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Merge branch 'master' into hkg-angle-steering-2025

Browse Source 
# Conflicts:
#	common/params_keys.h
#	opendbc_repo
This commit is contained in:
DevTekVE
2025-08-25 08:01:51 +02:00
parent 3517c36978 7c6d887187
commit 1fcdeccd40
84 changed files with 1424 additions and 962 deletions
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selfdrive/car/card.py
+3 -1
View File
@@ -107,8 +107,10 @@ class Car:
cached_params = _cached_params
fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
fixed_fingerprint, init_params_list_sp)
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
self.CP = self.CI.CP
selfdrive/controls/lib/latcontrol_torque.py
+16 -12
View File
@@ -3,7 +3,6 @@ import numpy as np
from cereal import log
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
from opendbc.car.interfaces import LatControlInputs
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController
@@ -29,9 +28,11 @@ class LatControlTorque(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.torque_params = CP.lateralTuning.torque.as_builder()
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
k_f=self.torque_params.kf)
self.update_limits()
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.extension = LatControlTorqueExt(self, CP, CP_SP)
@@ -40,6 +41,11 @@ class LatControlTorque(LatControl):
self.torque_params.latAccelFactor = latAccelFactor
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
self.update_limits()
def update_limits(self):
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -61,13 +67,10 @@ class LatControlTorque(LatControl):
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
gravity_adjusted=False)
torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
gravity_adjusted=False)
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
gravity_adjusted=True)
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(setpoint - measurement)
ff = gravity_adjusted_lateral_accel
ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
# Lateral acceleration torque controller extension updates
@@ -77,17 +80,18 @@ class LatControlTorque(LatControl):
desired_curvature, actual_curvature)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(pid_log.error,
output_lataccel = self.pid.update(pid_log.error,
feedforward=ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.d = float(self.pid.d)
pid_log.f = float(self.pid.f)
pid_log.output = float(-output_torque)
pid_log.output = float(-output_torque) # TODO: log lat accel?
pid_log.actualLateralAccel = float(actual_lateral_accel)
pid_log.desiredLateralAccel = float(desired_lateral_accel)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
selfdrive/controls/lib/longitudinal_planner.py
+5 -5
View File
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
return x, v, a, j, throttle_prob
def update(self, sm):
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
if not self.mlsim:
self.mpc.mode = self.mode
self.mpc.mode = mode
LongitudinalPlannerSP.update(self, sm)
if dec_mpc_mode := self.get_mpc_mode():
self.mode = dec_mpc_mode
mode = dec_mpc_mode
if not self.mlsim:
self.mpc.mode = dec_mpc_mode
@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
if self.mode == 'acc':
if mode == 'acc':
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -173,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
output_should_stop_e2e = sm['modelV2'].action.shouldStop
if self.mode == 'acc' or not self.mlsim:
if mode == 'acc' or not self.mlsim:
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc
else:
selfdrive/controls/lib/tests/__init__.py
View File
selfdrive/controls/lib/tests/test_latcontrol.py → selfdrive/controls/tests/test_latcontrol.py
+3 -1
View File
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.toyota.values import CAR as TOYOTA
from opendbc.car.nissan.values import CAR as NISSAN
from opendbc.car.gm.values import CAR as GM
from opendbc.car.vehicle_model import VehicleModel
from openpilot.selfdrive.car.helpers import convert_to_capnp
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -17,7 +18,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
class TestLatControl:
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
def test_saturation(self, car_name, controller):
CarInterface = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name)
selfdrive/modeld/modeld.py
-11
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@@ -107,15 +107,12 @@ class ModelState(ModelStateBase):
self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
# policy inputs
self.numpy_inputs = {
'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32),
}
@@ -148,7 +145,6 @@ class ModelState(ModelStateBase):
self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
if TICI and not USBGPU:
@@ -174,11 +170,6 @@ class ModelState(ModelStateBase):
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
# TODO model only uses last value now
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
if SEND_RAW_PRED:
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -299,7 +290,6 @@ def main(demo=False):
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -332,7 +322,6 @@ def main(demo=False):
inputs:dict[str, np.ndarray] = {
'desire': vec_desire,
'traffic_convention': traffic_convention,
'lateral_control_params': lateral_control_params,
}
mt1 = time.perf_counter()
selfdrive/modeld/models/driving_policy.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
size 15583374
oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
size 12343523
selfdrive/modeld/models/driving_vision.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
size 46265993
oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
size 46271991
selfdrive/modeld/parse_model_outputs.py
+18 -16
View File
@@ -22,9 +22,10 @@ class Parser:
self.ignore_missing = ignore_missing
def check_missing(self, outs, name):
if name not in outs and not self.ignore_missing:
missing = name not in outs
if missing and not self.ignore_missing:
raise ValueError(f"Missing output {name}")
return name not in outs
return missing
def parse_categorical_crossentropy(self, name, outs, out_shape=None):
if self.check_missing(outs, name):
@@ -84,6 +85,13 @@ class Parser:
outs[name] = pred_mu_final.reshape(final_shape)
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
def is_mhp(self, outs, name, shape):
if self.check_missing(outs, name):
return False
if outs[name].shape[1] == 2 * shape:
return False
return True
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -94,23 +102,17 @@ class Parser:
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs)
self.parse_binary_crossentropy('lead_prob', outs)
if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
self.parse_mdn('lead', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
else:
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
else:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
return outs
selfdrive/pandad/pandad.py
+1 -1
View File
@@ -93,7 +93,7 @@ def main() -> None:
# TODO: remove this in the next AGNOS
# wait until USB is up before counting
if time.monotonic() < 35.:
if time.monotonic() < 60.:
no_internal_panda_count = 0
# Handle missing internal panda
selfdrive/selfdrived/selfdrived.py
+5 -1
View File
@@ -265,7 +265,10 @@ class SelfdriveD(CruiseHelper):
if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
self.events.add(EventName.ldw)
# Check for excessive actuation
# ******************************************************************************************
# NOTE: To fork maintainers.
# Disabling or nerfing safety features will get you and your users banned from our servers.
# We recommend that you do not change these numbers from the defaults.
if self.sm.updated['liveCalibration']:
self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
if self.sm.updated['livePose']:
@@ -280,6 +283,7 @@ class SelfdriveD(CruiseHelper):
if self.excessive_actuation:
self.events.add(EventName.excessiveActuation)
# ******************************************************************************************
# Handle lane change
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
543bd2347fa35f8300478a3893fdd0a03a7c1fe6
6d3219bca9f66a229b38a5382d301a92b0147edb
selfdrive/test/process_replay/test_processes.py
+1 -1
View File
@@ -63,7 +63,7 @@ segments = [
]
# dashcamOnly makes don't need to be tested until a full port is done
excluded_interfaces = ["mock", "body"]
excluded_interfaces = ["mock", "body", "psa"]
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
selfdrive/test/test_onroad.py
+6 -8
View File
@@ -333,20 +333,18 @@ class TestOnroad:
assert np.all(eof_sof_diff > 0)
assert np.all(eof_sof_diff < 50*1e6)
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
first_fid = {min(self.ts[c]['frameId']) for c in cams}
assert len(first_fid) == 1, "Cameras don't start on same frame ID"
if cam.endswith('CameraState'):
# camerad guarantees that all cams start on frame ID 0
# (note loggerd also needs to start up fast enough to catch it)
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
else:
# encoder guarantees all cams start on the same frame ID
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
# we don't do a full segment rotation, so these might not match exactly
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
assert max(last_fid.values()) - min(last_fid.values()) < 10
last_fid = {max(self.ts[c]['frameId']) for c in cams}
assert max(last_fid) - min(last_fid) < 10
start, end = min(first_fid.values()), min(last_fid.values())
start, end = min(first_fid), min(last_fid)
for i in range(end-start):
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
diff = (max(ts.values()) - min(ts.values()))
selfdrive/ui/feedback/feedbackd.py
+2 -1
View File
@@ -22,8 +22,9 @@ def main():
sm.update()
should_send_bookmark = False
# TODO: https://github.com/commaai/openpilot/issues/36015
# only allow the LKAS button to record feedback when MADS is disabled
if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
for be in sm['carState'].buttonEvents:
if be.type == ButtonType.lkas:
if be.pressed:
selfdrive/ui/installer/installer.cc
+33 -13
View File
@@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "?
#define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
#define CONTINUE_PATH "/data/continue.sh"
const std::string CACHE_PATH = "/data/openpilot.cache";
const std::string INSTALL_PATH = "/data/openpilot";
const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
#define INSTALL_PATH "/data/openpilot"
#define TMP_INSTALL_PATH "/data/tmppilot"
const int FONT_SIZE = 120;
extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -41,6 +43,16 @@ void run(const char* cmd) {
assert(err == 0);
}
void finishInstall() {
BeginDrawing();
ClearBackground(BLACK);
const char *m = "Finishing install...";
int text_width = MeasureText(m, FONT_SIZE);
DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
EndDrawing();
util::sleep_for(60 * 1000);
}
void renderProgress(int progress) {
BeginDrawing();
ClearBackground(BLACK);
@@ -62,11 +74,11 @@ int doInstall() {
}
// cleanup previous install attempts
run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
run("rm -rf " TMP_INSTALL_PATH);
// do the install
if (util::file_exists(CACHE_PATH)) {
return cachedFetch(CACHE_PATH);
if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
return cachedFetch(INSTALL_PATH);
} else {
return freshClone();
}
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
run("git submodule update --init");
// move into place
run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
run(("rm -f " + VALID_CACHE_PATH).c_str());
run(("rm -rf " + INSTALL_PATH).c_str());
run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
#ifdef INTERNAL
run("mkdir -p /data/params/d/");
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
param << value;
param.close();
}
run("cd " INSTALL_PATH " && "
run(("cd " + INSTALL_PATH + " && "
"git remote set-url origin --push " GIT_SSH_URL " && "
"git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
"git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
#endif
// write continue.sh
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
run("mv /data/continue.sh.new " CONTINUE_PATH);
// wait for the installed software's UI to take over
util::sleep_for(60 * 1000);
finishInstall();
}
int main(int argc, char *argv[]) {
InitWindow(2160, 1080, "Installer");
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
renderProgress(0);
int result = doInstall();
cloneFinished(result);
if (util::file_exists(CONTINUE_PATH)) {
finishInstall();
} else {
renderProgress(0);
int result = doInstall();
cloneFinished(result);
}
CloseWindow();
UnloadFont(font);
return 0;
selfdrive/ui/layouts/settings/toggles.py
-10
View File
@@ -23,10 +23,6 @@ DESCRIPTIONS = {
'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
"IsMetric": "Display speed in km/h instead of mph.",
"RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
"RecordAudioFeedback": (
"Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
"The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
),
}
@@ -85,12 +81,6 @@ class TogglesLayout(Widget):
self._params.get_bool("RecordAudio"),
icon="microphone.png",
),
toggle_item(
"Record Audio Feedback with LKAS button",
DESCRIPTIONS["RecordAudioFeedback"],
self._params.get_bool("RecordAudioFeedback"),
icon="microphone.png",
),
toggle_item(
"Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
),
selfdrive/ui/lib/prime_state.py
+12 -1
View File
@@ -2,12 +2,15 @@ from enum import IntEnum
import os
import threading
import time
from functools import lru_cache
from openpilot.common.api import Api, api_get
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
TOKEN_EXPIRY_HOURS = 2
class PrimeType(IntEnum):
UNKNOWN = -2,
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
PURPLE = 5,
@lru_cache(maxsize=1)
def get_token(dongle_id: str, t: int):
print('getting token')
return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
class PrimeState:
FETCH_INTERVAL = 5.0 # seconds between API calls
API_TIMEOUT = 10.0 # seconds for API requests
@@ -49,13 +58,15 @@ class PrimeState:
return
try:
identity_token = Api(dongle_id).get_token()
identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
if response.status_code == 200:
data = response.json()
is_paired = data.get("is_paired", False)
prime_type = data.get("prime_type", 0)
self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
elif response.status_code == 401:
get_token.cache_clear()
except Exception as e:
cloudlog.error(f"Failed to fetch prime status: {e}")
selfdrive/ui/onroad/model_renderer.py
+11 -19
View File
@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
)
self._update_experimental_gradient(self._rect.height)
self._update_experimental_gradient()
def _update_experimental_gradient(self, height):
def _update_experimental_gradient(self):
"""Pre-calculate experimental mode gradient colors"""
if not self._experimental_mode:
return
@@ -201,22 +201,21 @@ class ModelRenderer(Widget):
i = 0
while i < max_len:
track_idx = max_len - i - 1 # flip idx to start from bottom right
track_y = self._path.projected_points[track_idx][1]
if track_y < 0 or track_y > height:
# Some points (screen space) are out of frame (rect space)
track_y = self._path.projected_points[i][1]
if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
i += 1
continue
# Calculate color based on acceleration
lin_grad_point = (height - track_y) / height
# Calculate color based on acceleration (0 is bottom, 1 is top)
lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
# speed up: 120, slow down: 0
path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
path_hue = int(path_hue * 100 + 0.5) / 100
path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
# Use HSL to RGB conversion
color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -280,7 +279,7 @@ class ModelRenderer(Widget):
if self._experimental_mode:
# Draw with acceleration coloring
if len(self._exp_gradient['colors']) > 2:
if len(self._exp_gradient['colors']) > 1:
draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
else:
draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -409,13 +408,6 @@ class ModelRenderer(Widget):
return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
@staticmethod
def _map_val(x, x0, x1, y0, y1):
x = np.clip(x, x0, x1)
ra = x1 - x0
rb = y1 - y0
return (x - x0) * rb / ra + y0 if ra != 0 else y0
@staticmethod
def _hsla_to_color(h, s, l, a):
rgb = colorsys.hls_to_rgb(h, l, s)
selfdrive/ui/qt/offroad/settings.cc
-7
View File
@@ -75,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
"../assets/icons/microphone.png",
true,
},
{
"RecordAudioFeedback",
tr("Record Audio Feedback with LKAS button"),
tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
"../assets/icons/microphone.png",
false,
},
{
"IsMetric",
tr("Use Metric System"),
selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+6 -6
View File
@@ -47,17 +47,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
addItem(errorLogBtn);
QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
is_release = params.getBool("IsReleaseBranch");
is_tested = params.getBool("IsTestedBranch");
is_development = params.getBool("IsDevelopmentBranch");
}
void DeveloperPanelSP::updateToggles(bool offroad) {
bool is_release = params.getBool("IsReleaseBranch");
bool is_tested = params.getBool("IsTestedBranch");
bool is_development = params.getBool("IsDevelopmentBranch");
bool disable_updates = params.getBool("DisableUpdates");
prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
prebuiltToggle->setEnabled(disable_updates);
params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
prebuiltToggle->refresh();
@@ -66,6 +66,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
"it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
"<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
: tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
prebuiltToggle->showDescription();
enableGithubRunner->setVisible(!is_release);
errorLogBtn->setVisible(!is_release);
@@ -74,7 +75,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
void DeveloperPanelSP::showEvent(QShowEvent *event) {
DeveloperPanel::showEvent(event);
updateToggles(!uiState()->scene.started);
AbstractControlSP::UpdateAllAdvancedControls();
prebuiltToggle->showDescription();
updateToggles(!uiState()->scene.started);
}
selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+3
View File
@@ -21,6 +21,9 @@ private:
ParamControlSP *prebuiltToggle;
Params params;
ParamControlSP *showAdvancedControls;
bool is_development;
bool is_release;
bool is_tested;
private slots:
void updateToggles(bool offroad);
selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+1 -1
View File
@@ -393,7 +393,7 @@ void ModelsPanel::updateLabels() {
auto liveDelay = event.getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
}
}
} else {
selfdrive/ui/tests/test_feedbackd.py
+1
View File
@@ -5,6 +5,7 @@ from openpilot.common.params import Params
from openpilot.system.manager.process_config import managed_processes
@pytest.mark.skip("tmp disabled")
class TestFeedbackd:
def setup_method(self):
self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
selfdrive/ui/translations/main_ar.ts
+40 -14
View File
@@ -972,10 +972,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1020,6 +1016,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">إلغاء</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2067,6 +2095,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2212,16 +2248,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_de.ts
+40 -14
View File
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">Abbrechen</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2049,6 +2077,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2194,16 +2230,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_es.ts
+41 -15
View File
@@ -462,7 +462,7 @@ La calibración del retraso de la dirección está completa.</translation>
</message>
<message>
<source>Select a language</source>
<translation type="unfinished"></translation>
<translation type="unfinished">Seleccione el idioma</translation>
</message>
<message>
<source>Wake-Up Behavior</source>
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">Cancelar</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2051,6 +2079,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2196,16 +2232,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_fr.ts
+40 -14
View File
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">Annuler</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2047,6 +2075,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2192,16 +2228,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_ja.ts
+40 -14
View File
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">キャンセル</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2227,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_ko.ts
+40 -16
View File
@@ -974,10 +974,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation>기본값</translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation>이 기능을 켜면 차량이 스스로 핸들 반응 속도를 학습하고 맞춥니다. 끄면 고정된 핸들 반응 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다. 차량이 주행 중일 때 현재 값이 자동으로 업데이트됩니다.</translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation>모델 다운로드가 백그라운드에서 시작되었습니다.</translation>
@@ -1022,6 +1018,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation>취소</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished">새로 고침</translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2060,6 +2088,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation>페어링되지 않음</translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2205,18 +2241,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation>운전 중 마이크 오디오를 녹음하고 저장합니다. 이 오디오는 comma connect의 대시캠 영상에 포함됩니다.</translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation>LKAS 버튼으로 오디오 피드백 녹음</translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation>LKAS 버튼을 눌러 openpilot 팀과 주행 피드백을 녹음하고 공유하세요. 이 기능을 비활성화하면, 해당 버튼은 북마크 버튼 역할을 합니다. 이 이벤트는 comma connect에서 강조되며, 해당 구간 영상은 기기 저장소에 보존됩니다.
참고: 이 기능은 일부 차량에서만 호환됩니다.</translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation>sunnypilot 사용</translation>
selfdrive/ui/translations/main_pt-BR.ts
+40 -14
View File
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">Cancelar</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2051,6 +2079,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2196,16 +2232,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_th.ts
+40 -14
View File
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">ยกเลิก</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2042,6 +2070,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2187,16 +2223,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_tr.ts
+40 -14
View File
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2041,6 +2069,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2186,16 +2222,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_zh-CHS.ts
+40 -14
View File
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">取消</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2227,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>
selfdrive/ui/translations/main_zh-CHT.ts
+40 -14
View File
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
<source>Cancel</source>
<translation type="unfinished">取消</translation>
</message>
<message>
<source>Refresh Model List</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>REFRESH</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Fetching Latest Models</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Live Steer Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Actuator Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Software Delay:</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Total Delay:</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>MultiOptionDialog</name>
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
<source>Not Paired</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>[Don&apos;t use] Enable sunnylink uploader</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2227,6 @@ Warning: You are on a metered connection!</source>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
</message>
<message>
<source>Record Audio Feedback with LKAS button</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
Note that this feature is only compatible with select cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable sunnypilot</source>
<translation type="unfinished"></translation>