mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-15 08:43:43 +08:00
Merge branch 'master' into ui-better-confidence-ball
This commit is contained in:
Jason Wen
@@ -153,6 +153,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
navigation @1;
|
||||
vision @2;
|
||||
policy @3;
|
||||
offPolicy @4;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -115,6 +115,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
|
||||
+1
-10
@@ -4,7 +4,7 @@
|
||||
|
||||
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.
|
||||
|
||||
# 344 Supported Cars
|
||||
# 335 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -23,10 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
@@ -91,7 +88,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
@@ -122,7 +118,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -140,9 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -166,13 +159,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 1abdb9872f...ff2f9686c2
@@ -68,8 +68,10 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
|
||||
metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
|
||||
|
||||
# Build the metadata structure
|
||||
model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
|
||||
|
||||
model_metadata = {
|
||||
"type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring",
|
||||
"type": model_type,
|
||||
"artifact": {
|
||||
"file_name": tinygrad_file.name,
|
||||
"download_uri": {
|
||||
|
||||
@@ -146,9 +146,11 @@ def arc_bar_pts(cx: float, cy: float,
|
||||
|
||||
|
||||
class TorqueBar(Widget):
|
||||
def __init__(self, demo: bool = False):
|
||||
def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
|
||||
super().__init__()
|
||||
self._demo = demo
|
||||
self._scale = scale
|
||||
self._always = always
|
||||
self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
|
||||
self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
@@ -180,8 +182,8 @@ class TorqueBar(Widget):
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
# adjust y pos with torque
|
||||
torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22, 26])
|
||||
torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14, 56])
|
||||
torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * self._scale, 26 * self._scale])
|
||||
torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * self._scale, 56 * self._scale])
|
||||
|
||||
# animate alpha and angle span
|
||||
if not self._demo:
|
||||
@@ -195,7 +197,7 @@ class TorqueBar(Widget):
|
||||
torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
|
||||
|
||||
# draw curved line polygon torque bar
|
||||
torque_line_radius = 1200
|
||||
torque_line_radius = 1200 * self._scale
|
||||
top_angle = -90
|
||||
torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
|
||||
torque_start_angle = top_angle - torque_bg_angle_span / 2
|
||||
@@ -207,13 +209,13 @@ class TorqueBar(Widget):
|
||||
cy = rect.y + rect.height + torque_line_radius - torque_line_offset
|
||||
|
||||
# draw bg torque indicator line
|
||||
bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle)
|
||||
bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale)
|
||||
draw_polygon(rect, bg_pts, color=torque_line_bg_color)
|
||||
|
||||
# draw torque indicator line
|
||||
a0s = top_angle
|
||||
a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
|
||||
sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s)
|
||||
sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale)
|
||||
|
||||
# draw beautiful gradient from center to 65% of the bg torque bar width
|
||||
start_grad_pt = cx / rect.width
|
||||
@@ -252,5 +254,5 @@ class TorqueBar(Widget):
|
||||
# draw center torque bar dot
|
||||
if abs(self._torque_filter.x) < 0.5:
|
||||
dot_y = self._rect.y + self._rect.height - torque_line_offset - torque_line_height / 2
|
||||
rl.draw_circle(int(cx), int(dot_y), 10 // 2,
|
||||
rl.draw_circle(int(cx), int(dot_y), (10 // 2 * self._scale),
|
||||
rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))
|
||||
|
||||
@@ -15,7 +15,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
|
||||
from openpilot.common.transformations.orientation import rot_from_euler
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
|
||||
from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
|
||||
@@ -38,9 +38,10 @@ ROAD_CAM_MIN_SPEED = 15.0 # m/s (34 mph)
|
||||
INF_POINT = np.array([1000.0, 0.0, 0.0])
|
||||
|
||||
|
||||
class AugmentedRoadView(CameraView):
|
||||
class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
|
||||
def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
|
||||
super().__init__("camerad", stream_type)
|
||||
CameraView.__init__(self, "camerad", stream_type)
|
||||
AugmentedRoadViewSP.__init__(self)
|
||||
self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
|
||||
|
||||
self.device_camera: DeviceCameraConfig | None = None
|
||||
@@ -92,6 +93,7 @@ class AugmentedRoadView(CameraView):
|
||||
|
||||
# Draw all UI overlays
|
||||
self.model_renderer.render(self._content_rect)
|
||||
AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
|
||||
self._hud_renderer.render(self._content_rect)
|
||||
self.alert_renderer.render(self._content_rect)
|
||||
self.driver_state_renderer.render(self._content_rect)
|
||||
|
||||
@@ -5,9 +5,27 @@ 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 UIStatus
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
|
||||
BORDER_COLORS_SP = {
|
||||
UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF), # Cyan for lateral-only state
|
||||
UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF), # Purple for longitudinal-only state
|
||||
}
|
||||
|
||||
|
||||
class AugmentedRoadViewSP:
|
||||
def __init__(self):
|
||||
self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
|
||||
self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
def update_fade_out_bottom_overlay(self, _content_rect):
|
||||
# Fade out bottom of overlays for looks (only when engaged)
|
||||
fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
|
||||
if ui_state.torque_bar and fade_alpha > 1e-2:
|
||||
# Scale the fade texture to the content rect
|
||||
rl.draw_texture_pro(self._fade_texture,
|
||||
rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
|
||||
_content_rect, rl.Vector2(0, 0), 0.0,
|
||||
rl.Color(255, 255, 255, int(255 * fade_alpha)))
|
||||
|
||||
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
|
||||
UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
|
||||
DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
|
||||
AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
|
||||
SteeringTorqueEpsElement, BearingDegElement, AltitudeElement
|
||||
SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement
|
||||
)
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
@@ -36,6 +36,7 @@ class DeveloperUiRenderer(Widget):
|
||||
self.desired_lat_accel_elem = DesiredLateralAccelElement()
|
||||
self.actual_lat_accel_elem = ActualLateralAccelElement()
|
||||
self.desired_steer_elem = DesiredSteeringAngleElement()
|
||||
self.desired_pid_steer_elem = DesiredSteeringPIDElement()
|
||||
self.a_ego_elem = AEgoElement()
|
||||
self.lead_speed_elem = LeadSpeedElement()
|
||||
self.friction_elem = FrictionCoefficientElement()
|
||||
@@ -85,8 +86,10 @@ class DeveloperUiRenderer(Widget):
|
||||
]
|
||||
if controls_state.lateralControlState.which() == 'torqueState':
|
||||
elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
|
||||
else:
|
||||
elif controls_state.lateralControlState.which() == 'angleState':
|
||||
elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
|
||||
elif controls_state.lateralControlState.which() == 'pidState':
|
||||
elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric))
|
||||
|
||||
elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
|
||||
|
||||
|
||||
@@ -191,6 +191,31 @@ class DesiredLateralAccelElement(LateralControlElement):
|
||||
return UiElement(value, "DESIRED L.A.", self.unit, color)
|
||||
|
||||
|
||||
class DesiredSteeringPIDElement(LateralControlElement):
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
car_state = sm['carState']
|
||||
controls_state = sm['controlsState']
|
||||
lat_active = sm['carControl'].latActive
|
||||
angle_steers = car_state.steeringAngleDeg
|
||||
steer_angle_desired = controls_state.lateralControlState.pidState.steeringAngleDesiredDeg
|
||||
|
||||
value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
|
||||
|
||||
color = rl.WHITE
|
||||
if lat_active:
|
||||
if abs(angle_steers) > 180:
|
||||
color = rl.RED
|
||||
elif abs(angle_steers) > 90:
|
||||
color = rl.Color(255, 188, 0, 255)
|
||||
else:
|
||||
color = rl.Color(0, 255, 0, 255)
|
||||
|
||||
return UiElement(value, "DESIRED STEER", self.unit, color)
|
||||
|
||||
|
||||
class AEgoElement:
|
||||
def __init__(self):
|
||||
self.unit = "m/s^2"
|
||||
|
||||
@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
|
||||
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
|
||||
@@ -23,6 +24,7 @@ class HudRendererSP(HudRenderer):
|
||||
self.rocket_fuel = RocketFuel()
|
||||
self.speed_limit_renderer = SpeedLimitRenderer()
|
||||
self.turn_signal_controller = TurnSignalController()
|
||||
self._torque_bar = TorqueBar(scale=3.0, always=True)
|
||||
|
||||
def _update_state(self) -> None:
|
||||
super()._update_state()
|
||||
@@ -32,6 +34,13 @@ class HudRendererSP(HudRenderer):
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
super()._render(rect)
|
||||
|
||||
if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
|
||||
torque_rect = rect
|
||||
if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
|
||||
torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - DeveloperUiRenderer.BOTTOM_BAR_HEIGHT)
|
||||
self._torque_bar.render(torque_rect)
|
||||
|
||||
self.developer_ui.render(rect)
|
||||
self.road_name_renderer.render(rect)
|
||||
self.speed_limit_renderer.render(rect)
|
||||
|
||||
@@ -125,6 +125,7 @@ class UIStateSP:
|
||||
self.rocket_fuel = self.params.get_bool("RocketFuel")
|
||||
self.rainbow_path = self.params.get_bool("RainbowMode")
|
||||
self.chevron_metrics = self.params.get("ChevronInfo")
|
||||
self.torque_bar = self.params.get_bool("TorqueBar")
|
||||
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)
|
||||
|
||||
@@ -39,7 +39,7 @@ if PC:
|
||||
model_dir = Dir("models").abspath
|
||||
cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
|
||||
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
|
||||
if File(f"models/{model_name}.onnx").exists():
|
||||
inputs.append(File(f"models/{model_name}.onnx"))
|
||||
inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
|
||||
@@ -57,7 +57,7 @@ def tg_compile(flags, model_name):
|
||||
)
|
||||
|
||||
# Compile small models
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_policy']:
|
||||
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
|
||||
if File(f"models/{model_name}.onnx").exists():
|
||||
flags = {
|
||||
'larch64': 'DEV=QCOM',
|
||||
|
||||
@@ -44,7 +44,7 @@ def generate_metadata_pkl(model_path, output_path):
|
||||
|
||||
def install_models(model_dir):
|
||||
model_dir = Path(model_dir)
|
||||
models = ["driving_policy", "driving_vision"]
|
||||
models = ["driving_off_policy", "driving_policy", "driving_vision"]
|
||||
found_models = []
|
||||
|
||||
for model in models:
|
||||
|
||||
@@ -116,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v10.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v11.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
@@ -13,6 +13,22 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
|
||||
|
||||
class OffPolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for off-policy models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._off_policy_parser = SplitParser()
|
||||
self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
|
||||
|
||||
def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses off-policy model outputs using SplitParser."""
|
||||
result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
|
||||
|
||||
class PolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for policy-only models.
|
||||
|
||||
@@ -4,7 +4,7 @@ import numpy as np
|
||||
from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
|
||||
from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
|
||||
from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
|
||||
from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad
|
||||
from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
|
||||
from openpilot.system.hardware import TICI
|
||||
from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
|
||||
from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
|
||||
@@ -12,7 +12,7 @@ from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
|
||||
class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad):
|
||||
class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad):
|
||||
"""
|
||||
A ModelRunner implementation for executing Tinygrad models.
|
||||
|
||||
@@ -27,6 +27,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
|
||||
SupercomboTinygrad.__init__(self)
|
||||
PolicyTinygrad.__init__(self)
|
||||
VisionTinygrad.__init__(self)
|
||||
OffPolicyTinygrad.__init__(self)
|
||||
self._constants = ModelConstants
|
||||
self._model_data = self.models.get(model_type)
|
||||
if not self._model_data or not self._model_data.model:
|
||||
@@ -106,13 +107,20 @@ class TinygradSplitRunner(ModelRunner):
|
||||
self.is_20hz_3d = True
|
||||
self.vision_runner = TinygradRunner(ModelType.vision)
|
||||
self.policy_runner = TinygradRunner(ModelType.policy)
|
||||
self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
|
||||
self._constants = SplitModelConstants
|
||||
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""Runs both vision and policy models and merges their parsed outputs."""
|
||||
policy_output = self.policy_runner.run_model()
|
||||
vision_output = self.vision_runner.run_model()
|
||||
return {**policy_output, **vision_output} # Combine results
|
||||
outputs = {**policy_output, **vision_output}
|
||||
|
||||
if self.off_policy_runner:
|
||||
off_policy_output = self.off_policy_runner.run_model()
|
||||
outputs.update(off_policy_output)
|
||||
|
||||
return outputs
|
||||
|
||||
@property
|
||||
def vision_input_names(self) -> list[str]:
|
||||
@@ -122,12 +130,18 @@ class TinygradSplitRunner(ModelRunner):
|
||||
@property
|
||||
def input_shapes(self) -> ShapeDict:
|
||||
"""Returns the combined input shapes from both vision and policy models."""
|
||||
return {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
|
||||
shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
|
||||
if self.off_policy_runner:
|
||||
shapes.update(self.off_policy_runner.input_shapes)
|
||||
return shapes
|
||||
|
||||
@property
|
||||
def output_slices(self) -> SliceDict:
|
||||
"""Returns the combined output slices from both vision and policy models."""
|
||||
return {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
|
||||
slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
|
||||
if self.off_policy_runner:
|
||||
slices.update(self.off_policy_runner.output_slices)
|
||||
return slices
|
||||
|
||||
def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
|
||||
"""Prepares inputs for both vision and policy models."""
|
||||
@@ -135,5 +149,11 @@ class TinygradSplitRunner(ModelRunner):
|
||||
self.policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
# Vision inputs depend on imgs_cl and frames
|
||||
self.vision_runner.prepare_vision_inputs(imgs_cl, frames)
|
||||
inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
|
||||
|
||||
if self.off_policy_runner:
|
||||
self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
inputs.update(self.off_policy_runner.inputs)
|
||||
|
||||
# Return combined inputs (though they are stored within respective runners)
|
||||
return {**self.policy_runner.inputs, **self.vision_runner.inputs}
|
||||
return inputs
|
||||
|
||||
@@ -1243,6 +1243,10 @@
|
||||
"title": "Tesla Coop Steering",
|
||||
"description": ""
|
||||
},
|
||||
"TorqueBar": {
|
||||
"title": "Steering Arc",
|
||||
"description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled."
|
||||
},
|
||||
"TorqueParamsOverrideEnabled": {
|
||||
"title": "Manual Real-Time Tuning",
|
||||
"description": ""
|
||||
|
||||
Reference in New Issue
Block a user