) > 3: + text = text[:-1] + text_size = measure_text_cached(self.font_demi, text + "...", 46) + text = text + "..." + + sz = measure_text_cached(self.font_demi, text, 46) + origin = rl.Vector2(road_rect.x + road_rect.width / 2 - sz.x / 2, road_rect.y + road_rect.height / 2 - sz.y / 2) + rl.draw_text_ex(self.font_demi, text, origin, 46, 0, rl.Color(255, 255, 255, 200)) From fc4a0fb944de619e64e1ee9b312bdd6c03509a02 Mon Sep 17 00:00:00 2001 From: dzid26 Date: Sat, 24 Jan 2026 07:11:38 +0000 Subject: [PATCH 66/68] [TIZI/TICI] ui: Blue "Exit Always Offroad" button (#1655) Blue "Exit Always Offroad" button Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/layouts/settings/device.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py index 448a4faab6..8f9d0ae22b 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/device.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py @@ -193,7 +193,7 @@ class DeviceLayoutSP(DeviceLayout): # Text & Color offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad") - offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER + offroad_mode_btn_style = ButtonStyle.PRIMARY if always_offroad else ButtonStyle.DANGER self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text) self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style) From 5dea009113b5946e8f13aa62471f461930c13d50 Mon Sep 17 00:00:00 2001 From: Candy0707 <93701039+Candy0707@users.noreply.github.com> Date: Sun, 25 Jan 2026 11:50:39 +0800 Subject: [PATCH 67/68] [TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar (#1659) * Fix Bug Turn and blind * use separate y coord for left and right signals --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 2 +- selfdrive/ui/sunnypilot/onroad/turn_signal.py | 32 +++++++++---------- 2 files changed, 16 insertions(+), 18 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 933b573bf1..0ea008f4e6 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -32,7 +32,7 @@ class HudRendererSP(HudRenderer): self.developer_ui.render(rect) self.road_name_renderer.render(rect) - self.turn_signal_controller.render() + self.turn_signal_controller.render(rect) if ui_state.rocket_fuel: self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index 4e5f1183d8..3a66ffeb03 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -17,10 +17,10 @@ from openpilot.common.filter_simple import FirstOrderFilter @dataclass(frozen=True) class TurnSignalConfig: - left_x: int = 870 - left_y: int = 220 - right_x: int = 1140 - right_y: int = 220 + left_x: int = 80 + left_y: int = 190 + right_x: int = 80 + right_y: int = 190 size: int = 150 @@ -136,22 +136,20 @@ class TurnSignalController: else: self._right_signal.deactivate() - def render(self): + def render(self, rect: rl.Rectangle): + x = rect.x + rect.width / 2 + + left_x = x - self._config.left_x - self._config.size + left_y = rect.y + self._config.left_y + + right_x = x + self._config.right_x + right_y = rect.y + self._config.right_y + if self._left_signal._active: - self._left_signal.render(rl.Rectangle( - self._config.left_x, - self._config.left_y, - self._config.size, - self._config.size - )) + self._left_signal.render(rl.Rectangle(left_x, left_y, self._config.size, self._config.size)) if self._right_signal._active: - self._right_signal.render(rl.Rectangle( - self._config.right_x, - self._config.right_y, - self._config.size, - self._config.size - )) + self._right_signal.render(rl.Rectangle(right_x, right_y, self._config.size, self._config.size)) @property def config(self) -> TurnSignalConfig: From fb58e8f1f7470d4699359988939a4a84a23a9673 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sun, 25 Jan 2026 23:54:42 -0700 Subject: [PATCH 68/68] [TIZI/TICI] ui: Speed Limit (#1653) * sla ui remove dub debug ahead postition maybe posttion think * sunny will be mad Reapply "test" This reverts commit 7a35fd3053425b06c1e4cebf68b6c9676eb6e279. Revert "test" This reverts commit 1a79155d3cfc8e6e09a6fc38d13747883745ef6a. test * road name * Revert "road name" This reverts commit 02e69b008603c357f14b4793e8fc893e00b3d3a0. * decouple * dial it in * match cur * no magic numbers * cleanup * more cleanup * match * always draw ahead * Revert "always draw ahead" This reverts commit f695e000789aab316af8234d8ea3e282e0b72ec3. * new * type * Revert "type" This reverts commit 2dafa024076ff0b9e027c88e5fd532f8bc4ec0c7. * default --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 5 +- selfdrive/ui/sunnypilot/onroad/speed_limit.py | 281 ++++++++++++++++++ selfdrive/ui/sunnypilot/ui_state.py | 1 + 3 files changed, 286 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/sunnypilot/onroad/speed_limit.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 0ea008f4e6..8ca7269802 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -11,6 +11,7 @@ from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel +from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController @@ -20,18 +21,20 @@ class HudRendererSP(HudRenderer): self.developer_ui = DeveloperUiRenderer() self.road_name_renderer = RoadNameRenderer() self.rocket_fuel = RocketFuel() + self.speed_limit_renderer = SpeedLimitRenderer() self.turn_signal_controller = TurnSignalController() def _update_state(self) -> None: super()._update_state() self.road_name_renderer.update() + self.speed_limit_renderer.update() self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) - self.road_name_renderer.render(rect) + self.speed_limit_renderer.render(rect) self.turn_signal_controller.render(rect) if ui_state.rocket_fuel: diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py new file mode 100644 index 0000000000..a0b5ea3935 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py @@ -0,0 +1,281 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from dataclasses import dataclass +import math +import pyray as rl + +from cereal import custom +from openpilot.common.constants import CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets import Widget + +METER_TO_FOOT = 3.28084 +METER_TO_MILE = 0.000621371 +AHEAD_THRESHOLD = 5 + +AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState +SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source + + +@dataclass(frozen=True) +class Colors: + WHITE = rl.WHITE + BLACK = rl.BLACK + RED = rl.RED + GREY = rl.Color(145, 155, 149, 255) + DARK_GREY = rl.Color(77, 77, 77, 255) + SUB_BG = rl.Color(0, 0, 0, 180) + MUTCD_LINES = rl.Color(255, 255, 255, 100) + + +class SpeedLimitRenderer(Widget): + def __init__(self): + super().__init__() + + self.speed_limit = 0.0 + self.speed_limit_last = 0.0 + self.speed_limit_offset = 0.0 + self.speed_limit_valid = False + self.speed_limit_last_valid = False + self.speed_limit_final_last = 0.0 + self.speed_limit_source = SpeedLimitSource.none + self.speed_limit_assist_state = AssistState.disabled + + self.speed_limit_ahead = 0.0 + self.speed_limit_ahead_dist = 0.0 + self.speed_limit_ahead_dist_prev = 0.0 + self.speed_limit_ahead_valid = False + self.speed_limit_ahead_frame = 0 + + self.assist_frame = 0 + self.speed = 0.0 + self.set_speed = 0.0 + + self.font_bold = gui_app.font(FontWeight.BOLD) + self.font_demi = gui_app.font(FontWeight.SEMI_BOLD) + self.font_norm = gui_app.font(FontWeight.NORMAL) + self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps) + + arrow_size = 90 + self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size) + self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size) + + @property + def speed_conv(self): + return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH + + def update(self): + sm = ui_state.sm + if sm.recv_frame["carState"] < ui_state.started_frame: + return + + if sm.updated["longitudinalPlanSP"]: + lp_sp = sm["longitudinalPlanSP"] + resolver = lp_sp.speedLimit.resolver + assist = lp_sp.speedLimit.assist + + self.speed_limit = resolver.speedLimit * self.speed_conv + self.speed_limit_last = resolver.speedLimitLast * self.speed_conv + self.speed_limit_offset = resolver.speedLimitOffset * self.speed_conv + self.speed_limit_valid = resolver.speedLimitValid + self.speed_limit_last_valid = resolver.speedLimitLastValid + self.speed_limit_final_last = resolver.speedLimitFinalLast * self.speed_conv + self.speed_limit_source = resolver.source + self.speed_limit_assist_state = assist.state + + if sm.updated["liveMapDataSP"]: + lmd = sm["liveMapDataSP"] + self.speed_limit_ahead_valid = lmd.speedLimitAheadValid + self.speed_limit_ahead = lmd.speedLimitAhead * self.speed_conv + self.speed_limit_ahead_dist = lmd.speedLimitAheadDistance + + if self.speed_limit_ahead_dist < self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame < AHEAD_THRESHOLD: + self.speed_limit_ahead_frame += 1 + elif self.speed_limit_ahead_dist > self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame > 0: + self.speed_limit_ahead_frame -= 1 + + self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist + + cs = sm["carState"] + self.set_speed = cs.cruiseState.speed * self.speed_conv + v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo + self.speed = max(0.0, v_ego * self.speed_conv) + + @staticmethod + def _draw_text_centered(font, text, size, pos_center, color): + sz = measure_text_cached(font, text, size) + rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color) + + def _render(self, rect: rl.Rectangle): + width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial + x = rect.x + 60 + width + 30 - 6 + y = rect.y + 45 - 6 + + sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2) + + if self.speed_limit_assist_state == AssistState.preActive: + self.assist_frame += 1 + pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps) + alpha = self._sign_alpha_filter.update(pulse_value) + else: + self.assist_frame = 0 + alpha = self._sign_alpha_filter.update(1.0) + + if ui_state.speed_limit_mode != SpeedLimitMode.off: + self._draw_sign_main(sign_rect, alpha) + if self.speed_limit_assist_state == AssistState.preActive: + self._draw_pre_active_arrow(sign_rect) + else: + self._draw_ahead_info(sign_rect) + + def _draw_sign_main(self, rect, alpha=1.0): + speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning + has_limit = self.speed_limit_valid or self.speed_limit_last_valid + is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed) + + limit_str = str(round(self.speed_limit_last)) if has_limit else "---" + sub_text = "" + if self.speed_limit_offset != 0: + sign = "" if self.speed_limit_offset > 0 else "-" + sub_text = f"{sign}{round(abs(self.speed_limit_offset))}" + + txt_color = Colors.BLACK + if speed_limit_warning_enabled and is_overspeed: + txt_color = Colors.RED + elif not self.speed_limit_valid: + txt_color = Colors.GREY + + if ui_state.is_metric: + self._render_vienna(rect, limit_str, sub_text, txt_color, has_limit, alpha) + else: + self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha) + + def _draw_pre_active_arrow(self, sign_rect): + set_speed_rounded = round(self.set_speed) + limit_rounded = round(self.speed_limit_final_last) + + bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5) + bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency)) + + sign_margin = 12 + arrow_spacing = int(sign_margin * 1.4) + arrow_x = sign_rect.x + sign_rect.width + arrow_spacing + + if set_speed_rounded < limit_rounded: + arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset + rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE) + elif set_speed_rounded > limit_rounded: + arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset + rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE) + + def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0): + center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2) + radius = (rect.width + 18) / 2 + + white = rl.Color(255, 255, 255, int(255 * alpha)) + red = rl.Color(255, 0, 0, int(255 * alpha)) + + if hasattr(color, 'r'): + text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha)) + else: + text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha)) + + black = rl.Color(0, 0, 0, int(255 * alpha)) + dark_grey = rl.Color(77, 77, 77, int(255 * alpha)) + + rl.draw_circle_v(center, radius, white) + rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red) + + f_size = 70 if len(val) >= 3 else 85 + self._draw_text_centered(self.font_bold, val, f_size, center, text_color) + + if sub and has_limit: + s_radius = radius * 0.4 + s_center = rl.Vector2(rect.x + rect.width - s_radius / 2, rect.y + s_radius / 2) + + rl.draw_circle_v(s_center, s_radius, black) + rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey) + + f_scale = 0.5 if len(sub) < 3 else 0.45 + self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white) + + def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0): + white = rl.Color(255, 255, 255, int(255 * alpha)) + black = rl.Color(0, 0, 0, int(255 * alpha)) + dark_grey = rl.Color(77, 77, 77, int(255 * alpha)) + + if hasattr(color, 'r'): + text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha)) + else: + text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha)) + + rl.draw_rectangle_rounded(rect, 0.35, 10, white) + inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20) + rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black) + + self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black) + self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black) + self._draw_text_centered(self.font_bold, val, 90, rl.Vector2(rect.x + rect.width / 2, rect.y + 150), text_color) + + if sub and has_limit: + box_sz = rect.width * 0.3 + overlap = box_sz * 0.2 + s_rect = rl.Rectangle(rect.x + rect.width - box_sz / 1.5 + overlap, rect.y - box_sz / 1.25 + overlap, box_sz, box_sz) + + rl.draw_rectangle_rounded(s_rect, 0.35, 10, black) + rl.draw_rectangle_rounded_lines_ex(s_rect, 0.35, 10, 6, dark_grey) + + f_scale = 0.6 if len(sub) < 3 else 0.475 + self._draw_text_centered(self.font_bold, sub, int(box_sz * f_scale), rl.Vector2(s_rect.x + box_sz / 2, s_rect.y + box_sz / 2), white) + + def _draw_ahead_info(self, sign_rect): + source_is_map = self.speed_limit_source == SpeedLimitSource.map + valid = self.speed_limit_ahead_valid and self.speed_limit_ahead > 0 and self.speed_limit_ahead != self.speed_limit + + if not (valid and source_is_map): + return + + rect = rl.Rectangle(sign_rect.x + (sign_rect.width - 170) / 2, sign_rect.y + sign_rect.height + 10, 170, 160) + rl.draw_rectangle_rounded(rect, 0.35, 10, Colors.SUB_BG) + rl.draw_rectangle_rounded_lines_ex(rect, 0.35, 10, 3, Colors.MUTCD_LINES) + + mid_x = rect.x + rect.width / 2 + self._draw_text_centered(self.font_demi, "AHEAD", 40, rl.Vector2(mid_x, rect.y + 28), Colors.GREY) + self._draw_text_centered(self.font_bold, str(round(self.speed_limit_ahead)), 70, rl.Vector2(mid_x, rect.y + 82), Colors.WHITE) + self._draw_text_centered(self.font_norm, self._format_dist(self.speed_limit_ahead_dist), 36, rl.Vector2(mid_x, rect.y + 134), Colors.GREY) + + @staticmethod + def _format_dist(d): + # metric + if ui_state.is_metric: + if d < 50: + return tr("Near") + + if d >= 1000: + return f"{d / 1000:.1f} km" + + d_rounded = round(d, -1) if d < 200 else round(d, -2) + return f"{int(d_rounded)} m" + + # imperial + d_ft = d * METER_TO_FOOT + if d_ft < 100: + return tr("Near") + + if d_ft >= 900: + return f"{d * METER_TO_MILE:.1f} mi" + + if d_ft < 500: + return f"{int(round(d_ft / 50) * 50)} ft" + + return f"{int(round(d_ft / 100) * 100)} ft" diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 9ef4e1d7c8..f38280d498 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -127,6 +127,7 @@ class UIStateSP: self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) + self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) # Onroad Screen Brightness self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))