diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index a0ff582e68..a7a63658ed 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -11,7 +11,6 @@ "DISPLAY": "${localEnv:DISPLAY}", "PYTHONPATH": "${containerWorkspaceFolder}", "TERM": "xterm-256color", - "CARLA_HOST": "host.docker.internal", "force_color_prompt": "1" }, "runArgs": [ diff --git a/.gitattributes b/.gitattributes index d00208ba84..8781a7371f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,18 +1,24 @@ * text=auto +# to move existing files into LFS: +# git add --renormalize . *.dlc filter=lfs diff=lfs merge=lfs -text *.onnx filter=lfs diff=lfs merge=lfs -text +*.svg filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.ttf filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text + selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text -selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text -selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text third_party/**/*.a filter=lfs diff=lfs merge=lfs -text third_party/**/*.so filter=lfs diff=lfs merge=lfs -text +third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text -third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md index 4264363ba2..690c24c9b0 100644 --- a/.github/PULL_REQUEST_TEMPLATE/car_port.md +++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md @@ -8,7 +8,7 @@ assignees: '' **Checklist** -- [ ] added to README +- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py) - [ ] route with openpilot: - [ ] route with stock system: diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md index 466d4f98f4..b94f7dc53f 100644 --- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md +++ b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md @@ -6,6 +6,8 @@ labels: 'fingerprint' assignees: '' --- -Discord username: [] +**Car** +Which car (make, model, year) this fingerprint is for -Route: [] +**Route** +A route with the fingerprint \ No newline at end of file diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md index 05e4312699..4397e5ad20 100644 --- a/.github/PULL_REQUEST_TEMPLATE/tuning.md +++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md @@ -28,5 +28,4 @@ Longitudinal: Lateral: * Straight driving at ~25, ~45 and ~65mph * Turns driving at ~25, ~45 and ~65mph - ---> +--> \ No newline at end of file diff --git a/.github/build.py b/.github/build.py new file mode 100644 index 0000000000..e141ea05df --- /dev/null +++ b/.github/build.py @@ -0,0 +1,30 @@ +import pathlib + +GITHUB_FOLDER = pathlib.Path(__file__).parent + +PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE") + +order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"] + +def create_pull_request_template(): + with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f: + f.write("\n\n") + + for t in order: + template = PULL_REQUEST_TEMPLATES / f"{t}.md" + text = template.read_text() + + # Remove metadata for GitHub + start = text.find("---") + end = text.find("---", start+1) + text = text[end + 4:] + + # Remove comments + text = text.replace("", "") + + f.write(f"\n\n") + +create_pull_request_template() diff --git a/.github/labeler.yaml b/.github/labeler.yaml index d4a17ab78c..47d0d480a9 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -1,65 +1,79 @@ CI / testing: - - all: - - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile'] + - changed-files: + - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}" -car: - - all: - - changed-files: ['selfdrive/car/**'] +car: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/**' body: - - all: - - changed-files: ['selfdrive/car/body/*'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/body/*' + chrysler: - - all: - - changed-files: ['selfdrive/car/chrysler/*'] -ford: - - all: - - changed-files: ['selfdrive/car/ford/*'] -gm: - - all: - - changed-files: ['selfdrive/car/gm/*'] -honda: - - all: - - changed-files: ['selfdrive/car/honda/*'] -hyundai: - - all: - - changed-files: ['selfdrive/car/hyundai/*'] -mazda: - - all: - - changed-files: ['selfdrive/car/mazda/*'] -nissan: - - all: - - changed-files: ['selfdrive/car/nissan/*'] -subaru: - - all: - - changed-files: ['selfdrive/car/subaru/*'] -tesla: - - all: - - changed-files: ['selfdrive/car/tesla/*'] -toyota: - - all: - - changed-files: ['selfdrive/car/toyota/*'] -volkswagen: - - all: - - changed-files: ['selfdrive/car/volkswagen/*'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/chrysler/*' + +ford: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/ford/*' + +gm: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/gm/*' + +honda: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/honda/*' + +hyundai: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/hyundai/*' + +mazda: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/mazda/*' + +nissan: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/nissan/*' + +subaru: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/subaru/*' + +tesla: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/telsa/*' + +toyota: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/toyota/*' + +volkswagen: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/volkswagen/*' + +fingerprint: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py' simulation: - - all: - - changed-files: ['tools/sim/**'] + - changed-files: + - any-glob-to-all-files: 'tools/sim/**' + ui: - - all: - - changed-files: ['selfdrive/ui/**'] -tools: - - all: - - changed-files: ['tools/**'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/ui/**' + +tools: + - changed-files: + - any-glob-to-all-files: 'tools/**' multilanguage: - - all: - - changed-files: ['selfdrive/ui/translations/**'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/ui/translations/**' research: - - all: - - changed-files: [ - 'selfdrive/modeld/models/**', - 'selfdrive/test/process_replay/model_replay_ref_commit', - ] + - changed-files: + - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}" diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 6fbccfbdbb..3e3f42dcbc 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -10,39 +10,59 @@ A route with the fingerprint --> - - - - + + + diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml new file mode 100644 index 0000000000..173803f7f0 --- /dev/null +++ b/.github/workflows/auto-cache/action.yaml @@ -0,0 +1,49 @@ +name: 'automatically cache based on current runner' + +inputs: + path: + description: 'path to cache' + required: true + key: + description: 'key' + required: true + restore-keys: + description: 'restore-keys' + required: true + save: + description: 'whether to save the cache' + default: 'false' + required: false + +runs: + using: "composite" + steps: + - name: setup namespace cache + if: ${{ contains(runner.name, 'nsc') }} + uses: namespacelabs/nscloud-cache-action@v1 + with: + path: ${{ inputs.path }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }} + uses: 'actions/cache@v3' + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }} + uses: 'actions/cache/restore@v3' + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + run: | + mkdir -p ${{ inputs.path }} + sudo chmod -R 777 ${{ inputs.path }} + sudo chown -R $USER ${{ inputs.path }} \ No newline at end of file diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml new file mode 100644 index 0000000000..abb6c38d6b --- /dev/null +++ b/.github/workflows/auto_pr_review.yaml @@ -0,0 +1,207 @@ +name: "PR review" +on: + pull_request_target: + types: [opened, reopened, synchronize, edited, edited] + +jobs: + labeler: + name: apply labels + permissions: + contents: read + pull-requests: write + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + with: + submodules: false + - uses: actions/labeler@v5.0.0 + with: + dot: true + configuration-path: .github/labeler.yaml + + pr_branch_check: + name: check branch + runs-on: ubuntu-latest + if: github.repository == 'commaai/openpilot' + steps: + - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + with: + target: /^(?!master$).*/ + exclude: /commaai:.*/ + change-to: ${{ github.base_ref }} + already-exists-action: close_this + already-exists-comment: "Your PR should be made against the `master` branch" + + check-pr-template: + runs-on: ubuntu-latest + permissions: + contents: read + issues: write + pull-requests: write + actions: read + if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + steps: + - uses: actions/github-script@v7 + with: + script: | + // Comment to add to the PR if no template has been used + const NO_TEMPLATE_MESSAGE = + "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ + Also make sure that you didn't modify any of the checkboxes or headings within the template."; + // body data for future requests + const body_data = { + issue_number: context.issue.number, + owner: context.repo.owner, + repo: context.repo.repo, + }; + + // Utility function to extract all headings + const extractHeadings = (markdown) => { + const headingRegex = /^(#{1,6})\s+(.+)$/gm; + const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm; + const headings = []; + let headingMatch; + while ((headingMatch = headingRegex.exec(markdown))) { + headings.push(headingMatch[2].trim()); + } + let boldMatch; + while ((boldMatch = boldTextRegex.exec(markdown))) { + headings.push(boldMatch[1].trim()); + } + return headings; + }; + + // Utility function to extract all check box descriptions + const extractCheckBoxTexts = (markdown) => { + const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm; + const checkboxes = []; + let match; + while ((match = checkboxRegex.exec(markdown))) { + checkboxes.push(match[2].trim()); + } + return checkboxes; + }; + + // Utility function to check if a list is a subset of another list + isSubset = (subset, superset) => { + return subset.every((item) => superset.includes(item)); + }; + + // Utility function to check if a list of checkboxes is a subset of another list of checkboxes + isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => { + // Check if each template checkbox text is a substring of at least one PR checkbox text + // (user should be allowed to add additional text) + return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item))) + } + + // Get filenames of all currently checked-in PR templates + const template_contents = await github.rest.repos.getContent({ + owner: context.repo.owner, + repo: context.repo.repo, + path: ".github/PULL_REQUEST_TEMPLATE", + }); + var template_filenames = []; + for (const content of template_contents.data) { + template_filenames.push(content.path); + } + console.debug("Received template filenames: " + template_filenames); + // Retrieve templates + var templates = []; + for (const template_filename of template_filenames) { + const template_response = await github.rest.repos.getContent({ + owner: context.repo.owner, + repo: context.repo.repo, + path: template_filename, + }); + // Convert Base64 content back + const decoded_template = atob(template_response.data.content); + const headings = extractHeadings(decoded_template); + const checkboxes = extractCheckBoxTexts(decoded_template); + if (!headings.length && !checkboxes.length) { + console.warn( + "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" + + decoded_template + ); + } else { + templates.push({ headings: headings, checkboxes: checkboxes }); + } + } + // Retrieve the PR Body + const pull_request = await github.rest.issues.get({ + ...body_data, + }); + const pull_request_text = pull_request.data.body; + console.debug("Received Pull Request body: \n" + pull_request_text); + + /* Check if the PR Body matches one of the templates + A template is defined by all headings and checkboxes it contains + We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that + */ + const pr_headings = extractHeadings(pull_request_text); + const pr_checkboxes = extractCheckBoxTexts(pull_request_text); + console.debug("Found Headings in PR body:\n" + pr_headings); + console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes); + var template_found = false; + // Iterate over each template to check if it applies + for (const template of templates) { + console.log( + "Checking for headings: [" + + template.headings + + "] and checkboxes: [" + + template.checkboxes + "]" + ); + if ( + isCheckboxSubset(template.checkboxes, pr_checkboxes) && + isSubset(template.headings, pr_headings) + ) { + console.debug("Found matching template!"); + template_found = true; + } + } + + // List comments from previous runs + var existing_comments = []; + const comments = await github.rest.issues.listComments({ + ...body_data, + }); + for (const comment of comments.data) { + if (comment.body === NO_TEMPLATE_MESSAGE) { + existing_comments.push(comment); + } + } + + // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already) + if (!template_found) { + var comment_already_sent = false; + + // Add an 'in-bot-review' label since this PR doesn't have the template + github.rest.issues.addLabels({ + ...body_data, + labels: ["in-bot-review"], + }); + + if (existing_comments.length < 1) { + github.rest.issues.createComment({ + ...body_data, + body: NO_TEMPLATE_MESSAGE, + }); + } + } else { + // If template has been found, delete any old comment about missing template + for (const existing_comment of existing_comments) { + github.rest.issues.deleteComment({ + ...body_data, + comment_id: existing_comment.id, + }); + } + // Remove the 'in-bot-review' label after the review is done and the PR has passed + github.rest.issues.removeLabel({ + ...body_data, + name: "in-bot-review", + }).catch((error) => { + console.log("Label 'in-bot-review' not found, ignoring"); + }); + } + diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index c19be4c563..2f1a7d67c4 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,13 +7,15 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c jobs: badges: name: create badges runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + contents: write steps: - uses: actions/checkout@v4 with: @@ -23,6 +25,8 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" + rm .gitattributes + git checkout --orphan badges git rm -rf --cached . git config user.email "badge-researcher@comma.ai" diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml index 8775c96262..2945b67d2e 100644 --- a/.github/workflows/compile-openpilot/action.yaml +++ b/.github/workflows/compile-openpilot/action.yaml @@ -1,11 +1,5 @@ name: 'compile openpilot' -inputs: - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons' - runs: using: "composite" steps: @@ -24,4 +18,4 @@ runs: if: github.ref == 'refs/heads/master' with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 8b5b165536..c555eafc73 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -15,7 +15,7 @@ env: BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c jobs: docs: @@ -32,7 +32,7 @@ jobs: ${{ env.RUN }} "scons -j$(nproc)" - name: Build docs run: | - ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make html" + ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html" - uses: actions/checkout@v4 if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' @@ -50,9 +50,10 @@ jobs: cd openpilot-docs git checkout --orphan tmp - git rm -rf --cached . + git rm -rf . cp -r ../build/docs/html/ docs/ + cp -r ../docs/README.md . touch docs/.nojekyll echo -n docs.comma.ai > docs/CNAME git add -f . @@ -60,4 +61,4 @@ jobs: git commit -m "build docs" # docs live in different repo to not bloat openpilot's full clone size - git push -f origin gh-pages + git push -f origin tmp:gh-pages diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml deleted file mode 100644 index 95d1af8bc6..0000000000 --- a/.github/workflows/labeler.yaml +++ /dev/null @@ -1,18 +0,0 @@ -name: "Pull Request Labeler" -on: - pull_request_target: - -jobs: - labeler: - permissions: - contents: read - pull-requests: write - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: false - - uses: actions/labeler@v5.0.0-alpha.1 - with: - dot: true - configuration-path: .github/labeler.yaml \ No newline at end of file diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index f5b0b8c558..990be73f72 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -15,14 +15,19 @@ jobs: if: github.repository == 'commaai/openpilot' env: PUSH_IMAGE: true + permissions: + checks: read + contents: read + packages: write steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd + uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f with: ref: master wait-interval: 30 running-workflow-name: 'build prebuilt' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build master-ci).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 7c36410b32..38dbf07a47 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -14,6 +14,9 @@ jobs: image: ghcr.io/commaai/openpilot-base:latest runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + checks: read + contents: write steps: - name: Install wait-on-check-action dependencies run: | @@ -21,11 +24,12 @@ jobs: sudo apt-get install -y libyaml-dev - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd + uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f with: ref: master wait-interval: 30 running-workflow-name: 'build master-ci' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build prebuilt).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 66e252bf83..bd882210fa 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -2,12 +2,37 @@ name: repo maintenance on: schedule: - - cron: "0 15 * * 2" + - cron: "0 12 * * 1" # every Monday at 12am UTC (4am PST) workflow_dispatch: jobs: - updates: - name: updates + bump_submodules: + name: bump_submodules + runs-on: ubuntu-20.04 + container: + image: ghcr.io/commaai/openpilot-base:latest + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - name: bump submodules + run: | + git config --global --add safe.directory '*' + git -c submodule."tinygrad".update=none submodule update --remote + git add . + - name: Create Pull Request + uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 + with: + token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} + commit-message: bump submodules + title: '[bot] Bump submodules' + branch: auto-bump-submodules + base: master + delete-branch: true + body: 'Automatic PR from repo-maintenance -> bump_submodules' + labels: bot + package_updates: + name: package_updates runs-on: ubuntu-20.04 container: image: ghcr.io/commaai/openpilot-base:latest @@ -26,7 +51,9 @@ jobs: with: token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} commit-message: Update Python packages and pre-commit hooks - title: 'Update Python packages and pre-commit hooks' + title: '[bot] Update Python packages and pre-commit hooks' branch: auto-package-updates base: master delete-branch: true + body: 'Automatic PR from repo-maintenance -> package_updates' + labels: bot diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index bb5b0a137a..964c36776e 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -20,14 +20,13 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 - XDIST: -n auto --dist=loadscope jobs: build_release: @@ -43,6 +42,7 @@ jobs: - name: Build devel timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh + - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' @@ -52,13 +52,13 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR - ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" + ${{ env.RUN }} "python selfdrive/manager/build.py" - name: Run tests timeout-minutes: 3 run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST $XDIST selfdrive/car" + MAX_EXAMPLES=5 $PYTEST selfdrive/car" - name: pre-commit timeout-minutes: 3 run: | @@ -67,7 +67,7 @@ jobs: cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all" + ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit" build: strategy: @@ -76,7 +76,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -84,18 +84,15 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache - with: - cache_key_prefix: scons_${{ matrix.arch }} docker_push: name: docker push strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 @@ -134,15 +131,18 @@ jobs: static_analysis: name: static analysis - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: submodules: true + - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: pre-commit timeout-minutes: 4 - run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" + run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" valgrind: name: valgrind @@ -164,34 +164,40 @@ jobs: unit_tests: name: unit tests - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: submodules: true - uses: ./.github/workflows/setup-with-retry + with: + docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - name: Build openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests timeout-minutes: 15 run: | - ${{ env.RUN }} "$PYTEST $XDIST --timeout 30 -o cpp_files=test_* -m 'not slow' && \ + ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ + export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ + $PYTEST --timeout 60 -m 'not slow' -n $(nproc) && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ - ./selfdrive/ui/tests/test_translations.py && \ - ./system/camerad/test/ae_gray_test && \ - ./selfdrive/test/process_replay/test_fuzzy.py" + ./selfdrive/ui/tests/test_translations.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} process_replay: name: process replay runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -211,8 +217,9 @@ jobs: - name: Run replay timeout-minutes: 30 run: | - ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ chmod -R 777 /tmp/comma_download_cache && \ + coverage combine && \ coverage xml" - name: Print diff id: print-diff @@ -227,11 +234,13 @@ jobs: - name: Upload reference logs if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} regen: name: regen @@ -257,7 +266,7 @@ jobs: - name: Run regen timeout-minutes: 30 run: | - ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST $XDIST selfdrive/test/process_replay/test_regen.py && \ + ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ chmod -R 777 /tmp/comma_download_cache" test_modeld: @@ -278,10 +287,11 @@ jobs: ${{ env.RUN }} "scons -j$(nproc)" # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - name: Run model replay with ONNX - timeout-minutes: 3 + timeout-minutes: 4 run: | ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ - ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + coverage combine && \ coverage xml" - name: Run unit tests timeout-minutes: 4 @@ -292,10 +302,14 @@ jobs: uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} test_cars: name: cars - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} strategy: fail-fast: false matrix: @@ -307,7 +321,7 @@ jobs: - uses: ./.github/workflows/setup-with-retry - name: Cache test routes id: dependency-cache - uses: actions/cache@v3 + uses: ./.github/workflows/auto-cache with: path: .ci_cache/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} @@ -316,7 +330,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "$PYTEST $XDIST selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 @@ -325,6 +339,8 @@ jobs: uses: codecov/codecov-action@v3 with: name: ${{ github.job }}-${{ matrix.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} car_docs_diff: name: PR comments @@ -379,3 +395,25 @@ jobs: repo: context.repo.repo, comment_id: ${{ steps.fc.outputs.comment-id }} }) + + create_ui_report: + name: Create UI Report + runs-on: ubuntu-20.04 + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" + - name: Create Test Report + run: > + ${{ env.RUN }} "PYTHONWARNINGS=ignore && + source selfdrive/test/setup_xvfb.sh && + export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && + python selfdrive/ui/tests/test_ui/run.py" + - name: Upload Test Report + uses: actions/upload-artifact@v2 + with: + name: report + path: selfdrive/ui/tests/test_ui/report \ No newline at end of file diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml new file mode 100644 index 0000000000..1b3e16e73f --- /dev/null +++ b/.github/workflows/setup-pre-commit/action.yaml @@ -0,0 +1,12 @@ +name: 'set up pre-commit environment' + +runs: + using: "composite" + steps: + - uses: ./.github/workflows/auto-cache + with: + path: .ci_cache/pre-commit + key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }} + restore-keys: | + pre-commit- + save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }} diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index e0da746b44..369ac45c9a 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: false default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons_x86_64' sleep_time: description: 'Time to sleep between retries' required: false @@ -22,7 +18,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash @@ -33,7 +28,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash @@ -43,5 +37,4 @@ runs: uses: ./.github/workflows/setup with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 8bb1ccc376..970d62030d 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: true default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: true - default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' required: false @@ -47,19 +43,14 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - id: restore-scons-cache - uses: actions/cache/restore@v3 + - id: scons-cache + uses: ./.github/workflows/auto-cache with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}- - ${{ inputs.cache_key_prefix }}- - # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps - - id: scons-cache-setup - shell: bash - if: steps.restore-scons-cache.outputs.cache-hit != 'true' - run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache + scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }} # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - id: normalize-file-permissions shell: bash @@ -67,12 +58,6 @@ runs: run: | find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - - id: setup-buildx-action - if: contains(runner.name, 'buildjet') - name: Set up Docker Buildx on buildjet to ensure a consistent cache - uses: docker/setup-buildx-action@v2 - with: - driver: docker-container # build our docker image - shell: bash run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml new file mode 100644 index 0000000000..2d60d2f0e9 --- /dev/null +++ b/.github/workflows/stale.yaml @@ -0,0 +1,28 @@ +name: stale +on: + schedule: + - cron: '30 1 * * *' + workflow_dispatch: + +env: + DAYS_BEFORE_PR_CLOSE: 7 + DAYS_BEFORE_PR_STALE: 30 + +jobs: + stale: + runs-on: ubuntu-latest + steps: + - uses: actions/stale@v8 + with: + exempt-milestones: true + + # pull request config + stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' + close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' + delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo + exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale + days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} + days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} + + # issue config + days-before-issue-stale: -1 # ignore issues for now diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 75a34b3c55..c185fd1d3c 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -17,11 +17,11 @@ env: BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c jobs: @@ -81,11 +81,29 @@ jobs: - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ - cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/ + cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/ devcontainer up --workspace-folder . - name: Test environment run: | - devcontainer exec --workspace-folder . scons -j$(nproc) + devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/ devcontainer exec --workspace-folder . pip install pip-install-test devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json - devcontainer exec --workspace-folder . sudo touch /root/test.txt \ No newline at end of file + devcontainer exec --workspace-folder . sudo touch /root/test.txt + + notebooks: + name: notebooks + runs-on: ubuntu-20.04 + if: github.repository == 'commaai/openpilot' + timeout-minutes: 45 + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache + run: ${{ env.RUN }} "scons -j$(nproc)" + - name: Test notebooks + timeout-minutes: 2 + run: | + ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" \ No newline at end of file diff --git a/.gitignore b/.gitignore index e414e4301a..3e91531d08 100644 --- a/.gitignore +++ b/.gitignore @@ -46,7 +46,6 @@ selfdrive/boardd/boardd selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd -selfdrive/ui/_ui selfdrive/ui/translations/alerts_generated.h selfdrive/ui/translations/tmp selfdrive/test/longitudinal_maneuvers/out diff --git a/.gitmodules b/.gitmodules index b419b8c4e9..b6525f649e 100644 --- a/.gitmodules +++ b/.gitmodules @@ -4,9 +4,6 @@ [submodule "opendbc"] path = opendbc url = https://github.com/sunnyhaibin/opendbc.git -[submodule "laika_repo"] - path = laika_repo - url = https://github.com/commaai/laika.git [submodule "cereal"] path = cereal url = https://github.com/sunnyhaibin/cereal.git @@ -16,6 +13,9 @@ [submodule "body"] path = body url = https://github.com/commaai/body.git +[submodule "teleoprtc_repo"] + path = teleoprtc_repo + url = https://github.com/commaai/teleoprtc [submodule "tinygrad"] path = tinygrad_repo url = https://github.com/geohot/tinygrad.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e584758ecb..fa05b5b8a2 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -19,14 +19,15 @@ repos: - id: check-executables-have-shebangs - id: check-shebang-scripts-are-executable - id: check-added-large-files + exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)' args: - - --maxkb=500 + - --maxkb=120 - --enforce-all - repo: https://github.com/codespell-project/codespell rev: v2.2.6 hooks: - id: codespell - exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' + exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' args: # if you've got a short variable name that's getting flagged, add it here - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints @@ -38,13 +39,15 @@ repos: entry: mypy language: system types: [python] - args: ['--explicit-package-bases'] - exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' + args: + - --local-partial-types + - --explicit-package-bases + exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.4 + rev: v0.1.14 hooks: - id: ruff - exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' + exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck @@ -78,6 +81,7 @@ repos: entry: selfdrive/ui/tests/test_translations.py language: script pass_filenames: false + files: 'selfdrive/ui/translations/*' - repo: https://github.com/python-poetry/poetry rev: '1.7.0' hooks: @@ -86,6 +90,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.27.1 + rev: 0.27.3 hooks: - id: check-github-workflows diff --git a/CHANGELOGS.md b/CHANGELOGS.md index cfa9d96ccc..7532e0dd02 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,12 +1,55 @@ -sunnypilot - 0.9.6.1 (2023-xx-xx) +sunnypilot - 0.9.6.0 (2024-xx-xx) +======================== +* UPDATED: Synced with commaai's master commit c9bd4e4 (February 2, 2024) +* NEW❗: Default Driving Model: Los Angeles v2 (January 24, 2024) +* UPDATED: Driving Model Selector v3 + * NEW❗: Driving Model additions + * Certified Herbalist (February 5, 2024) - CH + * Los Angeles v2 (January 24, 2024) - LAv2 + * Los Angeles (January 22, 2024) - LAv1 + * NEW❗: Model Caching thanks to DevTekVE! + * Model caching allows the selection of previously downloaded Driving Model + * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models + * Legacy Driving Models support + * New Delhi (December 21, 2023) - ND + * Blue Diamond v2 (December 11, 2023) - BDv2 + * Blue Diamond (November 18, 2023) - BDv1 + * Farmville (November 7, 2023) - FV + * Night Strike (October 3, 2023) - NS + * Certain features are deprecated with Legacy Driving Models + * Dynamic Lane Profile + * Custom Offsets +* UPDATED: Dynamic Lane Profile (DLP) + * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS) + * Deprecate support for newer Driving Models (e.g., CH, LAv2, LAv1) +* UPDATED: Custom Offsets + * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS) + * Deprecate support for newer Driving Models (e.g., CH, LAv2, LAv1) +* FIXED: New comma 3X support +* FIXED: New comma eSIM support +* Bug fixes and performance improvements + +sunnypilot - 0.9.5.3 (2023-12-24) ======================== * NEW❗: Ford CAN-FD longitudinal * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms * UPDATED: Dynamic Experimental Control (DEC) - * Synced with dragonpilot-community/dragonpilot:beta3 commit dd4c663 + * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b +* UPDATED: Driving Model Selector v2 + * Driving models sort in descending order based on availability date + * Experimental/unmerged driving models are only available in "dev-c3" branch + * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update * UPDATED: Vision-based Turn Speed Control (V-TSC) implementation * Refactored implementation thanks to pfeiferj! * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves +* NEW❗: Speed Limit Warning + * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset + * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset +* UPDATED: Speed Limit Source Policy + * Selectable speed limit source for Speed Limit Control and Speed Limit Warning + * Applicable to: Speed Limit Control, Speed Limit Warning +* UPDATED: Speed Limit Control (SLC) + * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu * UPDATED: OpenStreetMap (OSM) implementation * Refactored implementation thanks to pfeiferj! * Less resource impact @@ -17,12 +60,15 @@ sunnypilot - 0.9.6.1 (2023-xx-xx) * C3X-specific changes * Altitude (ALT.) display on Developer UI * Current street name on top of driving screen when "OSM Debug UI" is enabled - * DISABLED: Map-based Turn Speed Control (M-TSC) - * Reimplementation in near future updates +* UPDATED: Map-based Turn Speed Control (M-TSC) implementation + * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update + * Refactored implementation thanks to pfeiferj! + * Based on the new OpenStreetMap implementation + * Improved predicted curvature calculations from OpenStreetMap data * UI updates * RE-ENABLED: Navigation: Full screen support * Display the map view in full screen - * To switch back to driving view, tap on the border edge\ + * To switch back to driving view, tap on the border edge * Hyundai Bayon Non-SCC 2019 support thanks to polein78! sunnypilot - 0.9.5.2 (2023-12-07) diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 3541be92b0..1e15722bb9 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -13,9 +13,8 @@ COPY SConstruct ${OPENPILOT_PATH} COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./laika ${OPENPILOT_PATH}/laika -COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo COPY ./rednose ${OPENPILOT_PATH}/rednose +COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons COPY ./tools ${OPENPILOT_PATH}/tools COPY ./release ${OPENPILOT_PATH}/release COPY ./common ${OPENPILOT_PATH}/common diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 98d07ea39e..d280d2c9ec 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1 ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh && \ + apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \ rm -rf /var/lib/apt/lists/* RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen @@ -40,7 +40,9 @@ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ tools/install_python_dependencies.sh && \ rm -rf /tmp/* && \ - rm -rf /home/$USER/.cache + rm -rf /home/$USER/.cache && \ + find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \ + rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test USER root RUN sudo git config --global --add safe.directory /tmp/openpilot \ No newline at end of file diff --git a/Jenkinsfile b/Jenkinsfile index 314170341e..816c2971c0 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,7 +1,18 @@ +def retryWithDelay(int maxRetries, int delay, Closure body) { + for (int i = 0; i < maxRetries; i++) { + try { + return body() + } catch (Exception e) { + sleep(delay) + } + } + throw Exception("Failed after ${maxRetries} retries") +} + def device(String ip, String step_label, String cmd) { withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) { def ssh_cmd = """ -ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END' +ssh -tt -o ConnectTimeout=30 -o ServerAliveInterval=30 -o ServerAliveCountMax=3 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END' set -e @@ -14,6 +25,9 @@ export GIT_BRANCH=${env.GIT_BRANCH} export GIT_COMMIT=${env.GIT_COMMIT} export AZURE_TOKEN='${env.AZURE_TOKEN}' export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}' +# only use 1 thread for tici tests since most require HIL +export PYTEST_ADDOPTS="-n 0" + export GIT_SSH_COMMAND="ssh -i /data/gitkey" @@ -21,7 +35,9 @@ source ~/.bash_profile if [ -f /TICI ]; then source /etc/profile + rm -rf /tmp/tmp* rm -rf ~/.commacache + rm -rf /dev/shm/* if ! systemctl is-active --quiet systemd-resolved; then echo "restarting resolved" @@ -53,21 +69,26 @@ END""" } } -def deviceStage(String stageName, String deviceType, List env, def steps) { +def deviceStage(String stageName, String deviceType, List extra_env, def steps) { stage(stageName) { if (currentBuild.result != null) { return } - def extra = env.collect { "export ${it}" }.join('\n'); + def extra = extra_env.collect { "export ${it}" }.join('\n'); + def branch = env.BRANCH_NAME ?: 'master'; docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { - lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) { + lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') { timeout(time: 20, unit: 'MINUTES') { retry (3) { device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) } steps.each { item -> + if (branch != "master" && item.size() == 3 && !hasDirectoryChanged(item[2])) { + println "Skipped '${item[0]}', no relevant changes were detected." + return; + } device(device_ip, item[0], item[1]) } } @@ -85,26 +106,31 @@ def pcStage(String stageName, Closure body) { checkout scm - def dockerArgs = '--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache'; - docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) { - timeout(time: 20, unit: 'MINUTES') { - try { - // TODO: remove these after all jenkins jobs are running as batman (merged with master) - sh "sudo chown -R batman:batman /tmp/scons_cache" - sh "sudo chown -R batman:batman /tmp/comma_download_cache" + def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}"; - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --recursive" - sh "git lfs pull" - body() - } finally { - sh "rm -rf ${env.WORKSPACE}/* || true" - sh "rm -rf .* || true" + def openpilot_base = retryWithDelay (3, 15) { + return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .") + } + + lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) { + openpilot_base.inside(dockerArgs) { + timeout(time: 20, unit: 'MINUTES') { + try { + retryWithDelay (3, 15) { + sh "git config --global --add safe.directory '*'" + sh "git submodule update --init --recursive" + sh "git lfs pull" + } + body() + } finally { + sh "rm -rf ${env.WORKSPACE}/* || true" + sh "rm -rf .* || true" + } + } } } } } - } } def setupCredentials() { @@ -117,6 +143,21 @@ def setupCredentials() { } } +def hasDirectoryChanged(List paths) { + for (change in currentBuild.changeSets) { + for (item in change.items) { + for (affectedPath in item.affectedPaths) { + for (path in paths) { + if (affectedPath.startsWith(path)) { + return true + } + } + } + } + } + return false +} + node { env.CI = "1" env.PYTHONWARNINGS = "error" @@ -128,7 +169,7 @@ node { env.GIT_COMMIT = checkout(scm).GIT_COMMIT def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging', - 'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*'] + 'testing-closet*', 'hotfix-*'] def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') if (env.BRANCH_NAME != 'master') { @@ -140,7 +181,7 @@ node { try { if (env.BRANCH_NAME == 'devel-staging') { deviceStage("build release3-staging", "tici-needs-can", [], [ - ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], + ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"], ]) } @@ -154,23 +195,23 @@ node { parallel ( // tici tests 'onroad tests': { - deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [ - ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], + deviceStage("onroad", "tici-needs-can", [], [ + // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it + //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], + ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { deviceStage("tici", "tici-common", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]], ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], ["test manager", "pytest selfdrive/manager/test/test_manager.py"], - ["test nav", "pytest selfdrive/navd/tests/"], ]) }, 'loopback': { @@ -194,27 +235,27 @@ node { 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) }, 'replay': { deviceStage("tici", "tici-replay", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], + ["model replay", "selfdrive/test/process_replay/model_replay.py"], ]) }, 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ ["build openpilot", "cd selfdrive/manager && ./build.py"], ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], - ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], + ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", ["system/qcomgpsd/"]], ]) }, @@ -223,15 +264,16 @@ node { pcStage("PC tests") { // tests that our build system's dependencies are configured properly, // needs a machine with lots of cores - sh label: "test multi-threaded build", script: "scons --no-cache --random -j42" + sh label: "test multi-threaded build", + script: '''#!/bin/bash + scons --no-cache --random -j$(nproc)''' } }, 'car tests': { pcStage("car tests") { - sh "scons -j30" - sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ - pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" - sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" + sh label: "build", script: "selfdrive/manager/build.py" + sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=300 INTERNAL_SEG_CNT=300 FILEREADER_CACHE=1 \ + INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py" } }, diff --git a/RELEASES.md b/RELEASES.md index 1d88480278..aa3a80d56d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,20 @@ -Version 0.9.5 (2023-11-16) +Version 0.9.6 (2024-02-XX) +======================== +* New driving model + * Vision model trained on more data + * Improved driving performance + * Directly outputs curvature for lateral control +* New driver monitoring model + * Trained on larger dataset +* AGNOS 9 +* comma body streaming and controls over WebRTC +* Improved fuzzy fingerprinting for many makes and models +* Hyundai Staria 2023 support thanks to sunnyhaibin! +* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Toyota RAV4 2023-24 support +* Toyota RAV4 Hybrid 2023-24 support + +Version 0.9.5 (2023-11-17) ======================== * New driving model * Improved navigate on openpilot performance using navigation instructions as an additional model input @@ -8,11 +24,12 @@ Version 0.9.5 (2023-11-16) * Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422! -* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! +* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! -* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Kia Optima Hybrid 2019 support +* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! +* Lexus GS F 2016 support thanks to snyperifle! * Lexus IS 2023 support thanks to L3R5! Version 0.9.4 (2023-07-27) diff --git a/SConstruct b/SConstruct index de5a0bbe02..9dab1f4764 100644 --- a/SConstruct +++ b/SConstruct @@ -9,11 +9,16 @@ import SCons.Errors SCons.Warnings.warningAsException(True) +# pending upstream fix - https://github.com/SCons/scons/issues/4461 +#SetOption('warn', 'all') + TICI = os.path.isfile('/TICI') AGNOS = TICI Decider('MD5-timestamp') +SetOption('num_jobs', int(os.cpu_count()/2)) + AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers') @@ -37,7 +42,7 @@ AddOption('--clazy', AddOption('--compile_db', action='store_true', help='build clang compilation database') - + AddOption('--ccflags', action='store', type='string', @@ -62,7 +67,7 @@ AddOption('--pc-thneed', AddOption('--minimal', action='store_false', dest='extras', - default=os.path.islink(Dir('#laika/').abspath), + default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link) help='the minimum build to run openpilot. no tests, tools, etc.') ## Architecture name breakdown (arch) @@ -116,10 +121,7 @@ else: cflags = [] cxxflags = [] cpppath = [] - rpath += [ - Dir("#cereal").abspath, - Dir("#common").abspath - ] + rpath += [] # MacOS if arch == "Darwin": @@ -143,9 +145,6 @@ else: libpath = [ f"#third_party/acados/{arch}/lib", f"#third_party/libyuv/{arch}/lib", - f"#third_party/mapbox-gl-native-qt/{arch}", - "#cereal", - "#common", "/usr/lib", "/usr/local/lib", ] @@ -208,11 +207,12 @@ env = Environment( "#third_party/json11", "#third_party/linux/include", "#third_party/snpe/include", - "#third_party/mapbox-gl-native-qt/include", "#third_party/qrcode", "#third_party", "#cereal", "#opendbc/can", + "#third_party/maplibre-native-qt/include", + f"#third_party/maplibre-native-qt/{arch}/include" ], CC='clang', @@ -229,10 +229,13 @@ env = Environment( "#opendbc/can", "#selfdrive/boardd", "#common", + "#rednose/helpers", ], CYTHONCFILESUFFIX=".cpp", COMPILATIONDB_USE_ABSPATH=True, - tools=["default", "cython", "compilation_db"], + REDNOSE_ROOT="#", + tools=["default", "cython", "compilation_db", "rednose_filter"], + toolpath=["#rednose_repo/site_scons/site_tools"], ) if arch == "Darwin": @@ -295,8 +298,11 @@ else: qt_env['QTDIR'] = qt_install_prefix qt_dirs = [ f"{qt_install_headers}", - f"{qt_install_headers}/QtGui/5.12.8/QtGui", ] + + qt_gui_path = os.path.join(qt_install_headers, "QtGui") + qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))] + qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else [] qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] qt_libs = [f"Qt5{m}" for m in qt_modules] @@ -313,7 +319,7 @@ try: except SCons.Errors.UserError: qt_env.Tool('qt') -qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"] +qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"] qt_flags = [ "-D_REENTRANT", "-DQT_NO_DEBUG", @@ -326,7 +332,8 @@ qt_flags = [ "-DQT_MESSAGELOGCONTEXT", ] qt_env['CXXFLAGS'] += qt_flags -qt_env['LIBPATH'] += ['#selfdrive/ui'] +qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"] +qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath] qt_env['LIBS'] = qt_libs if GetOption("clazy"): @@ -368,31 +375,7 @@ SConscript([ 'panda/SConscript', ]) -# Build rednose library and ekf models -rednose_deps = [ - "#selfdrive/locationd/models/constants.py", - "#selfdrive/locationd/models/gnss_helpers.py", -] - -rednose_config = { - 'generated_folder': '#selfdrive/locationd/models/generated', - 'to_build': { - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps), - 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps), - 'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps), - }, -} - -if arch != "larch64": - rednose_config['to_build'].update({ - 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), - 'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps), - 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), - 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), - 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), - }) - -Export('rednose_config') +# Build rednose library SConscript(['rednose/SConscript']) # Build system services diff --git a/body b/body index 6ff44357a3..61ace31efa 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 6ff44357a3e416d29044b1d085a3e9223db9691a +Subproject commit 61ace31efad27ae0d6d86888842f82bc92545e72 diff --git a/cereal b/cereal index 437d2e4593..d6beb2482e 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 437d2e45931a1e7e93c1de7d6237d9fe3bc572a8 +Subproject commit d6beb2482e471538e05e701ee770b443b423a908 diff --git a/codecov.yml b/codecov.yml index 40d03dcd7a..519e7d1a38 100644 --- a/codecov.yml +++ b/codecov.yml @@ -9,4 +9,5 @@ coverage: ignore: - "**/test_*.py" - "selfdrive/test/**" - - "system/version.py" # codecov changes depending on if we are in a branch or not \ No newline at end of file + - "system/version.py" # codecov changes depending on if we are in a branch or not + - "tools" diff --git a/common/SConscript b/common/SConscript index 97322b248d..829db6eeec 100644 --- a/common/SConscript +++ b/common/SConscript @@ -2,7 +2,6 @@ Import('env', 'envCython', 'arch') common_libs = [ 'params.cc', - 'statlog.cc', 'swaglog.cc', 'util.cc', 'i2c.cc', @@ -24,18 +23,17 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', - ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython bindings params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) SConscript([ - 'kalman/SConscript', - 'transformations/SConscript' + 'transformations/SConscript', ]) -Import('simple_kalman_python', 'transformations_python') -common_python = [params_python, simple_kalman_python, transformations_python] +Import('transformations_python') +common_python = [params_python, transformations_python] Export('common_python') diff --git a/common/api/__init__.py b/common/api/__init__.py index 0eb8aa7627..79875023a2 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -2,7 +2,7 @@ import jwt import os import requests from datetime import datetime, timedelta -from openpilot.common.basedir import PERSIST +from openpilot.system.hardware.hw import Paths from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') @@ -10,7 +10,7 @@ API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') class Api(): def __init__(self, dongle_id): self.dongle_id = dongle_id - with open(PERSIST+'/comma/id_rsa') as f: + with open(Paths.persist_root()+'/comma/id_rsa') as f: self.private_key = f.read() def get(self, *args, **kwargs): diff --git a/common/basedir.py b/common/basedir.py index b4486f9f08..6b4811e53c 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,11 +1,4 @@ import os -from pathlib import Path -from openpilot.system.hardware import PC BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) - -if PC: - PERSIST = os.path.join(str(Path.home()), ".comma", "persist") -else: - PERSIST = "/persist" diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py index a228b40256..01741c6f42 100644 --- a/common/ffi_wrapper.py +++ b/common/ffi_wrapper.py @@ -1,55 +1,8 @@ -import os -import sys -import fcntl -import hashlib import platform -from cffi import FFI + def suffix(): if platform.system() == "Darwin": return ".dylib" else: return ".so" - -def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None): - if libraries is None: - libraries = [] - - cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest() - try: - os.mkdir(tmpdir) - except OSError: - pass - - fd = os.open(tmpdir, 0) - fcntl.flock(fd, fcntl.LOCK_EX) - try: - sys.path.append(tmpdir) - try: - mod = __import__(cache) - except Exception: - print(f"cache miss {cache}") - compile_code(cache, c_code, c_header, tmpdir, cflags, libraries) - mod = __import__(cache) - finally: - os.close(fd) - - return mod.ffi, mod.lib - - -def compile_code(name, c_code, c_header, directory, cflags="", libraries=None): - if libraries is None: - libraries = [] - - ffibuilder = FFI() - ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries) - ffibuilder.cdef(c_header) - os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z" - os.environ['CFLAGS'] = cflags - ffibuilder.compile(verbose=True, debug=False, tmpdir=directory) - - -def wrap_compiled(name, directory): - sys.path.append(directory) - mod = __import__(name) - return mod.ffi, mod.lib diff --git a/common/file_helpers.py b/common/file_helpers.py index 227d614d72..dea298a529 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,60 +1,7 @@ import os -import shutil import tempfile -from atomicwrites import AtomicWriter - - -def mkdirs_exists_ok(path): - if path.startswith(('http://', 'https://')): - raise ValueError('URL path') - try: - os.makedirs(path) - except OSError: - if not os.path.isdir(path): - raise - - -def rm_not_exists_ok(path): - try: - os.remove(path) - except OSError: - if os.path.exists(path): - raise - - -def rm_tree_or_link(path): - if os.path.islink(path): - os.unlink(path) - elif os.path.isdir(path): - shutil.rmtree(path) - - -def get_tmpdir_on_same_filesystem(path): - normpath = os.path.normpath(path) - parts = normpath.split("/") - if len(parts) > 1 and parts[1] == "scratch": - return "/scratch/tmp" - elif len(parts) > 2 and parts[2] == "runner": - return f"/{parts[1]}/runner/tmp" - return "/tmp" - - -class NamedTemporaryDir(): - def __init__(self, temp_dir=None): - self._path = tempfile.mkdtemp(dir=temp_dir) - - @property - def name(self): - return self._path - - def close(self): - shutil.rmtree(self._path) - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_value, traceback): - self.close() +import contextlib +from typing import Optional class CallbackReader: @@ -76,24 +23,16 @@ class CallbackReader: return chunk -def _get_fileobject_func(writer, temp_dir): - def _get_fileobject(): - return writer.get_fileobject(dir=temp_dir) - return _get_fileobject +@contextlib.contextmanager +def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None, + overwrite: bool = False): + """Write to a file atomically using a temporary file in the same directory as the destination file.""" + dir_name = os.path.dirname(path) -def atomic_write_on_fs_tmp(path, **kwargs): - """Creates an atomic writer using a temporary file in a temporary directory - on the same filesystem as path. - """ - # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp - # directory. - writer = AtomicWriter(path, **kwargs) - return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path))) + if not overwrite and os.path.exists(path): + raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.") - -def atomic_write_in_dir(path, **kwargs): - """Creates an atomic writer using a temporary file in the same directory - as the destination file. - """ - writer = AtomicWriter(path, **kwargs) - return writer._open(_get_fileobject_func(writer, os.path.dirname(path))) + with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file: + yield tmp_file + tmp_file_name = tmp_file.name + os.replace(tmp_file_name, path) diff --git a/common/kalman/.gitignore b/common/kalman/.gitignore deleted file mode 100644 index d86912e7d0..0000000000 --- a/common/kalman/.gitignore +++ /dev/null @@ -1 +0,0 @@ -simple_kalman_impl.c diff --git a/common/kalman/SConscript b/common/kalman/SConscript deleted file mode 100644 index 7cba4a9a61..0000000000 --- a/common/kalman/SConscript +++ /dev/null @@ -1,5 +0,0 @@ -Import('envCython') - -simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx') - -Export('simple_kalman_python') diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py deleted file mode 100644 index 5e1b6ce1fb..0000000000 --- a/common/kalman/simple_kalman.py +++ /dev/null @@ -1,12 +0,0 @@ -from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D -assert KF1D -import numpy as np - -def get_kalman_gain(dt, A, C, Q, R, iterations=100): - P = np.zeros_like(Q) - for _ in range(iterations): - P = A.dot(P).dot(A.T) + dt * Q - S = C.dot(P).dot(C.T) + R - K = P.dot(C.T).dot(np.linalg.inv(S)) - P = (np.eye(len(P)) - K.dot(C)).dot(P) - return K \ No newline at end of file diff --git a/common/kalman/simple_kalman_impl.pxd b/common/kalman/simple_kalman_impl.pxd deleted file mode 100644 index cb39a45bca..0000000000 --- a/common/kalman/simple_kalman_impl.pxd +++ /dev/null @@ -1,18 +0,0 @@ -# cython: language_level = 3 - -cdef class KF1D: - cdef public: - double x0_0 - double x1_0 - double K0_0 - double K1_0 - double A0_0 - double A0_1 - double A1_0 - double A1_1 - double C0_0 - double C0_1 - double A_K_0 - double A_K_1 - double A_K_2 - double A_K_3 diff --git a/common/kalman/simple_kalman_impl.pyx b/common/kalman/simple_kalman_impl.pyx deleted file mode 100644 index 16aefba2e5..0000000000 --- a/common/kalman/simple_kalman_impl.pyx +++ /dev/null @@ -1,37 +0,0 @@ -# distutils: language = c++ -# cython: language_level=3 - -cdef class KF1D: - def __init__(self, x0, A, C, K): - self.x0_0 = x0[0][0] - self.x1_0 = x0[1][0] - self.A0_0 = A[0][0] - self.A0_1 = A[0][1] - self.A1_0 = A[1][0] - self.A1_1 = A[1][1] - self.C0_0 = C[0] - self.C0_1 = C[1] - self.K0_0 = K[0][0] - self.K1_0 = K[1][0] - - self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 - self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 - self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 - self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 - - def update(self, meas): - cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas - cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas - self.x0_0 = x0_0 - self.x1_0 = x1_0 - - return [self.x0_0, self.x1_0] - - @property - def x(self): - return [[self.x0_0], [self.x1_0]] - - @x.setter - def x(self, x): - self.x0_0 = x[0][0] - self.x1_0 = x[1][0] diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py deleted file mode 100644 index d11770faf6..0000000000 --- a/common/kalman/simple_kalman_old.py +++ /dev/null @@ -1,23 +0,0 @@ -import numpy as np - - -class KF1D: - # this EKF assumes constant covariance matrix, so calculations are much simpler - # the Kalman gain also needs to be precomputed using the control module - - def __init__(self, x0, A, C, K): - self.x = x0 - self.A = A - self.C = np.atleast_2d(C) - self.K = K - - self.A_K = self.A - np.dot(self.K, self.C) - - # K matrix needs to be pre-computed as follow: - # import control - # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) - # self.K = np.transpose(K) - - def update(self, meas): - self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) - return self.x diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py deleted file mode 100644 index 32cc79fc3d..0000000000 --- a/common/kalman/tests/test_simple_kalman.py +++ /dev/null @@ -1,87 +0,0 @@ -import unittest -import random -import timeit -import numpy as np - -from openpilot.common.kalman.simple_kalman import KF1D -from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old - - -class TestSimpleKalman(unittest.TestCase): - def setUp(self): - dt = 0.01 - x0_0 = 0.0 - x1_0 = 0.0 - A0_0 = 1.0 - A0_1 = dt - A1_0 = 0.0 - A1_1 = 1.0 - C0_0 = 1.0 - C0_1 = 0.0 - K0_0 = 0.12287673 - K1_0 = 0.29666309 - - self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), - A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), - C=np.array([C0_0, C0_1]), - K=np.array([[K0_0], [K1_0]])) - - self.kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - - def test_getter_setter(self): - self.kf.x = [[1.0], [1.0]] - self.assertEqual(self.kf.x, [[1.0], [1.0]]) - - def update_returns_state(self): - x = self.kf.update(100) - self.assertEqual(x, self.kf.x) - - def test_old_equal_new(self): - for _ in range(1000): - v_wheel = random.uniform(0, 200) - - x_old = self.kf_old.update(v_wheel) - x = self.kf.update(v_wheel) - - # Compare the output x, verify that the error is less than 1e-4 - np.testing.assert_almost_equal(x_old[0], x[0]) - np.testing.assert_almost_equal(x_old[1], x[1]) - - def test_new_is_faster(self): - setup = """ -import numpy as np - -from openpilot.common.kalman.simple_kalman import KF1D -from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old - -dt = 0.01 -x0_0 = 0.0 -x1_0 = 0.0 -A0_0 = 1.0 -A0_1 = dt -A1_0 = 0.0 -A1_1 = 1.0 -C0_0 = 1.0 -C0_1 = 0.0 -K0_0 = 0.12287673 -K1_0 = 0.29666309 - -kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), - A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), - C=np.array([C0_0, C0_1]), - K=np.array([[K0_0], [K1_0]])) - -kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - """ - kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000) - kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000) - self.assertTrue(kf_speed < kf_old_speed / 4) - -if __name__ == "__main__": - unittest.main() diff --git a/common/lazy_property.py b/common/lazy_property.py deleted file mode 100644 index 919dd9e87e..0000000000 --- a/common/lazy_property.py +++ /dev/null @@ -1,12 +0,0 @@ -class lazy_property(): - """Defines a property whose value will be computed only once and as needed. - - This can only be used on instance methods. - """ - def __init__(self, func): - self._func = func - - def __get__(self, obj_self, cls): - value = self._func(obj_self) - setattr(obj_self, self._func.__name__, value) - return value diff --git a/common/logging_extra.py b/common/logging_extra.py index 5e0584c7bc..f53d503108 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter): return record_dict - def format(self, record): # noqa: A003 + def format(self, record): if self.swaglogger is None: raise Exception("must set swaglogger before calling format()") return json_robust_dumps(self.format_dict(record)) @@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter): k += "$a" return k, v - def format(self, record): # noqa: A003 + def format(self, record): if isinstance(record, str): v = json.loads(record) else: diff --git a/common/mock/__init__.py b/common/mock/__init__.py new file mode 100644 index 0000000000..e0dbf45c74 --- /dev/null +++ b/common/mock/__init__.py @@ -0,0 +1,51 @@ +""" +Utilities for generating mock messages for testing. +example in common/tests/test_mock.py +""" + + +import functools +import threading +from typing import List, Union +from cereal.messaging import PubMaster +from cereal.services import SERVICE_LIST +from openpilot.common.mock.generators import generate_liveLocationKalman +from openpilot.common.realtime import Ratekeeper + + +MOCK_GENERATOR = { + "liveLocationKalman": generate_liveLocationKalman +} + + +def generate_messages_loop(services: List[str], done: threading.Event): + pm = PubMaster(services) + rk = Ratekeeper(100) + i = 0 + while not done.is_set(): + for s in services: + should_send = i % (100/SERVICE_LIST[s].frequency) == 0 + if should_send: + message = MOCK_GENERATOR[s]() + pm.send(s, message) + i += 1 + rk.keep_time() + + +def mock_messages(services: Union[List[str], str]): + if isinstance(services, str): + services = [services] + + def decorator(func): + @functools.wraps(func) + def wrapper(*args, **kwargs): + done = threading.Event() + t = threading.Thread(target=generate_messages_loop, args=(services, done)) + t.start() + try: + return func(*args, **kwargs) + finally: + done.set() + t.join() + return wrapper + return decorator diff --git a/common/mock/generators.py b/common/mock/generators.py new file mode 100644 index 0000000000..40951faf85 --- /dev/null +++ b/common/mock/generators.py @@ -0,0 +1,20 @@ +from cereal import messaging + + +LOCATION1 = (32.7174, -117.16277) +LOCATION2 = (32.7558, -117.2037) + +LLK_DECIMATION = 10 +RENDER_FRAMES = 15 +DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION + + +def generate_liveLocationKalman(location=LOCATION1): + msg = messaging.new_message('liveLocationKalman') + msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.status = 'valid' + msg.liveLocationKalman.gpsOK = True + return msg diff --git a/common/model.h b/common/model.h index 478921d504..828a198694 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define CURRENT_MODEL "Farmville (November 7, 2023)" +#define CURRENT_MODEL "Los Angeles v2 (January 24, 2024)" diff --git a/common/modeldata.h b/common/modeldata.h deleted file mode 100644 index 6dc02cc792..0000000000 --- a/common/modeldata.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include "common/mat.h" -#include "system/hardware/hw.h" - -const int TRAJECTORY_SIZE = 33; -const int LAT_MPC_N = 16; -const int LON_MPC_N = 32; -const float MIN_DRAW_DISTANCE = 10.0; -const float MAX_DRAW_DISTANCE = 100.0; - -const float RYG_GREEN = 0.01165; -const float RYG_YELLOW = 0.06157; - -template -constexpr std::array build_idxs(float max_val) { - std::array result{}; - for (int i = 0; i < size; ++i) { - result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1))); - } - return result; -} - -constexpr auto T_IDXS = build_idxs(10.0); -constexpr auto T_IDXS_FLOAT = build_idxs(10.0); -constexpr auto X_IDXS = build_idxs(192.0); -constexpr auto X_IDXS_FLOAT = build_idxs(192.0); - -const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, - 0.0, 2648.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; - -// tici ecam focal probably wrong? magnification is not consistent across frame -// Need to retrain model before this can be changed -const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, - 0.0, 567.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; diff --git a/common/numpy_helpers.py b/common/numpy_helpers.py deleted file mode 100644 index 7b1efe8976..0000000000 --- a/common/numpy_helpers.py +++ /dev/null @@ -1,22 +0,0 @@ -import numpy as np - - -def deep_interp_np(x, xp, fp, axis=None): - if axis is not None: - fp = fp.swapaxes(0,axis) - x = np.atleast_1d(x) - xp = np.array(xp) - if len(xp) < 2: - return np.repeat(fp, len(x), axis=0) - if min(np.diff(xp)) < 0: - raise RuntimeError('Bad x array for interpolation') - j = np.searchsorted(xp, x) - 1 - j = np.clip(j, 0, len(xp)-2) - d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0) - vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T - if axis is not None: - vals_interp = vals_interp.swapaxes(0,axis) - if len(vals_interp) == 1: - return vals_interp[0] - else: - return vals_interp diff --git a/common/params.cc b/common/params.cc index 871266b7cb..354f6b400f 100644 --- a/common/params.cc +++ b/common/params.cc @@ -4,9 +4,11 @@ #include #include +#include #include #include +#include "common/queue.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" @@ -92,6 +94,8 @@ std::unordered_map keys = { {"AssistNowToken", PERSISTENT}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, + {"AthenadRecentlyViewedRoutes", PERSISTENT}, + {"BootCount", PERSISTENT}, {"CalibrationParams", PERSISTENT}, {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, @@ -114,7 +118,7 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"ExperimentalLongitudinalEnabled", PERSISTENT}, + {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, @@ -140,18 +144,16 @@ std::unordered_map keys = { {"IsOnroad", PERSISTENT}, {"IsRhdDetected", PERSISTENT}, {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, + {"IsReleaseSPBranch", CLEAR_ON_MANAGER_START}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, - {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, - {"LastSystemShutdown", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, @@ -162,7 +164,7 @@ std::unordered_map keys = { {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavSettingTime24h", PERSISTENT}, - {"NavdRender", PERSISTENT}, + {"NetworkMetered", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, @@ -183,22 +185,19 @@ std::unordered_map keys = { {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, - {"Passive", PERSISTENT}, {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, - {"SubscriberInfo", PERSISTENT}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UbloxAvailable", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", PERSISTENT}, {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, @@ -206,6 +205,7 @@ std::unordered_map keys = { {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, + {"UpdaterLastFetchTime", PERSISTENT}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, {"WheeledBody", PERSISTENT}, @@ -236,13 +236,14 @@ std::unordered_map keys = { {"DevUIInfo", PERSISTENT}, {"DisableOnroadUploads", PERSISTENT}, {"DisengageLateralOnBrake", PERSISTENT}, + {"DrivingModelGeneration", PERSISTENT}, + {"DrivingModelMetadataText", PERSISTENT}, {"DrivingModelName", PERSISTENT}, {"DrivingModelText", PERSISTENT}, {"DrivingModelUrl", PERSISTENT}, {"DynamicExperimentalControl", PERSISTENT}, {"DynamicLaneProfile", PERSISTENT}, {"EnableAmap", PERSISTENT}, - {"EnableDebugSnapshot", PERSISTENT}, {"EnableGmap", PERSISTENT}, {"EnableMads", PERSISTENT}, {"EnableSlc", PERSISTENT}, @@ -254,8 +255,6 @@ std::unordered_map keys = { {"EnhancedScc", PERSISTENT}, {"FleetManagerPin", PERSISTENT}, {"GmapKey", PERSISTENT}, - {"GpxDeleteAfterUpload", PERSISTENT}, - {"GpxDeleteIfUploaded", PERSISTENT}, {"HandsOnWheelMonitoring", PERSISTENT}, {"HideVEgoUi", PERSISTENT}, {"HkgSmoothStop", PERSISTENT}, @@ -269,8 +268,11 @@ std::unordered_map keys = { {"MadsCruiseMain", PERSISTENT}, {"MadsIconToggle", PERSISTENT}, {"MapboxFullScreen", PERSISTENT}, + {"MapTargetVelocities", PERSISTENT}, {"Map3DBuildings", PERSISTENT}, {"MaxTimeOffroad", PERSISTENT}, + {"NavModelText", PERSISTENT}, + {"NavModelUrl", PERSISTENT}, {"NNFF", PERSISTENT}, {"NNFFCarModel", PERSISTENT}, {"OnroadScreenOff", PERSISTENT}, @@ -281,6 +283,7 @@ std::unordered_map keys = { {"OsmLocationTitle", PERSISTENT}, {"OsmLocationUrl", PERSISTENT}, {"OsmWayTest", PERSISTENT}, + {"OsmDownloadedDate", PERSISTENT}, {"PathOffset", PERSISTENT}, {"QuietDrive", PERSISTENT}, {"RoadEdge", PERSISTENT}, @@ -293,6 +296,10 @@ std::unordered_map keys = { {"SpeedLimitEngageType", PERSISTENT}, {"SpeedLimitValueOffset", PERSISTENT}, {"SpeedLimitOffsetType", PERSISTENT}, + {"SpeedLimitWarningFlash", PERSISTENT}, + {"SpeedLimitWarningType", PERSISTENT}, + {"SpeedLimitWarningValueOffset", PERSISTENT}, + {"SpeedLimitWarningOffsetType", PERSISTENT}, {"StandStillTimer", PERSISTENT}, {"StockLongToyota", PERSISTENT}, {"SubaruManualParkingBrakeSng", PERSISTENT}, @@ -331,8 +338,15 @@ std::unordered_map keys = { Params::Params(const std::string &path) { - prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); - params_path = ensure_params_path(prefix, path); + params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); + params_path = ensure_params_path(params_prefix, path); +} + +Params::~Params() { + if (future.valid()) { + future.wait(); + } + assert(queue.empty()); } std::vector Params::allKeys() const { @@ -445,3 +459,20 @@ void Params::clearAll(ParamKeyType key_type) { fsync_dir(getParamPath()); } + +void Params::putNonBlocking(const std::string &key, const std::string &val) { + queue.push(std::make_pair(key, val)); + // start thread on demand + if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) { + future = std::async(std::launch::async, &Params::asyncWriteThread, this); + } +} + +void Params::asyncWriteThread() { + // TODO: write the latest one if a key has multiple values in the queue. + std::pair p; + while (queue.try_pop(p, 0)) { + // Params::put is Thread-Safe + put(p.first, p.second); + } +} diff --git a/common/params.h b/common/params.h index fbe0bba6b0..d726a6185f 100644 --- a/common/params.h +++ b/common/params.h @@ -1,21 +1,28 @@ #pragma once +#include #include #include +#include +#include #include +#include "common/queue.h" + enum ParamKeyType { PERSISTENT = 0x02, CLEAR_ON_MANAGER_START = 0x04, CLEAR_ON_ONROAD_TRANSITION = 0x08, CLEAR_ON_OFFROAD_TRANSITION = 0x10, DONT_LOG = 0x20, + DEVELOPMENT_ONLY = 0x40, ALL = 0xFFFFFFFF }; class Params { public: explicit Params(const std::string &path = {}); + ~Params(); // Not copyable. Params(const Params&) = delete; Params& operator=(const Params&) = delete; @@ -24,7 +31,7 @@ public: bool checkKey(const std::string &key); ParamKeyType getKeyType(const std::string &key); inline std::string getParamPath(const std::string &key = {}) { - return params_path + prefix + (key.empty() ? "" : "/" + key); + return params_path + params_prefix + (key.empty() ? "" : "/" + key); } // Delete a value @@ -46,8 +53,18 @@ public: inline int putBool(const std::string &key, bool val) { return put(key.c_str(), val ? "1" : "0", 1); } + void putNonBlocking(const std::string &key, const std::string &val); + inline void putBoolNonBlocking(const std::string &key, bool val) { + putNonBlocking(key, val ? "1" : "0"); + } private: + void asyncWriteThread(); + std::string params_path; - std::string prefix; + std::string params_prefix; + + // for nonblocking write + std::future future; + SafeQueue> queue; }; diff --git a/common/params.py b/common/params.py index ea8ac7514a..66808083dc 100644 --- a/common/params.py +++ b/common/params.py @@ -1,10 +1,7 @@ -from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ - put_bool_nonblocking +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName assert Params assert ParamKeyType assert UnknownKeyName -assert put_nonblocking -assert put_bool_nonblocking if __name__ == "__main__": import sys diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index de52c490b3..47d2075df2 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -3,7 +3,6 @@ from libcpp cimport bool from libcpp.string cimport string from libcpp.vector cimport vector -import threading cdef extern from "common/params.h": cpdef enum ParamKeyType: @@ -11,6 +10,7 @@ cdef extern from "common/params.h": CLEAR_ON_MANAGER_START CLEAR_ON_ONROAD_TRANSITION CLEAR_ON_OFFROAD_TRANSITION + DEVELOPMENT_ONLY ALL cdef cppclass c_Params "Params": @@ -19,6 +19,8 @@ cdef extern from "common/params.h": bool getBool(string, bool) nogil int remove(string) nogil int put(string, string) nogil + void putNonBlocking(string, string) nogil + void putBoolNonBlocking(string, bool) nogil int putBool(string, bool) nogil bool checkKey(string) nogil string getParamPath(string) nogil @@ -79,7 +81,7 @@ cdef class Params: """ Warning: This function blocks until the param is written to disk! In very rare cases this can take over a second, and your code will hang. - Use the put_nonblocking helper function in time sensitive code, but + Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but in general try to avoid writing params as much as possible. """ cdef string k = self.check_key(key) @@ -92,6 +94,17 @@ cdef class Params: with nogil: self.p.putBool(k, val) + def put_nonblocking(self, key, dat): + cdef string k = self.check_key(key) + cdef string dat_bytes = ensure_bytes(dat) + with nogil: + self.p.putNonBlocking(k, dat_bytes) + + def put_bool_nonblocking(self, key, bool val): + cdef string k = self.check_key(key) + with nogil: + self.p.putBoolNonBlocking(k, val) + def remove(self, key): cdef string k = self.check_key(key) with nogil: @@ -103,9 +116,3 @@ cdef class Params: def all_keys(self): return self.p.allKeys() - -def put_nonblocking(key, val, d=""): - threading.Thread(target=lambda: Params(d).put(key, val)).start() - -def put_bool_nonblocking(key, bool val, d=""): - threading.Thread(target=lambda: Params(d).put_bool(key, val)).start() diff --git a/common/prefix.py b/common/prefix.py index c1744e8ff7..d027e3e5a1 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -6,12 +6,14 @@ from typing import Optional from openpilot.common.params import Params from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): + def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit + self.shared_download_cache = shared_download_cache def __enter__(self): self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) @@ -22,6 +24,9 @@ class OpenpilotPrefix: pass os.makedirs(Paths.log_root(), exist_ok=True) + if self.shared_download_cache: + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + return self def __exit__(self, exc_type, exc_obj, exc_tb): @@ -42,5 +47,6 @@ class OpenpilotPrefix: os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) shutil.rmtree(Paths.log_root(), ignore_errors=True) - shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) + if not os.environ.get("COMMA_CACHE", False): + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) shutil.rmtree(Paths.comma_home(), ignore_errors=True) diff --git a/common/profiler.py b/common/profiler.py deleted file mode 100644 index 8b1a7a8cfa..0000000000 --- a/common/profiler.py +++ /dev/null @@ -1,45 +0,0 @@ -import time - -class Profiler(): - def __init__(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - self.tot = 0. - - def reset(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - - def checkpoint(self, name, ignore=False): - # ignore flag needed when benchmarking threads with ratekeeper - if not self.enabled: - return - tt = time.time() - if name not in self.cp: - self.cp[name] = 0. - if ignore: - self.cp_ignored.append(name) - self.cp[name] += tt - self.last_time - if not ignore: - self.tot += tt - self.last_time - self.last_time = tt - - def display(self): - if not self.enabled: - return - self.iter += 1 - print("******* Profiling %d *******" % self.iter) - for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]): - if n in self.cp_ignored: - print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - else: - print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/common/realtime.py b/common/realtime.py index c9f7a6e065..d9168b09bd 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -88,7 +88,7 @@ class Ratekeeper: time.sleep(self._remaining) return lagged - # this only monitor the cumulative lag, but does not enforce a rate + # Monitors the cumulative lag, but does not enforce a rate def monitor_time(self) -> bool: prev = self._last_monitor_time self._last_monitor_time = time.monotonic() diff --git a/common/retry.py b/common/retry.py new file mode 100644 index 0000000000..9bd4ac9522 --- /dev/null +++ b/common/retry.py @@ -0,0 +1,30 @@ +import time +import functools + +from openpilot.common.swaglog import cloudlog + + +def retry(attempts=3, delay=1.0, ignore_failure=False): + def decorator(func): + @functools.wraps(func) + def wrapper(*args, **kwargs): + for _ in range(attempts): + try: + return func(*args, **kwargs) + except Exception: + cloudlog.exception(f"{func.__name__} failed, trying again") + time.sleep(delay) + + if ignore_failure: + cloudlog.error(f"{func.__name__} failed after retry") + else: + raise Exception(f"{func.__name__} failed after retry") + return wrapper + return decorator + + +if __name__ == "__main__": + @retry(attempts=10) + def abc(): + raise ValueError("abc failed :(") + abc() diff --git a/common/simple_kalman.py b/common/simple_kalman.py new file mode 100644 index 0000000000..194b27204b --- /dev/null +++ b/common/simple_kalman.py @@ -0,0 +1,54 @@ +import numpy as np + + +def get_kalman_gain(dt, A, C, Q, R, iterations=100): + P = np.zeros_like(Q) + for _ in range(iterations): + P = A.dot(P).dot(A.T) + dt * Q + S = C.dot(P).dot(C.T) + R + K = P.dot(C.T).dot(np.linalg.inv(S)) + P = (np.eye(len(P)) - K.dot(C)).dot(P) + return K + + +class KF1D: + # this EKF assumes constant covariance matrix, so calculations are much simpler + # the Kalman gain also needs to be precomputed using the control module + + def __init__(self, x0, A, C, K): + self.x0_0 = x0[0][0] + self.x1_0 = x0[1][0] + self.A0_0 = A[0][0] + self.A0_1 = A[0][1] + self.A1_0 = A[1][0] + self.A1_1 = A[1][1] + self.C0_0 = C[0] + self.C0_1 = C[1] + self.K0_0 = K[0][0] + self.K1_0 = K[1][0] + + self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 + self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 + self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 + self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 + + # K matrix needs to be pre-computed as follow: + # import control + # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) + # self.K = np.transpose(K) + + def update(self, meas): + #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) + x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas + x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas + self.x0_0 = x0_0 + self.x1_0 = x1_0 + return [self.x0_0, self.x1_0] + + @property + def x(self): + return [[self.x0_0], [self.x1_0]] + + def set_x(self, x): + self.x0_0 = x[0][0] + self.x1_0 = x[1][0] diff --git a/common/statlog.cc b/common/statlog.cc deleted file mode 100644 index 587f3e8620..0000000000 --- a/common/statlog.cc +++ /dev/null @@ -1,47 +0,0 @@ -#ifndef _GNU_SOURCE -#define _GNU_SOURCE -#endif - -#include "common/statlog.h" -#include "common/util.h" - -#include -#include -#include -#include - -class StatlogState : public LogState { - public: - StatlogState() : LogState("ipc:///tmp/stats") {} -}; - -static StatlogState s = {}; - -static void log(const char* metric_type, const char* metric, const char* fmt, ...) { - std::lock_guard lk(s.lock); - if (!s.initialized) s.initialize(); - - char* value_buf = nullptr; - va_list args; - va_start(args, fmt); - int ret = vasprintf(&value_buf, fmt, args); - va_end(args); - - if (ret > 0 && value_buf) { - char* line_buf = nullptr; - ret = asprintf(&line_buf, "%s:%s|%s", metric, value_buf, metric_type); - if (ret > 0 && line_buf) { - zmq_send(s.sock, line_buf, ret, ZMQ_NOBLOCK); - free(line_buf); - } - free(value_buf); - } -} - -void statlog_log(const char* metric_type, const char* metric, int value) { - log(metric_type, metric, "%d", value); -} - -void statlog_log(const char* metric_type, const char* metric, float value) { - log(metric_type, metric, "%f", value); -} diff --git a/common/statlog.h b/common/statlog.h deleted file mode 100644 index 5d223bb666..0000000000 --- a/common/statlog.h +++ /dev/null @@ -1,10 +0,0 @@ -#pragma once - -#define STATLOG_GAUGE "g" -#define STATLOG_SAMPLE "sa" - -void statlog_log(const char* metric_type, const char* metric, int value); -void statlog_log(const char* metric_type, const char* metric, float value); - -#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value) -#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value) diff --git a/common/swaglog.cc b/common/swaglog.cc index bcd597a257..873836b725 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -5,30 +5,29 @@ #include "common/swaglog.h" #include -#include -#include #include #include #include #include +#include #include "third_party/json11/json11.hpp" - -#include "common/util.h" #include "common/version.h" #include "system/hardware/hw.h" -class SwaglogState : public LogState { - public: - SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {} +class SwaglogState { +public: + SwaglogState() { + zctx = zmq_ctx_new(); + sock = zmq_socket(zctx, ZMQ_PUSH); - json11::Json::object ctx_j; + // Timeout on shutdown for messages to be received by the logging process + int timeout = 100; + zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); + zmq_connect(sock, Path::swaglog_ipc().c_str()); - inline void initialize() { - ctx_j = json11::Json::object {}; print_level = CLOUDLOG_WARNING; - const char* print_lvl = getenv("LOGPRINT"); - if (print_lvl) { + if (const char* print_lvl = getenv("LOGPRINT")) { if (strcmp(print_lvl, "debug") == 0) { print_level = CLOUDLOG_DEBUG; } else if (strcmp(print_lvl, "info") == 0) { @@ -38,39 +37,44 @@ class SwaglogState : public LogState { } } - // openpilot bindings - char* dongle_id = getenv("DONGLE_ID"); - if (dongle_id) { + ctx_j = json11::Json::object{}; + if (char* dongle_id = getenv("DONGLE_ID")) { ctx_j["dongle_id"] = dongle_id; } - char* daemon_name = getenv("MANAGER_DAEMON"); - if (daemon_name) { + if (char* daemon_name = getenv("MANAGER_DAEMON")) { ctx_j["daemon"] = daemon_name; } ctx_j["version"] = COMMA_VERSION; ctx_j["dirty"] = !getenv("CLEAN"); - - // device type ctx_j["device"] = Hardware::get_name(); - LogState::initialize(); } + + ~SwaglogState() { + zmq_close(sock); + zmq_ctx_destroy(zctx); + } + + void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) { + std::lock_guard lk(lock); + if (levelnum >= print_level) { + printf("%s: %s\n", filename, msg); + } + zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); + } + + std::mutex lock; + void* zctx = nullptr; + void* sock = nullptr; + int print_level; + json11::Json::object ctx_j; }; -static SwaglogState s = {}; bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS"); uint32_t NO_FRAME_ID = std::numeric_limits::max(); -static void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) { - if (levelnum >= s.print_level) { - printf("%s: %s\n", filename, msg); - } - zmq_send(s.sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); -} - static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, char* msg_buf, const json11::Json::object &msg_j={}) { - std::lock_guard lk(s.lock); - if (!s.initialized) s.initialize(); + static SwaglogState s; json11::Json::object log_j = json11::Json::object { {"ctx", s.ctx_j}, @@ -89,7 +93,7 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons std::string log_s; log_s += (char)levelnum; ((json11::Json)log_j).dump(log_s); - log(levelnum, filename, lineno, func, msg_buf, log_s); + s.log(levelnum, filename, lineno, func, msg_buf, log_s); free(msg_buf); } diff --git a/system/swaglog.py b/common/swaglog.py similarity index 100% rename from system/swaglog.py rename to common/swaglog.py diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index e36df57a32..1817f77cd2 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -2,7 +2,6 @@ import os import unittest from uuid import uuid4 -from openpilot.common.file_helpers import atomic_write_on_fs_tmp from openpilot.common.file_helpers import atomic_write_in_dir @@ -11,14 +10,12 @@ class TestFileHelpers(unittest.TestCase): path = f"/tmp/tmp{uuid4()}" with atomic_write_func(path) as f: f.write("test") + assert not os.path.exists(path) with open(path) as f: self.assertEqual(f.read(), "test") os.remove(path) - def test_atomic_write_on_fs_tmp(self): - self.run_atomic_write_func(atomic_write_on_fs_tmp) - def test_atomic_write_in_dir(self): self.run_atomic_write_func(atomic_write_in_dir) diff --git a/common/tests/test_params.cc b/common/tests/test_params.cc new file mode 100644 index 0000000000..f8d6c79f55 --- /dev/null +++ b/common/tests/test_params.cc @@ -0,0 +1,27 @@ +#include "catch2/catch.hpp" +#define private public +#include "common/params.h" +#include "common/util.h" + +TEST_CASE("params_nonblocking_put") { + char tmp_path[] = "/tmp/asyncWriter_XXXXXX"; + const std::string param_path = mkdtemp(tmp_path); + auto param_names = {"CarParams", "IsMetric"}; + { + Params params(param_path); + for (const auto &name : param_names) { + params.putNonBlocking(name, "1"); + // param is empty + REQUIRE(params.get(name).empty()); + } + + // check if thread is running + REQUIRE(params.future.valid()); + REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout); + } + // check results + Params p(param_path); + for (const auto &name : param_names) { + REQUIRE(p.get(name) == "1"); + } +} diff --git a/common/tests/test_params.py b/common/tests/test_params.py index fb6f320ea4..490ee122be 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -4,7 +4,7 @@ import time import uuid import unittest -from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName class TestParams(unittest.TestCase): def setUp(self): @@ -86,7 +86,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - put_nonblocking("CarParams", "test") + Params().put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" @@ -95,7 +95,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - put_bool_nonblocking("CarParams", True) + Params().put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc deleted file mode 100644 index 32c7dfe58c..0000000000 --- a/common/tests/test_ratekeeper.cc +++ /dev/null @@ -1,23 +0,0 @@ -#include "catch2/catch.hpp" -#include "common/ratekeeper.h" -#include "common/timing.h" -#include "common/util.h" - -TEST_CASE("RateKeeper") { - float freq = GENERATE(10, 50, 100); - RateKeeper rk("Test RateKeeper", freq); - - int lags = 0; - int bad_keep_times = 0; - for (int i = 0; i < freq; ++i) { - double begin = seconds_since_boot(); - util::sleep_for(util::random_int(0, 1000.0 / freq - 1)); - bool lagged = rk.keepTime(); - lags += lagged; - bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3; - } - - // need a tolerance here due to scheduling - REQUIRE(lags < 5); - REQUIRE(bad_keep_times < 5); -} diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py new file mode 100644 index 0000000000..f641cd19e6 --- /dev/null +++ b/common/tests/test_simple_kalman.py @@ -0,0 +1,35 @@ +import unittest + +from openpilot.common.simple_kalman import KF1D + + +class TestSimpleKalman(unittest.TestCase): + def setUp(self): + dt = 0.01 + x0_0 = 0.0 + x1_0 = 0.0 + A0_0 = 1.0 + A0_1 = dt + A1_0 = 0.0 + A1_1 = 1.0 + C0_0 = 1.0 + C0_1 = 0.0 + K0_0 = 0.12287673 + K1_0 = 0.29666309 + + self.kf = KF1D(x0=[[x0_0], [x1_0]], + A=[[A0_0, A0_1], [A1_0, A1_1]], + C=[C0_0, C0_1], + K=[[K0_0], [K1_0]]) + + def test_getter_setter(self): + self.kf.set_x([[1.0], [1.0]]) + self.assertEqual(self.kf.x, [[1.0], [1.0]]) + + def update_returns_state(self): + x = self.kf.update(100) + self.assertEqual(x, self.kf.x) + + +if __name__ == "__main__": + unittest.main() diff --git a/common/time.py b/common/time.py index b9da106fd0..f2e49eb546 100644 --- a/common/time.py +++ b/common/time.py @@ -1,6 +1,6 @@ import datetime -MIN_DATE = datetime.datetime(year=2023, month=6, day=1) +MIN_DATE = datetime.datetime(year=2024, month=1, day=28) def system_time_valid(): - return datetime.datetime.now() > MIN_DATE \ No newline at end of file + return datetime.datetime.now() > MIN_DATE diff --git a/common/util.h b/common/util.h index 5c0ef7fec5..0cbad5bd31 100644 --- a/common/util.h +++ b/common/util.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -180,36 +179,3 @@ void update_max_atomic(std::atomic& max, T const& value) { T prev = max; while (prev < value && !max.compare_exchange_weak(prev, value)) {} } - -class LogState { - public: - bool initialized = false; - std::mutex lock; - void *zctx = nullptr; - void *sock = nullptr; - int print_level; - std::string endpoint; - - LogState(std::string _endpoint) { - endpoint = _endpoint; - } - - inline void initialize() { - zctx = zmq_ctx_new(); - sock = zmq_socket(zctx, ZMQ_PUSH); - - // Timeout on shutdown for messages to be received by the logging process - int timeout = 100; - zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); - - zmq_connect(sock, endpoint.c_str()); - initialized = true; - } - - ~LogState() { - if (initialized) { - zmq_close(sock); - zmq_ctx_destroy(zctx); - } - } -}; diff --git a/common/version.h b/common/version.h index dce92e0801..a0147beadf 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.6.1" +#define COMMA_VERSION "0.9.6.0" diff --git a/common/window.py b/common/window.py deleted file mode 100644 index 95886c0c92..0000000000 --- a/common/window.py +++ /dev/null @@ -1,61 +0,0 @@ -import sys -import pygame -import cv2 - -class Window: - def __init__(self, w, h, caption="window", double=False, halve=False): - self.w = w - self.h = h - pygame.display.init() - pygame.display.set_caption(caption) - self.double = double - self.halve = halve - if self.double: - self.rw, self.rh = w*2, h*2 - elif self.halve: - self.rw, self.rh = w//2, h//2 - else: - self.rw, self.rh = w, h - self.screen = pygame.display.set_mode((self.rw, self.rh)) - pygame.display.flip() - - # hack for xmonad, it shrinks the window by 6 pixels after the display.flip - if self.screen.get_width() != self.rw: - self.screen = pygame.display.set_mode((self.rw+(self.rw-self.screen.get_width()), self.rh+(self.rh-self.screen.get_height()))) - pygame.display.flip() - - def draw(self, out): - pygame.event.pump() - if self.double: - out2 = cv2.resize(out, (self.w*2, self.h*2)) - pygame.surfarray.blit_array(self.screen, out2.swapaxes(0, 1)) - elif self.halve: - out2 = cv2.resize(out, (self.w//2, self.h//2)) - pygame.surfarray.blit_array(self.screen, out2.swapaxes(0, 1)) - else: - pygame.surfarray.blit_array(self.screen, out.swapaxes(0, 1)) - pygame.display.flip() - - def getkey(self): - while 1: - event = pygame.event.wait() - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - if event.type == pygame.KEYDOWN: - return event.key - - def getclick(self): - for event in pygame.event.get(): - if event.type == pygame.MOUSEBUTTONDOWN: - mx, my = pygame.mouse.get_pos() - return mx, my - -if __name__ == "__main__": - import numpy as np - win = Window(200, 200, double=True) - img: np.ndarray = np.zeros((200, 200, 3), np.uint8) - while 1: - print("draw") - img += 1 - win.draw(img) diff --git a/common/xattr.py b/common/xattr.py deleted file mode 100644 index 26616fd638..0000000000 --- a/common/xattr.py +++ /dev/null @@ -1,46 +0,0 @@ -import os -from cffi import FFI -from typing import Any, List - -# Workaround for the EON/termux build of Python having os.*xattr removed. -ffi = FFI() -ffi.cdef(""" -int setxattr(const char *path, const char *name, const void *value, size_t size, int flags); -ssize_t getxattr(const char *path, const char *name, void *value, size_t size); -ssize_t listxattr(const char *path, char *list, size_t size); -int removexattr(const char *path, const char *name); -""") -libc = ffi.dlopen(None) - -def setxattr(path, name, value, flags=0) -> None: - path = path.encode() - name = name.encode() - if libc.setxattr(path, name, value, len(value), flags) == -1: - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})") - -def getxattr(path, name, size=128): - path = path.encode() - name = name.encode() - value = ffi.new(f"char[{size}]") - l = libc.getxattr(path, name, value, size) - if l == -1: - # errno 61 means attribute hasn't been set - if ffi.errno == 61: - return None - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})") - return ffi.buffer(value)[:l] - -def listxattr(path, size=128) -> List[Any]: - path = path.encode() - attrs = ffi.new(f"char[{size}]") - l = libc.listxattr(path, attrs, size) - if l == -1: - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})") - # attrs is b'\0' delimited values (so chop off trailing empty item) - return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]] - -def removexattr(path, name) -> None: - path = path.encode() - name = name.encode() - if libc.removexattr(path, name) == -1: - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})") diff --git a/conftest.py b/conftest.py index 08ddb0d1ea..c4eb259a35 100644 --- a/conftest.py +++ b/conftest.py @@ -3,17 +3,35 @@ import pytest import random from openpilot.common.prefix import OpenpilotPrefix +from openpilot.selfdrive.manager import manager from openpilot.system.hardware import TICI +def pytest_sessionstart(session): + # TODO: fix tests and enable test order randomization + if session.config.pluginmanager.hasplugin('randomly'): + session.config.option.randomly_reorganize = False + + +@pytest.hookimpl(hookwrapper=True, trylast=True) +def pytest_runtest_call(item): + # ensure we run as a hook after capturemanager's + if item.get_closest_marker("nocapture") is not None: + capmanager = item.config.pluginmanager.getplugin("capturemanager") + with capmanager.global_and_fixture_disabled(): + yield + else: + yield + + @pytest.fixture(scope="function", autouse=True) -def openpilot_function_fixture(): +def openpilot_function_fixture(request): starting_env = dict(os.environ) random.seed(0) # setup a clean environment for each test - with OpenpilotPrefix(): + with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: prefix = os.environ["OPENPILOT_PREFIX"] yield @@ -24,6 +42,8 @@ def openpilot_function_fixture(): os.environ.clear() os.environ.update(starting_env) + # cleanup any started processes + manager.manager_cleanup() # If you use setUpClass, the environment variables won't be cleared properly, # so we need to hook both the function and class pytest fixtures @@ -37,8 +57,26 @@ def openpilot_class_fixture(): os.environ.update(starting_env) +@pytest.hookimpl(tryfirst=True) def pytest_collection_modifyitems(config, items): skipper = pytest.mark.skip(reason="Skipping tici test on PC") for item in items: if not TICI and "tici" in item.keywords: - item.add_marker(skipper) \ No newline at end of file + item.add_marker(skipper) + + if "xdist_group_class_property" in item.keywords: + class_property_name = item.get_closest_marker('xdist_group_class_property').args[0] + class_property_value = getattr(item.cls, class_property_name) + item.add_marker(pytest.mark.xdist_group(class_property_value)) + + +@pytest.hookimpl(trylast=True) +def pytest_configure(config): + config_line = "xdist_group_class_property: group tests by a property of the class that contains them" + config.addinivalue_line("markers", config_line) + + config_line = "nocapture: don't capture test output" + config.addinivalue_line("markers", config_line) + + config_line = "shared_download_cache: share download cache between tests" + config.addinivalue_line("markers", config_line) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md new file mode 100644 index 0000000000..5ff5dd939f --- /dev/null +++ b/docs/BOUNTIES.md @@ -0,0 +1,62 @@ +# [Bounties](https://github.com/orgs/commaai/projects/26/views/1) + +Get paid to improve openpilot! + +## Rules + +* code must be merged into openpilot master +* bounty eligibility is solely at our discretion +* once you open a PR, the bounty is locked to you until you stop working on it +* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim +* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders) + +New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord. + +## Issue bounties + +We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this: +* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot +* **$300** - a day of work for an experienced openpilot developer +* **$500** - a few days of work for an experienced openpilot developer +* **$1k+** - a week or two of work (could be less for the right person) + +## Car bounties + +The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering). + +#### Brand or platform port - $2000 +Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331) + +This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform). + +#### Model port - $250 +Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245) + +This is for porting a new car model that runs on a platform openpilot already supports. +In the average case, this is a few hours of work for an experienced software developer. + +This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC. + +#### Reverse Engineering a new Actuation Message - $300 + +This is for cars that are already supported, and it has three components: +* reverse a new steering, adaptive cruise, or AEB message +* merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc) +* merge the openpilot code to use it and post a demo route + +The control doesn't have to be perfect, but it should generally do what it's supposed to do. + +### Specific Cars + +#### Rivian R1T or R1S - $3000 + +Get a Rivian driving with openpilot. +Requires a merged port with lateral control and at least a POC of longitudinal control. + +#### Toyota SecOc - $5000 + +We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932). + +#### Chevy Bolt with SuperCruise - $2500 + +The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port. diff --git a/docs/CARS.md b/docs/CARS.md index b7f083b8e8..5620bc703c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,19 +4,19 @@ 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. -# 267 Supported Cars +# 275 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Buick|LaCrosse 2017-19[4](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -28,13 +28,14 @@ A supported vehicle is one that just works when you install a comma device. All |Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -60,7 +61,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -73,6 +74,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -96,25 +98,26 @@ 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[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival 2023-24[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -130,10 +133,12 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -143,16 +148,17 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -168,35 +174,35 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Forester 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Kamiq 2021[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -209,8 +215,8 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-23|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -235,46 +241,48 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
@@ -284,12 +292,13 @@ A supported vehicle is one that just works when you install a comma device. All 52019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
6Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
7In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
-8openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-9Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-10Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-11Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
-12Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-13Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+8Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
+9openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+10Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+11Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+12Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+13Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+14Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 7a074f12de..30f4e0dfd3 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -1,26 +1,50 @@ # How to contribute -Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). - -Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/). +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai). ### Getting Started - * Setup your [development environment](../tools/) - * Join our [Discord](https://discord.comma.ai) - * Make sure you have a [GitHub account](https://github.com/signup/free) - * Fork [our repositories](https://github.com/commaai) on GitHub +* Setup your [development environment](../tools/) +* Read about the [development workflow](WORKFLOW.md) +* Join our [Discord](https://discord.comma.ai) +* Docs are at https://docs.comma.ai and https://blog.comma.ai + +## What contributions are we looking for? + +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. + +### What gets merged? + +The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. +If a PR offers *some* value but will take lots of time to get merged, it will be closed. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. + +All of these are examples of good PRs: +* typo fix: https://github.com/commaai/openpilot/pull/30678 +* removing unused code: https://github.com/commaai/openpilot/pull/30573 +* simple car model port: https://github.com/commaai/openpilot/pull/30245 +* car brand port: https://github.com/commaai/openpilot/pull/23331 + +### What doesn't get merged? + +* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful +* **500+ line PRs**: clean it up, break it up into smaller PRs, or both +* **PRs without a clear goal**: every PR must have a singular and clear goal +* **UI design changes**: we do not have a good review process for this yet +* **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. ### First contribution -Try out some of these first pull requests ideas to dive into the codebase: -* Increase our [mypy](http://mypy-lang.org/) coverage -* Write some documentation -* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) +Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started. + +### What do I need to contribute? + +A lot of openpilot work requires only a PC, and some requires a comma device. +Most car-related contributions require access to that car, plus a comma device installed in the car. ## Pull Requests -Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. +Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. A good pull request has all of the following: * a clearly stated purpose @@ -31,18 +55,11 @@ A good pull request has all of the following: * if you've improved your car's tuning, post before and after plots * passes the CI tests -### Car Ports +## Contributing without Code -We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models. - -If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/). - -## Testing - -### Automated Testing - -All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. - -### Code Style and Linting - -Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. +* Report bugs in GitHub issues. +* Report driving issues in the `#driving-feedback` Discord channel. +* Consider opting into driver camera uploads to improve the driver monitoring model. +* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. +* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release. +* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k). diff --git a/docs/Makefile b/docs/Makefile index dee660f770..09103e206e 100644 --- a/docs/Makefile +++ b/docs/Makefile @@ -41,13 +41,13 @@ clean: @echo "Building rst files..." sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \ - ../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \ + ../xx ../rednose_repo ../notebooks ../panda_jungle \ ../third_party \ ../panda/examples \ ../scripts \ ../selfdrive/modeld \ ../selfdrive/debug \ - $(shell find .. -type d -name "*test*") + $(shell find .. -type d -name "*test* -not -path "**.venv**" \") @echo "Building html files..." @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/README.md b/docs/README.md new file mode 100644 index 0000000000..838b00e7ae --- /dev/null +++ b/docs/README.md @@ -0,0 +1,3 @@ +# openpilot-docs + +These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository. \ No newline at end of file diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md new file mode 100644 index 0000000000..85ae8d86f4 --- /dev/null +++ b/docs/WORKFLOW.md @@ -0,0 +1,42 @@ +# openpilot development workflow + +Aside from the ML models, most tools used for openpilot development are in this repo. + +Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development. + +## Quick start + +```bash +# get the latest stuff +git pull +git submodule update --init --recursive + +# update dependencies +tools/ubuntu_setup.sh + +# build everything +scons -j$(nproc) + +# build just the ui with either of these +scons -j8 selfdrive/ui/ +cd selfdrive/ui/ && scons -u -j8 + +# test everything +pytest . + +# test just logging services +cd system/loggerd && pytest . + +# run the linter +pre-commit run --all +``` + +## Testing + +### Automated Testing + +All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. + +### Code Style and Linting + +Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. diff --git a/docs/_static/logo.png b/docs/_static/logo.png index 2699565085..0e7577dae1 100644 Binary files a/docs/_static/logo.png and b/docs/_static/logo.png differ diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg index 5d3c32d671..448b20b937 100644 --- a/docs/assets/icon-star-empty.svg +++ b/docs/assets/icon-star-empty.svg @@ -1,56 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:3142658fa2782d266028dcab491e02ab329a2cadcf9efb1846a5f9631d64cac1 +size 1947 diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg index 294db2b7f2..0e0bf52cd8 100644 --- a/docs/assets/icon-star-full.svg +++ b/docs/assets/icon-star-full.svg @@ -1,56 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:5fdcc85f3d8c9d0c2fb76b98ddd9f118c0e4a12c859a4281a04a0870d5de12c8 +size 1950 diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg index ab905fddcb..11398fa6f1 100644 --- a/docs/assets/icon-star-half.svg +++ b/docs/assets/icon-star-half.svg @@ -1,66 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf5e7ae57626f4cda35973873a4696252babbbe473913fe0aafdd8ba39d7fc3 +size 2508 diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg index 4e2c9fdfa9..f738dca10a 100644 --- a/docs/assets/icon-youtube.svg +++ b/docs/assets/icon-youtube.svg @@ -1,12 +1,3 @@ - - - - - - - - - - - - \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b +size 1278 diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 5619cc8a51..6e8808ec20 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -29,8 +29,6 @@ camerad ^^^^^^^ .. autodoxygenindex:: :project: system_camerad_cameras -.. autodoxygenindex:: - :project: system_camerad_imgproc locationd ^^^^^^^^^ @@ -43,12 +41,6 @@ ui .. autodoxygenindex:: :project: selfdrive_ui -soundd -"""""" -.. autodoxygenindex:: - :project: selfdrive_ui_soundd - - replay """""" .. autodoxygenindex:: diff --git a/docs/overview.rst b/docs/overview.rst index b9a5700528..8c552077f3 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -18,14 +18,6 @@ cereal cereal/README.md cereal/messaging/msgq.md -laika -========= - -.. toctree:: - :maxdepth: 4 - - laika_repo/README.md - models ========= diff --git a/laika b/laika deleted file mode 120000 index 1c7429f4ac..0000000000 --- a/laika +++ /dev/null @@ -1 +0,0 @@ -laika_repo/laika/ \ No newline at end of file diff --git a/laika_repo b/laika_repo deleted file mode 160000 index 8861844c9b..0000000000 --- a/laika_repo +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9 diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 5112334488..04a5e60efb 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" function agnos_init { - # wait longer for weston to come up - if [ -f "$BASEDIR/prebuilt" ]; then - sleep 3 - fi - # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta @@ -35,9 +30,6 @@ function launch { # Remove orphaned git lock if it exists on boot [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock - # Pull time from panda - $DIR/selfdrive/boardd/set_time.py - # Check to see if there's a valid overlay-based update available. Conditions # are as follows: # @@ -77,14 +69,20 @@ function launch { export PYTHONPATH="$PWD" # hardware specific init - agnos_init + if [ -f /AGNOS ]; then + agnos_init + fi # write tmux scrollback to a file tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager cd selfdrive/manager - ./build.py && ./mapd_installer.py && ./manager.py + if [ ! -f $DIR/prebuilt ]; then + ./build.py + fi + ./mapd_installer.py && ./manager.py + # if broken, keep on screen error while true; do sleep 1; done } diff --git a/launch_env.sh b/launch_env.sh index d07fbe33de..d86ec63593 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="8.2" -fi - -if [ -z "$PASSIVE" ]; then - export PASSIVE="1" + export AGNOS_VERSION="9.3" fi export STAGING_ROOT="/data/safe_staging" diff --git a/launch_openpilot.sh b/launch_openpilot.sh index 1525e1715f..2888814c22 100755 --- a/launch_openpilot.sh +++ b/launch_openpilot.sh @@ -1,5 +1,3 @@ #!/usr/bin/bash -export PASSIVE="0" exec ./launch_chffrplus.sh - diff --git a/opendbc b/opendbc index ab68094723..aff840356a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit ab68094723d9a615ca940eece04db2f2f755c4ff +Subproject commit aff840356a2ecf5e82a04e91a5aade3a3b4cf9a3 diff --git a/panda b/panda index 467e0e2ca0..b69ae5fa43 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 467e0e2ca06ee746103e6de6f26ab18b01f928e3 +Subproject commit b69ae5fa43235d27027c1331e5a1233ab6bff575 diff --git a/poetry.lock b/poetry.lock index 2c91470f54..4cd6f5062e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2,111 +2,98 @@ [[package]] name = "aiohttp" -version = "3.8.6" +version = "3.9.2" description = "Async http client/server framework (asyncio)" optional = false -python-versions = ">=3.6" +python-versions = ">=3.8" files = [ - {file = "aiohttp-3.8.6-cp310-cp310-macosx_10_9_universal2.whl", hash = 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"jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "9538e574ca03437994b7b0a0b6cb41842256162a2f14abfd0da26587709f145a" +content-hash = "8af315a175ab43dbc5a777f68fca6d76af1443b5b574ab8570ef5dad59f288fc" diff --git a/pyproject.toml b/pyproject.toml index 71b677fbb7..116c034bc9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,7 +1,8 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10" -#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +cpp_files = "test_*" +cpp_harness = "selfdrive/test/cpp_harness.py" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ @@ -16,13 +17,17 @@ testpaths = [ "selfdrive/controls", "selfdrive/locationd", "selfdrive/monitoring", + "selfdrive/navd/tests", "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", + "selfdrive/test/process_replay/test_fuzzy.py", + "system/camerad", "system/hardware/tici", "system/loggerd", "system/proclogd", "system/tests", "system/ubloxd", + "system/webrtc", "tools/lib/tests", "tools/replay", "tools/cabana" @@ -38,12 +43,12 @@ exclude = [ "cereal/", "opendbc/", "panda/", - "laika/", - "laika_repo/", "rednose/", "rednose_repo/", "tinygrad/", "tinygrad_repo/", + "teleoprtc/", + "teleoprtc_repo/", "third_party/", ] @@ -72,76 +77,69 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] python = "~3.11" -atomicwrites = "*" aiohttp = "*" aiortc = "*" casadi = "==3.6.3" cffi = "*" -control = "*" crcmod = "*" -cryptography = "*" Cython = "*" future-fstrings = "*" # for acados -hatanaka = "==2.4" -hexdump = "*" -Jinja2 = "*" json-rpc = "*" libusb1 = "*" numpy = "*" onnx = ">=1.14.0" -onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" } -onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" } +onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" } +onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" } psutil = "*" pyaudio = "*" pycapnp = "*" pycryptodome = "*" -pycurl = "*" -pydub = "*" PyJWT = "*" -pyopencl = "*" pyserial = "*" -PyYAML = "*" pyzmq = "*" requests = "*" scons = "*" -sentry-sdk = "==1.28.1" # needs to be updated with AGNOS -setproctitle = "*" +sentry-sdk = "*" smbus2 = "*" sounddevice = "*" spidev = { version = "*", platform = "linux" } sympy = "*" -timezonefinder = "*" -tqdm = "*" websocket_client = "*" -polyline = "*" -sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} +# these should be removed +markdown-it-py = "*" +timezonefinder = "*" +setproctitle = "*" [tool.poetry.group.dev.dependencies] av = "*" azure-identity = "*" azure-storage-blob = "*" breathe = "*" +control = "*" coverage = "*" dictdiffer = "*" ft4222 = "*" +flaky = "*" hypothesis = "~6.47" inputs = "*" +Jinja2 = "*" lru-dict = "*" -markdown-it-py = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { version = "0.4.2.2", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" natsort = "*" opencv-python-headless = "*" -pandas = "*" parameterized = "^0.8" pprofile = "*" +polyline = "*" pre-commit = "*" +pyautogui = "*" +pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 pygame = "*" -pympler = "*" +pywinctl = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" @@ -149,31 +147,20 @@ pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" -pytest-timeouts = "*" -pytest-random-order = "*" +pytest-randomly = "*" ruff = "*" -scipy = "*" sphinx = "*" sphinx-rtd-theme = "*" sphinx-sitemap = "*" tabulate = "*" tenacity = "*" -types-atomicwrites = "*" -types-certifi = "*" -types-pycurl = "*" -types-PyYAML = "*" types-requests = "*" types-tabulate = "*" +tqdm = "*" # this is only pinned since 5.15.11 is broken pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux -[tool.poetry.group.carla] -optional = true - -[tool.poetry.group.carla.dependencies] -carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" } - [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" @@ -181,15 +168,16 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] +ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 target-version="py311" exclude = [ "panda", "opendbc", - "laika_repo", "rednose_repo", "tinygrad_repo", + "teleoprtc", + "teleoprtc_repo", "third_party", ] flake8-implicit-str-concat.allow-multiline=false @@ -199,3 +187,6 @@ flake8-implicit-str-concat.allow-multiline=false "system".msg = "Use openpilot.system" "third_party".msg = "Use openpilot.third_party" "tools".msg = "Use openpilot.tools" + +[tool.coverage.run] +concurrency = ["multiprocessing", "thread"] diff --git a/rednose_repo b/rednose_repo index 8658bed296..18b91458fd 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 8658bed29686b2ddae191fd18302986c85542431 +Subproject commit 18b91458fd396530d43e1a2fe9a3ac9055fa9109 diff --git a/release/build_devel.sh b/release/build_devel.sh index ca04c56f1e..8b6816e423 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -22,6 +22,7 @@ pre-commit uninstall || true echo "[-] bringing master-ci and devel in sync T=$SECONDS" cd $TARGET_DIR + git fetch --depth 1 origin master-ci git fetch --depth 1 origin devel diff --git a/release/build_release.sh b/release/build_release.sh index e7f169c1db..17b9149a2a 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -103,9 +103,9 @@ git branch -m release-c3 #selfdrive/car/tests/test_car_interfaces.py #rm -rf $TEST_FILES -if [ ! -z "$PUSH" ]; then - echo "[-] pushing T=$SECONDS" - git push -f origin $RELEASE_BRANCH +if [ ! -z "$RELEASE_BRANCH" ]; then + echo "[-] pushing release T=$SECONDS" + git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH fi echo "[-] done T=$SECONDS" diff --git a/release/files_common b/release/files_common index f02ff7563e..cbce7906f4 100644 --- a/release/files_common +++ b/release/files_common @@ -25,27 +25,8 @@ openpilot/** common/.gitignore common/__init__.py -common/conversions.py -common/gpio.py -common/realtime.py -common/timeout.py -common/ffi_wrapper.py -common/file_helpers.py -common/logging_extra.py -common/numpy_fast.py -common/params.py -common/params_pyx.pyx -common/profiler.py -common/basedir.py -common/dict_helpers.py -common/filter_simple.py -common/stat_live.py -common/spinner.py -common/text_window.py -common/time.py - -common/kalman/.gitignore -common/kalman/* +common/*.py +common/*.pyx common/transformations/__init__.py common/transformations/camera.py @@ -80,7 +61,6 @@ selfdrive/statsd.py system/logmessaged.py system/micd.py -system/swaglog.py system/version.py selfdrive/athena/__init__.py @@ -120,10 +100,8 @@ 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-common/statlog.h -common/statlog.cc -common/util.cc -common/util.h -common/queue.h -common/clutil.cc -common/clutil.h -common/params.h -common/params.cc -common/ratekeeper.cc -common/ratekeeper.h -common/watchdog.cc -common/watchdog.h - -common/modeldata.h -common/mat.h -common/timing.h - -common/gpio.cc -common/gpio.h -common/i2c.cc -common/i2c.h +common/*.h +common/*.cc selfdrive/controls/__init__.py selfdrive/controls/controlsd.py @@ -221,6 +174,7 @@ selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* system/__init__.py +system/*.py system/hardware/__init__.py system/hardware/base.h @@ -237,6 +191,7 @@ system/hardware/tici/agnos.json system/hardware/tici/amplifier.py system/hardware/tici/updater system/hardware/tici/iwlist.py +system/hardware/tici/esim.nmconnection system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py @@ -256,12 +211,10 @@ selfdrive/locationd/paramsd.py selfdrive/locationd/models/__init__.py selfdrive/locationd/models/.gitignore selfdrive/locationd/models/car_kf.py -selfdrive/locationd/models/gnss_kf.py selfdrive/locationd/models/live_kf.py selfdrive/locationd/models/live_kf.h selfdrive/locationd/models/live_kf.cc selfdrive/locationd/models/constants.py -selfdrive/locationd/models/gnss_helpers.py selfdrive/locationd/torqued.py selfdrive/locationd/calibrationd.py @@ -306,6 +259,12 @@ system/sensord/sensors/*.cc system/sensord/sensors/*.h system/sensord/pigeond.py +system/webrtc/__init__.py +system/webrtc/webrtcd.py +system/webrtc/schema.py +system/webrtc/device/audio.py +system/webrtc/device/video.py + selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py selfdrive/thermald/fan_controller.py @@ -321,13 +280,9 @@ selfdrive/ui/.gitignore selfdrive/ui/SConscript selfdrive/ui/*.cc selfdrive/ui/*.h -selfdrive/ui/ui selfdrive/ui/text selfdrive/ui/spinner -selfdrive/ui/soundd/*.cc -selfdrive/ui/soundd/*.h -selfdrive/ui/soundd/soundd -selfdrive/ui/soundd/.gitignore +selfdrive/ui/soundd.py selfdrive/ui/translations/*.ts selfdrive/ui/translations/languages.json selfdrive/ui/update_translations.py @@ -362,12 +317,8 @@ system/camerad/main.cc system/camerad/snapshot/* system/camerad/cameras/camera_common.h system/camerad/cameras/camera_common.cc -system/camerad/cameras/sensor2_i2c.h - -system/camerad/imgproc/conv.cl -system/camerad/imgproc/pool.cl -system/camerad/imgproc/utils.cc -system/camerad/imgproc/utils.h +system/camerad/sensors/*.h +system/camerad/sensors/*.cc system/fleetmanager/* @@ -473,15 +424,18 @@ third_party/acados/acados_template/** third_party/bootstrap/** third_party/qt5/larch64/bin/** +third_party/maplibre-native-qt/** third_party/pfeiferj-mapd/** scripts/update_now.sh scripts/stop_updater.sh +teleoprtc/** + +rednose_repo/site_scons/site_tools/rednose_filter.py rednose/.gitignore rednose/** -laika/** body/.gitignore body/board/SConscript diff --git a/release/files_pc b/release/files_pc index 13f1b52166..f2bf090f2c 100644 --- a/release/files_pc +++ b/release/files_pc @@ -1,5 +1,3 @@ -third_party/mapbox-gl-native-qt/x86_64/*.so - third_party/libyuv/x86_64/** third_party/snpe/x86_64/** third_party/snpe/x86_64-linux-clang/** diff --git a/release/files_tici b/release/files_tici index ab49de34f6..1771c45138 100644 --- a/release/files_tici +++ b/release/files_tici @@ -1,18 +1,15 @@ third_party/libyuv/larch64/** third_party/snpe/larch64** third_party/snpe/aarch64-ubuntu-gcc7.5/* -third_party/mapbox-gl-native-qt/include/* third_party/acados/larch64/** -system/timezoned.py - system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -system/sensord/rawgps/* +system/qcomgpsd/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/release/verify.sh b/release/verify.sh index 56f21183f1..ec5266bd81 100755 --- a/release/verify.sh +++ b/release/verify.sh @@ -6,7 +6,7 @@ RED="\033[0;31m" GREEN="\033[0;32m" CLEAR="\033[0m" -BRANCHES="devel dashcam3 release3" +BRANCHES="devel release3" for b in $BRANCHES; do if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then printf "%-10s $GREEN ok $CLEAR\n" "$b" diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh index 65805b8485..74f765391a 100755 --- a/scripts/apply-pr.sh +++ b/scripts/apply-pr.sh @@ -8,4 +8,4 @@ fi BASE="https://github.com/commaai/openpilot/pull/" PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" -curl -L $BASE/$PR_NUM.patch | git apply +curl -L $BASE/$PR_NUM.patch | git apply -3 diff --git a/scripts/build_small.sh b/scripts/build_small.sh new file mode 100755 index 0000000000..90f55373e2 --- /dev/null +++ b/scripts/build_small.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -ex + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +# git clone --mirror +SRC=/tmp/openpilot.git/ +OUT=/tmp/smallpilot/ + +echo "starting size $(du -hs .git/)" + +rm -rf $OUT + +cd $SRC +git remote update + +# copy contents +#rsync -a --exclude='.git/' $DIR $OUT + +cp -r $SRC $OUT + +cd $OUT + +# remove all tags +git tag -l | xargs git tag -d + +# remove non-master branches +BRANCHES="release2 release3 devel master-ci nightly" +for branch in $BRANCHES; do + git branch -D $branch + git branch -D ${branch}-staging || true +done + +#git gc +git reflog expire --expire=now --all +git gc --prune=now +git gc --aggressive --prune=now +echo "new one is $(du -hs .)" diff --git a/scripts/checkout-pr.sh b/scripts/checkout-pr.sh new file mode 100755 index 0000000000..43f658beff --- /dev/null +++ b/scripts/checkout-pr.sh @@ -0,0 +1,16 @@ +#!/bin/bash +set -e + +if [ $# -eq 0 ]; then + echo "usage: $0 " + exit 1 +fi + +BASE="https://github.com/commaai/openpilot/pull/" +PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" +BRANCH=tmp-pr${PR_NUM} + +git branch -D -f $BRANCH || true +git fetch -u -f origin pull/$PR_NUM/head:$BRANCH +git switch $BRANCH +git reset --hard FETCH_HEAD diff --git a/scripts/code_stats.py b/scripts/code_stats.py index 59b5724a68..3189cd7cc1 100755 --- a/scripts/code_stats.py +++ b/scripts/code_stats.py @@ -13,7 +13,7 @@ for d in ["cereal", "common", "scripts", "selfdrive", "tools"]: if f.endswith(".py"): pyf.append(os.path.join(root, f)) -imps = set() +imps: set[str] = set() class Analyzer(ast.NodeVisitor): def visit_Import(self, node): diff --git a/scripts/retry.sh b/scripts/retry.sh new file mode 100755 index 0000000000..4861748e55 --- /dev/null +++ b/scripts/retry.sh @@ -0,0 +1,27 @@ +#!/bin/bash + +function fail { + echo $1 >&2 + exit 1 +} + +function retry { + local n=1 + local max=3 # 3 retries before failure + local delay=5 # delay between retries, 5 seconds + while true; do + echo "Running command '$@' with retry, attempt $n/$max" + "$@" && break || { + if [[ $n -lt $max ]]; then + ((n++)) + sleep $delay; + else + fail "The command has failed after $n attempts." + fi + } + done +} + +if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then + retry "$@" +fi diff --git a/scripts/sunnypilot/model_json_hash_generator.py b/scripts/sunnypilot/model_json_hash_generator.py new file mode 100644 index 0000000000..a6ecd761fd --- /dev/null +++ b/scripts/sunnypilot/model_json_hash_generator.py @@ -0,0 +1,28 @@ +import requests +import hashlib +import json + +# Function to calculate SHA-256 hash of a file downloaded from a given URI +def calculate_hash(download_uri): + response = requests.get(download_uri, stream=True) + hash_sha256 = hashlib.sha256() + for chunk in response.iter_content(chunk_size=1024): + hash_sha256.update(chunk) + return hash_sha256.hexdigest() + +# Download the models_v3.json file +models_v3_url = "https://docs.sunnypilot.ai/models_v3.json" +response = requests.get(models_v3_url) +models_data = response.json() + +# Iterate through each model and calculate SHA-256 for its files +for model_key, model_info in models_data.items(): + # Calculate and insert the SHA-256 hash for each download URI + model_info['download_uri'] = {'url': model_info['download_uri'], 'sha256': calculate_hash(model_info['download_uri'])} + model_info['download_uri_nav'] = {'url': model_info['download_uri_nav'], 'sha256': calculate_hash(model_info['download_uri_nav'])} + model_info['download_uri_metadata'] = {'url': model_info['download_uri_metadata'], 'sha256': calculate_hash(model_info['download_uri_metadata'])} + +# Save the updated JSON with hashes +updated_json_file_path = 'updated_models_v3.json' # Path for the updated JSON file +with open(updated_json_file_path, 'w') as file: + json.dump(models_data, file, indent=4) diff --git a/selfdrive/assets/body/awake.gif b/selfdrive/assets/body/awake.gif index 7ec67055dd..cc22fd9b12 100644 Binary files a/selfdrive/assets/body/awake.gif and b/selfdrive/assets/body/awake.gif differ diff --git a/selfdrive/assets/body/sleep.gif b/selfdrive/assets/body/sleep.gif index 469cc80338..fcc0b4ed50 100644 Binary files a/selfdrive/assets/body/sleep.gif and b/selfdrive/assets/body/sleep.gif differ diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg index b1e6d3b867..33f68f02bc 100644 --- a/selfdrive/assets/icons/close.svg +++ b/selfdrive/assets/icons/close.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:84c6b23bd3245954b86f80278511186fca4ddfa70d87c8b25e8f9fb76f9af758 +size 379 diff --git a/selfdrive/assets/images/button_flag.png b/selfdrive/assets/images/button_flag.png index cac4db6d4c..745c8d576b 100644 Binary files a/selfdrive/assets/images/button_flag.png and b/selfdrive/assets/images/button_flag.png differ diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png index 9f52faf9e2..dd3f97f44b 100644 Binary files a/selfdrive/assets/images/button_home.png and b/selfdrive/assets/images/button_home.png differ diff --git a/selfdrive/assets/images/button_settings.png b/selfdrive/assets/images/button_settings.png index e04262b887..4bbfe581e6 100644 Binary files a/selfdrive/assets/images/button_settings.png and b/selfdrive/assets/images/button_settings.png differ diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg index 9320269bde..f3a8db44b7 100644 --- a/selfdrive/assets/images/triangle.svg +++ b/selfdrive/assets/images/triangle.svg @@ -1,56 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:aaf9a1967365f2c641bf7b54a409e32842cee0bfded7ebb01b1a95c4ac9f0154 +size 2163 diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png index 3f09a35a79..570ba4ee82 100644 Binary files a/selfdrive/assets/img_chffr_wheel.png and b/selfdrive/assets/img_chffr_wheel.png differ diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg index 27c37395b2..1852ba947a 100644 --- a/selfdrive/assets/img_circled_check.svg +++ b/selfdrive/assets/img_circled_check.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:c5687faf4cb22bece0405893671651eb13e8eda393987610f493ee5e05eac61d +size 439 diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/img_circled_slash.svg index b10a3938d5..6c77030d15 100644 --- a/selfdrive/assets/img_circled_slash.svg +++ b/selfdrive/assets/img_circled_slash.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:fbec38447732a443c304042c3c3d362c94e11e794e7cc7dc86aa1c7bba16c6b6 +size 328 diff --git a/selfdrive/assets/img_continue_triangle.svg b/selfdrive/assets/img_continue_triangle.svg index 20f9e45dcf..ee9db369a4 100644 --- a/selfdrive/assets/img_continue_triangle.svg +++ b/selfdrive/assets/img_continue_triangle.svg @@ -1,3 +1,3 @@ - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:1764c0c93703481b2ced63bc35c5a23a6c12388ca690ce4cf577b3b478a08b69 +size 197 diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/img_couch.svg index 2e86012809..7c58515200 100644 --- a/selfdrive/assets/img_couch.svg +++ b/selfdrive/assets/img_couch.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:a428d2561198ebdc853ba6fb25a8b9c5a58064d000413694e1535adc06633c0a +size 2649 diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png index e2d943e537..8b6f515b1f 100644 Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png index d8bc5f1371..5d5ebf6795 100644 Binary files a/selfdrive/assets/img_driver_face_static.png and b/selfdrive/assets/img_driver_face_static.png differ diff --git a/selfdrive/assets/img_experimental.svg b/selfdrive/assets/img_experimental.svg index 0eaec3b3cd..3c31caa07e 100644 --- a/selfdrive/assets/img_experimental.svg +++ 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a/selfdrive/assets/offroad/icon_calibration.png b/selfdrive/assets/offroad/icon_calibration.png index c4ee0d63d4..d2a098ba5a 100644 Binary files a/selfdrive/assets/offroad/icon_calibration.png and b/selfdrive/assets/offroad/icon_calibration.png differ diff --git a/selfdrive/assets/offroad/icon_checkmark.svg b/selfdrive/assets/offroad/icon_checkmark.svg index b024eccd9e..7a1db13497 100644 --- a/selfdrive/assets/offroad/icon_checkmark.svg +++ b/selfdrive/assets/offroad/icon_checkmark.svg @@ -1,3 +1,3 @@ - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:da1540859c4c42878a32a0a81a38ca38b04be4cb0fe46709df3e024b7f3b4036 +size 243 diff --git a/selfdrive/assets/offroad/icon_chevron_right.png b/selfdrive/assets/offroad/icon_chevron_right.png index a3aaa76486..46baa13240 100644 Binary files a/selfdrive/assets/offroad/icon_chevron_right.png and b/selfdrive/assets/offroad/icon_chevron_right.png differ diff --git a/selfdrive/assets/offroad/icon_close.svg 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b/selfdrive/assets/offroad/icon_openpilot.png index 0a90a87910..ae6faa45ea 100644 Binary files a/selfdrive/assets/offroad/icon_openpilot.png and b/selfdrive/assets/offroad/icon_openpilot.png differ diff --git a/selfdrive/assets/offroad/icon_plus.png b/selfdrive/assets/offroad/icon_plus.png index 92b448b0bd..6418a37a65 100644 Binary files a/selfdrive/assets/offroad/icon_plus.png and b/selfdrive/assets/offroad/icon_plus.png differ diff --git a/selfdrive/assets/offroad/icon_road.png b/selfdrive/assets/offroad/icon_road.png index 5868ed1ccc..7e460dc0d0 100644 Binary files a/selfdrive/assets/offroad/icon_road.png and b/selfdrive/assets/offroad/icon_road.png differ diff --git a/selfdrive/assets/offroad/icon_settings.png b/selfdrive/assets/offroad/icon_settings.png index d0c90a620d..3d8159acc6 100644 Binary files a/selfdrive/assets/offroad/icon_settings.png and b/selfdrive/assets/offroad/icon_settings.png differ diff --git a/selfdrive/assets/offroad/icon_shell.png b/selfdrive/assets/offroad/icon_shell.png index f1d655416a..ea4faf89b9 100644 Binary files a/selfdrive/assets/offroad/icon_shell.png and b/selfdrive/assets/offroad/icon_shell.png differ diff --git a/selfdrive/assets/offroad/icon_speed_limit.png b/selfdrive/assets/offroad/icon_speed_limit.png index 0aa7038f90..d4c662cfc0 100644 Binary files a/selfdrive/assets/offroad/icon_speed_limit.png and b/selfdrive/assets/offroad/icon_speed_limit.png differ diff --git a/selfdrive/assets/offroad/icon_warning.png b/selfdrive/assets/offroad/icon_warning.png index 50fe821127..583f9c2443 100644 Binary files a/selfdrive/assets/offroad/icon_warning.png and b/selfdrive/assets/offroad/icon_warning.png differ diff --git a/selfdrive/assets/offroad/icon_wifi_strength_full.svg b/selfdrive/assets/offroad/icon_wifi_strength_full.svg index 758198e97f..c9d22d8961 100644 --- a/selfdrive/assets/offroad/icon_wifi_strength_full.svg +++ b/selfdrive/assets/offroad/icon_wifi_strength_full.svg @@ -1,6 +1,3 @@ - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:485dd0d4eb8968726003ae460bab4ff498127def52b8b1ed6d968f4629ab233a +size 1655 diff --git a/selfdrive/assets/offroad/icon_wifi_strength_high.svg b/selfdrive/assets/offroad/icon_wifi_strength_high.svg index a8db07f91e..ff001bd14a 100644 --- a/selfdrive/assets/offroad/icon_wifi_strength_high.svg +++ b/selfdrive/assets/offroad/icon_wifi_strength_high.svg @@ -1,6 +1,3 @@ - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:c92fd8bebbe630f991fe3f61f61407f8002d29881698634239be3a6fae2fb4bc +size 1657 diff --git a/selfdrive/assets/offroad/icon_wifi_strength_low.svg b/selfdrive/assets/offroad/icon_wifi_strength_low.svg index 8963c3dbc1..bcc6e83c63 100644 --- a/selfdrive/assets/offroad/icon_wifi_strength_low.svg +++ b/selfdrive/assets/offroad/icon_wifi_strength_low.svg @@ -1,6 +1,3 @@ - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:e629e3a84dc288278e455be4a8deff95730e24d9a0b894f8c417ac1c409670ab +size 1661 diff --git a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg index 8f8d503260..e14ebd238f 100644 --- a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg +++ b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg @@ -1,6 +1,3 @@ - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:52113c14656483854a814c50c93770f5e6ab7d63b2b5048ddd6fd47fdfd4a7de +size 1659 diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg index 95cb0e283e..b9392dfe7c 100644 --- a/selfdrive/assets/offroad/icon_wifi_uploading.svg +++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg @@ -1,6 +1,3 @@ - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:bedd579f56c65fffe2ad571f92843b6d103826fe173f8f5b58fc2200d2ad8850 +size 1663 diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav index ba583c41f3..f3b5f21a27 100644 Binary files a/selfdrive/assets/sounds/disengage.wav and b/selfdrive/assets/sounds/disengage.wav differ diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav index 41e9b2d588..fc24a23c2f 100644 Binary files a/selfdrive/assets/sounds/engage.wav and b/selfdrive/assets/sounds/engage.wav differ diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav index 1ae77051eb..e482c85a62 100644 Binary files a/selfdrive/assets/sounds/prompt.wav and b/selfdrive/assets/sounds/prompt.wav differ diff --git a/selfdrive/assets/sounds/prompt_distracted.wav b/selfdrive/assets/sounds/prompt_distracted.wav index c3d4475caa..750d580f04 100644 Binary files a/selfdrive/assets/sounds/prompt_distracted.wav and b/selfdrive/assets/sounds/prompt_distracted.wav differ diff --git a/selfdrive/assets/sounds/refuse.wav b/selfdrive/assets/sounds/refuse.wav index 0e80f7d127..1e0c47697d 100644 Binary files a/selfdrive/assets/sounds/refuse.wav and b/selfdrive/assets/sounds/refuse.wav differ diff --git a/selfdrive/assets/sounds/warning_immediate.wav b/selfdrive/assets/sounds/warning_immediate.wav index 9f6f672e28..fcbfed79ed 100644 Binary files a/selfdrive/assets/sounds/warning_immediate.wav and b/selfdrive/assets/sounds/warning_immediate.wav differ diff --git a/selfdrive/assets/sounds/warning_soft.wav b/selfdrive/assets/sounds/warning_soft.wav index 261c7e1376..7db30303d6 100644 Binary files a/selfdrive/assets/sounds/warning_soft.wav and b/selfdrive/assets/sounds/warning_soft.wav differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index c93b434677..0a5c9b7999 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -11,7 +11,6 @@ import queue import random import select import socket -import subprocess import sys import tempfile import threading @@ -31,21 +30,16 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.api import Api -from openpilot.common.basedir import PERSIST from openpilot.common.file_helpers import CallbackReader from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity -from openpilot.system.hardware import HARDWARE, PC, AGNOS +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.loggerd.xattr_cache import getxattr, setxattr -from openpilot.selfdrive.statsd import STATS_DIR -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version from openpilot.system.hardware.hw import Paths -# TODO: use socket constant when mypy recognizes this as a valid attribute -TCP_USER_TIMEOUT = 18 - ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) LOCAL_PORT_WHITELIST = {8022} @@ -85,7 +79,7 @@ class UploadItem: url: str headers: Dict[str, str] created_at: int - id: Optional[str] # noqa: A003 (to match the response from the remote server) + id: Optional[str] retry_count: int = 0 current: bool = False progress: float = 0 @@ -365,22 +359,6 @@ def listDataDirectory(prefix='') -> List[str]: return scan_dir(Paths.log_root(), prefix) -@dispatcher.add_method -def reboot() -> Dict[str, int]: - sock = messaging.sub_sock("deviceState", timeout=1000) - ret = messaging.recv_one(sock) - if ret is None or ret.deviceState.started: - raise Exception("Reboot unavailable") - - def do_reboot() -> None: - time.sleep(2) - HARDWARE.reboot() - - threading.Thread(target=do_reboot).start() - - return {"success": 1} - - @dispatcher.add_method def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse: # this is because mypy doesn't understand that the decorator doesn't change the return type @@ -454,24 +432,22 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]] cancelled_uploads.update(cancelled_ids) return {"success": 1} - @dispatcher.add_method -def primeActivated(activated: bool) -> Dict[str, int]: +def setRouteViewed(route: str) -> Dict[str, Union[int, str]]: + # maintain a list of the last 10 routes viewed in connect + params = Params() + + r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + routes = [] if r is None else r.split(",") + routes.append(route) + + # remove duplicates + routes = list(dict.fromkeys(routes)) + + params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:])) return {"success": 1} -@dispatcher.add_method -def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]: - if not AGNOS: - return {"success": 0, "error": "only supported on AGNOS"} - - try: - HARDWARE.set_bandwidth_limit(upload_speed_kbps, download_speed_kbps) - return {"success": 1} - except subprocess.CalledProcessError as e: - return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr} - - def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: try: if local_port not in LOCAL_PORT_WHITELIST: @@ -507,10 +483,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local @dispatcher.add_method def getPublicKey() -> Optional[str]: - if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'): + if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'): return None - with open(PERSIST + '/comma/id_rsa.pub') as f: + with open(Paths.persist_root() + '/comma/id_rsa.pub') as f: return f.read() @@ -646,6 +622,7 @@ def log_handler(end_event: threading.Event) -> None: def stat_handler(end_event: threading.Event) -> None: + STATS_DIR = Paths.stats_root() while not end_event.is_set(): last_scan = 0. curr_scan = time.monotonic() @@ -675,6 +652,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() + if isinstance(data, str): + data = data.encode("utf-8") local_sock.sendall(data) except WebSocketTimeoutException: pass @@ -766,10 +745,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: if onroad != onroad_prev: onroad_prev = onroad - sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) + if sock is not None: + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) if end_event.wait(5): break diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 877d8aca03..2a4a12e559 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -5,7 +5,7 @@ from multiprocessing import Process from openpilot.common.params import Params from openpilot.selfdrive.manager.process import launcher -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 0ab69371c2..7db94c28c8 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -9,10 +9,10 @@ from datetime import datetime, timedelta from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.spinner import Spinner -from openpilot.common.basedir import PERSIST from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC -from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" @@ -25,14 +25,13 @@ def is_registered_device() -> bool: def register(show_spinner=False) -> Optional[str]: params = Params() - params.put("SubscriberInfo", HARDWARE.get_subscriber_info()) IMEI = params.get("IMEI", encoding='utf8') HardwareSerial = params.get("HardwareSerial", encoding='utf8') dongle_id: Optional[str] = params.get("DongleId", encoding='utf8') needs_registration = None in (IMEI, HardwareSerial, dongle_id) - pubkey = Path(PERSIST+"/comma/id_rsa.pub") + pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub") if not pubkey.is_file(): dongle_id = UNREGISTERED_DONGLE_ID cloudlog.warning(f"missing public key: {pubkey}") @@ -42,7 +41,7 @@ def register(show_spinner=False) -> Optional[str]: spinner.update("registering device") # Create registration token, in the future, this key will make JWTs directly - with open(PERSIST+"/comma/id_rsa.pub") as f1, open(PERSIST+"/comma/id_rsa") as f2: + with open(Paths.persist_root()+"/comma/id_rsa.pub") as f1, open(Paths.persist_root()+"/comma/id_rsa") as f2: public_key = f1.read() private_key = f2.read() diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 34edeb2de5..87202665aa 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -1,12 +1,7 @@ import http.server -import random -import requests +import threading import socket -import time from functools import wraps -from multiprocessing import Process - -from openpilot.common.timeout import Timeout class MockResponse: @@ -49,35 +44,6 @@ class MockApi(): return "fake-token" -class MockParams(): - default_params = { - "DongleId": b"0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 - "GithubUsername": b"commaci", - "GsmMetered": True, - "AthenadUploadQueue": '[]', - } - params = default_params.copy() - - @staticmethod - def restore_defaults(): - MockParams.params = MockParams.default_params.copy() - - def get_bool(self, k): - return bool(MockParams.params.get(k)) - - def get(self, k, encoding=None): - ret = MockParams.params.get(k) - if ret is not None and encoding is not None: - ret = ret.decode(encoding) - return ret - - def put(self, k, v): - if k not in MockParams.params: - raise KeyError(f"key: {k} not in MockParams") - MockParams.params[k] = v - - class MockWebsocket(): def __init__(self, recv_queue, send_queue): self.recv_queue = recv_queue @@ -101,30 +67,23 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler): self.end_headers() -def with_http_server(func): +def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None): @wraps(func) def inner(*args, **kwargs): - with Timeout(2, 'HTTP Server did not start'): - p = None - host = '127.0.0.1' - while p is None or p.exitcode is not None: - port = random.randrange(40000, 50000) - p = Process(target=http.server.test, - kwargs={'port': port, 'HandlerClass': HTTPRequestHandler, 'bind': host}) - p.start() - time.sleep(0.1) + host = '127.0.0.1' + server = http.server.HTTPServer((host, 0), handler) + port = server.server_port + t = threading.Thread(target=server.serve_forever) + t.start() - with Timeout(2, 'HTTP Server seeding failed'): - while True: - try: - requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) - break - except requests.exceptions.ConnectionError: - time.sleep(0.1) + if setup is not None: + setup(host, port) try: return func(*args, f'http://{host}:{port}', **kwargs) finally: - p.terminate() + server.shutdown() + server.server_close() + t.join() return inner diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index e81753a6a0..2fecab1b1b 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -1,5 +1,7 @@ #!/usr/bin/env python3 +from functools import partial, wraps import json +import multiprocessing import os import requests import shutil @@ -12,29 +14,68 @@ from datetime import datetime, timedelta from parameterized import parameterized from typing import Optional -from multiprocessing import Process -from pympler.tracker import SummaryTracker from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException +from cereal import messaging + +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server -from cereal import messaging +from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server from openpilot.system.hardware.hw import Paths +from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler + + +def seed_athena_server(host, port): + with Timeout(2, 'HTTP Server seeding failed'): + while True: + try: + requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) + break + except requests.exceptions.ConnectionError: + time.sleep(0.1) + + +with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server) + + +def with_upload_handler(func): + @wraps(func) + def wrapper(*args, **kwargs): + end_event = threading.Event() + thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) + thread.start() + try: + return func(*args, **kwargs) + finally: + end_event.set() + thread.join() + return wrapper class TestAthenadMethods(unittest.TestCase): @classmethod def setUpClass(cls): cls.SOCKET_PORT = 45454 - athenad.Params = MockParams athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} def setUp(self): - MockParams.restore_defaults() + self.default_params = { + "DongleId": "0000000000000000", + "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubUsername": b"commaci", + "AthenadUploadQueue": '[]', + } + + self.params = Params() + for k, v in self.default_params.items(): + self.params.put(k, v) + self.params.put_bool("GsmMetered", True) + athenad.upload_queue = queue.Queue() athenad.cur_upload_items.clear() athenad.cancelled_uploads.clear() @@ -46,8 +87,6 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) - dispatcher["listUploadQueue"]() # ensure queue is empty at start - # *** test helpers *** @staticmethod @@ -75,24 +114,25 @@ class TestAthenadMethods(unittest.TestCase): with self.assertRaises(TimeoutError) as _: dispatcher["getMessage"]("controlsState") - def send_deviceState(): - messaging.context = messaging.Context() - pub_sock = messaging.pub_sock("deviceState") - start = time.time() + end_event = multiprocessing.Event() - while time.time() - start < 1: + pub_sock = messaging.pub_sock("deviceState") + + def send_deviceState(): + while not end_event.is_set(): msg = messaging.new_message('deviceState') pub_sock.send(msg.to_bytes()) time.sleep(0.01) - p = Process(target=send_deviceState) + p = multiprocessing.Process(target=send_deviceState) p.start() time.sleep(0.1) try: deviceState = dispatcher["getMessage"]("deviceState") assert deviceState['deviceState'] finally: - p.terminate() + end_event.set() + p.join() def test_listDataDirectory(self): route = '2021-03-29--13-32-47' @@ -140,16 +180,11 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) @parameterized.expand([(True,), (False,)]) - @with_http_server + @with_mock_athena def test_do_upload(self, compress, host): # random bytes to ensure rather large object post-compression fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) - # warm up object tracker - tracker = SummaryTracker() - for _ in range(5): - tracker.diff() - upload_fn = fn + ('.bz2' if compress else '') item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') with self.assertRaises(requests.exceptions.ConnectionError): @@ -159,12 +194,7 @@ class TestAthenadMethods(unittest.TestCase): resp = athenad._do_upload(item) self.assertEqual(resp.status_code, 201) - # assert memory cleaned up - for _type, num_objects, total_size in tracker.diff(): - with self.subTest(_type=_type): - self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file') - - @with_http_server + @with_mock_athena def test_uploadFileToUrl(self, host): fn = self._create_file('qlog.bz2') @@ -175,7 +205,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) - @with_http_server + @with_mock_athena def test_uploadFileToUrl_duplicate(self, host): self._create_file('qlog.bz2') @@ -187,83 +217,65 @@ class TestAthenadMethods(unittest.TestCase): resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) self.assertEqual(resp, {'enqueued': 0, 'items': []}) - @with_http_server + @with_mock_athena def test_uploadFileToUrl_does_not_exist(self, host): not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) - @with_http_server + @with_mock_athena + @with_upload_handler def test_upload_handler(self, host): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() + athenad.upload_queue.put_nowait(item) + self._wait_for_upload() + time.sleep(0.1) + + # TODO: verify that upload actually succeeded + self.assertEqual(athenad.upload_queue.qsize(), 0) + + @parameterized.expand([(500, True), (412, False)]) + @with_mock_athena + @mock.patch('requests.put') + @with_upload_handler + def test_upload_handler_retry(self, status, retry, mock_put, host): + mock_put.return_value.status_code = status + fn = self._create_file('qlog.bz2') + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) athenad.upload_queue.put_nowait(item) - try: - self._wait_for_upload() - time.sleep(0.1) + self._wait_for_upload() + time.sleep(0.1) - # TODO: verify that upload actually succeeded - self.assertEqual(athenad.upload_queue.qsize(), 0) - finally: - end_event.set() + self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0) - @with_http_server - @mock.patch('requests.put') - def test_upload_handler_retry(self, host, mock_put): - for status, retry in ((500, True), (412, False)): - mock_put.return_value.status_code = status - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() - - athenad.upload_queue.put_nowait(item) - try: - self._wait_for_upload() - time.sleep(0.1) - - self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0) - finally: - end_event.set() - - if retry: - self.assertEqual(athenad.upload_queue.get().retry_count, 1) + if retry: + self.assertEqual(athenad.upload_queue.get().retry_count, 1) + @with_upload_handler def test_upload_handler_timeout(self): """When an upload times out or fails to connect it should be placed back in the queue""" fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() + athenad.upload_queue.put_nowait(item_no_retry) + self._wait_for_upload() + time.sleep(0.1) - try: - athenad.upload_queue.put_nowait(item_no_retry) - self._wait_for_upload() - time.sleep(0.1) + # Check that upload with retry count exceeded is not put back + self.assertEqual(athenad.upload_queue.qsize(), 0) - # Check that upload with retry count exceeded is not put back - self.assertEqual(athenad.upload_queue.qsize(), 0) + athenad.upload_queue.put_nowait(item) + self._wait_for_upload() + time.sleep(0.1) - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - time.sleep(0.1) - - # Check that upload item was put back in the queue with incremented retry count - self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertEqual(athenad.upload_queue.get().retry_count, 1) - - finally: - end_event.set() + # Check that upload item was put back in the queue with incremented retry count + self.assertEqual(athenad.upload_queue.qsize(), 1) + self.assertEqual(athenad.upload_queue.get().retry_count, 1) + @with_upload_handler def test_cancelUpload(self): item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) @@ -272,18 +284,13 @@ class TestAthenadMethods(unittest.TestCase): self.assertIn(item.id, athenad.cancelled_uploads) - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() - try: - self._wait_for_upload() - time.sleep(0.1) + self._wait_for_upload() + time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 0) - self.assertEqual(len(athenad.cancelled_uploads), 0) - finally: - end_event.set() + self.assertEqual(athenad.upload_queue.qsize(), 0) + self.assertEqual(len(athenad.cancelled_uploads), 0) + @with_upload_handler def test_cancelExpiry(self): t_future = datetime.now() - timedelta(days=40) ts = int(t_future.strftime("%s")) * 1000 @@ -292,42 +299,28 @@ class TestAthenadMethods(unittest.TestCase): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True) + athenad.upload_queue.put_nowait(item) + self._wait_for_upload() + time.sleep(0.1) - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() - try: - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - time.sleep(0.1) - - self.assertEqual(athenad.upload_queue.qsize(), 0) - finally: - end_event.set() + self.assertEqual(athenad.upload_queue.qsize(), 0) def test_listUploadQueueEmpty(self): items = dispatcher["listUploadQueue"]() self.assertEqual(len(items), 0) @with_http_server + @with_upload_handler def test_listUploadQueueCurrent(self, host: str): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() + athenad.upload_queue.put_nowait(item) + self._wait_for_upload() - try: - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - - items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 1) - self.assertTrue(items[0]['current']) - - finally: - end_event.set() + items = dispatcher["listUploadQueue"]() + self.assertEqual(len(items), 1) + self.assertTrue(items[0]['current']) def test_listUploadQueue(self): item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, @@ -389,11 +382,11 @@ class TestAthenadMethods(unittest.TestCase): def test_getSshAuthorizedKeys(self): keys = dispatcher["getSshAuthorizedKeys"]() - self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8')) + self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8')) def test_getGithubUsername(self): keys = dispatcher["getGithubUsername"]() - self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8')) + self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8')) def test_getVersion(self): resp = dispatcher["getVersion"]() diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index 3ec7cb115c..5231b0475f 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -3,8 +3,8 @@ import subprocess import threading import time import unittest -from typing import Callable, cast, Optional -from unittest.mock import MagicMock +from typing import cast, Optional +from unittest import mock from openpilot.common.params import Params from openpilot.common.timeout import Timeout @@ -27,8 +27,6 @@ class TestAthenadPing(unittest.TestCase): athenad: threading.Thread exit_event: threading.Event - _create_connection: Callable - def _get_ping_time(self) -> Optional[str]: return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8")) @@ -38,38 +36,32 @@ class TestAthenadPing(unittest.TestCase): def _received_ping(self) -> bool: return self._get_ping_time() is not None - @classmethod - def setUpClass(cls) -> None: - cls.params = Params() - cls.dongle_id = cls.params.get("DongleId", encoding="utf-8") - cls._create_connection = athenad.create_connection - athenad.create_connection = MagicMock(wraps=cls._create_connection) - @classmethod def tearDownClass(cls) -> None: wifi_radio(True) - athenad.create_connection = cls._create_connection def setUp(self) -> None: + self.params = Params() + self.dongle_id = self.params.get("DongleId", encoding="utf-8") + wifi_radio(True) self._clear_ping_time() self.exit_event = threading.Event() self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,)) - athenad.create_connection.reset_mock() - def tearDown(self) -> None: if self.athenad.is_alive(): self.exit_event.set() self.athenad.join() - def assertTimeout(self, reconnect_time: float) -> None: + @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True) + def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None: self.athenad.start() time.sleep(1) - athenad.create_connection.assert_called_once() - athenad.create_connection.reset_mock() + mock_create_connection.assert_called_once() + mock_create_connection.reset_mock() # check normal behaviour with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"): @@ -77,7 +69,7 @@ class TestAthenadPing(unittest.TestCase): time.sleep(0.1) print("ping received") - athenad.create_connection.assert_not_called() + mock_create_connection.assert_not_called() # websocket should attempt reconnect after short time with self.subTest("LTE: attempt reconnect"): @@ -85,7 +77,7 @@ class TestAthenadPing(unittest.TestCase): print("waiting for reconnect attempt") start_time = time.monotonic() with Timeout(reconnect_time, "no reconnect attempt"): - while not athenad.create_connection.called: + while not mock_create_connection.called: time.sleep(0.1) print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s") diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py index 195fca2df9..e7ad63a370 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/selfdrive/athena/tests/test_registration.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 import json -import os -import tempfile import unittest from Crypto.PublicKey import RSA from pathlib import Path @@ -10,6 +8,7 @@ from unittest import mock from openpilot.common.params import Params from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from openpilot.selfdrive.athena.tests.helpers import MockResponse +from openpilot.system.hardware.hw import Paths class TestRegistration(unittest.TestCase): @@ -19,16 +18,11 @@ class TestRegistration(unittest.TestCase): self.params = Params() self.params.clear_all() - self.persist = tempfile.TemporaryDirectory() - os.mkdir(os.path.join(self.persist.name, "comma")) - self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa")) - self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub")) - self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name) - self.persist_patcher.start() + persist_dir = Path(Paths.persist_root()) / "comma" + persist_dir.mkdir(parents=True, exist_ok=True) - def tearDown(self): - self.persist_patcher.stop() - self.persist.cleanup() + self.priv_key = persist_dir / "id_rsa" + self.pub_key = persist_dir / "id_rsa.pub" def _generate_keys(self): self.pub_key.touch() diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0ec33c1a27..9e2a960055 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -1,11 +1,5 @@ #include "selfdrive/boardd/boardd.h" -#include -#include -#include -#include -#include - #include #include #include @@ -13,10 +7,6 @@ #include #include #include -#include -#include -#include -#include #include #include #include @@ -361,7 +351,6 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setIgnitionLine(health.ignition_line_pkt); ps.setIgnitionCan(health.ignition_can_pkt); ps.setControlsAllowed(health.controls_allowed_pkt); - ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt); ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); ps.setGmlanSendErrs(health.gmlan_send_errs_pkt); diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc index bc4e5f5867..e2c78abea2 100644 --- a/selfdrive/boardd/panda_comms.cc +++ b/selfdrive/boardd/panda_comms.cc @@ -2,33 +2,33 @@ #include #include +#include #include "common/swaglog.h" -static int init_usb_ctx(libusb_context **context) { - assert(context != nullptr); - - int err = libusb_init(context); +static libusb_context *init_usb_ctx() { + libusb_context *context = nullptr; + int err = libusb_init(&context); if (err != 0) { LOGE("libusb initialization error"); - return err; + return nullptr; } #if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); + libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); #else - libusb_set_debug(*context, 3); + libusb_set_debug(context, 3); #endif - - return err; + return context; } PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { // init libusb ssize_t num_devices; libusb_device **dev_list = NULL; - int err = init_usb_ctx(&ctx); - if (err != 0) { goto fail; } + int err = 0; + ctx = init_usb_ctx(); + if (!ctx) { goto fail; } // connect by serial num_devices = libusb_get_device_list(ctx, &dev_list); @@ -94,16 +94,14 @@ void PandaUsbHandle::cleanup() { } std::vector PandaUsbHandle::list() { + static std::unique_ptr context(init_usb_ctx(), libusb_exit); // init libusb ssize_t num_devices; - libusb_context *context = NULL; libusb_device **dev_list = NULL; std::vector serials; + if (!context) { return serials; } - int err = init_usb_ctx(&context); - if (err != 0) { return serials; } - - num_devices = libusb_get_device_list(context, &dev_list); + num_devices = libusb_get_device_list(context.get(), &dev_list); if (num_devices < 0) { LOGE("libusb can't get device list"); goto finish; @@ -130,9 +128,6 @@ finish: if (dev_list != NULL) { libusb_free_device_list(dev_list, 1); } - if (context) { - libusb_exit(context); - } return serials; } diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 14d272965d..672678778b 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 4036766faa..21cc0b5f37 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -116,4 +116,4 @@ class TestPandad(unittest.TestCase): if __name__ == "__main__": - unittest.main() \ No newline at end of file + unittest.main() diff --git a/selfdrive/car/README.MD b/selfdrive/car/README.MD deleted file mode 100644 index de4db0ee50..0000000000 --- a/selfdrive/car/README.MD +++ /dev/null @@ -1,11 +0,0 @@ -## Port structure -##### interface.py -Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) -##### carcontroller.py -Builds CAN messages to send to car -##### carstate.py -Reads CAN from car and builds openpilot CarState message -##### values.py -Fingerprints and absolute limits -##### radar_interface.py -Radar interface diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md new file mode 100644 index 0000000000..2c49cf2051 --- /dev/null +++ b/selfdrive/car/README.md @@ -0,0 +1,19 @@ +## Car port structure + +### interface.py +Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) + +### fingerprints.py +Fingerprints for matching to a specific car + +### carcontroller.py +Builds CAN messages to send to car + +##### carstate.py +Reads CAN from car and builds openpilot CarState message + +##### values.py +Limits for actuation, general constants for cars, and supported car documentation + +##### radar_interface.py +Interface for parsing radar points from the car diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py new file mode 100644 index 0000000000..6efaabc137 --- /dev/null +++ b/selfdrive/car/body/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.body.values import CAR + +Ecu = car.CarParams.Ecu + +# debug ecu fw version is the git hash of the firmware + + +FINGERPRINTS = { + CAR.BODY: [{ + 513: 8, 516: 8, 514: 3, 515: 4 + }], +} + +FW_VERSIONS = { + CAR.BODY: { + (Ecu.engine, 0x720, None): [ + b'0.0.01', + b'0.3.00a', + b'02/27/2022', + ], + (Ecu.debug, 0x721, None): [ + b'166bd860', + b'dc780f85', + ], + }, +} diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index ce811ad221..33119bf0fd 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -30,11 +30,6 @@ CAR_INFO: Dict[str, CarInfo] = { CAR.BODY: CarInfo("comma body", package="All"), } -FINGERPRINTS = { - CAR.BODY: [{ - 513: 8, 516: 8, 514: 3, 515: 4, - }], -} FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -46,20 +41,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.BODY: { - (Ecu.engine, 0x720, None): [ - b'0.0.01', - b'02/27/2022', - b'0.3.00a', - ], - # git hash of the firmware used - (Ecu.debug, 0x721, None): [ - b'166bd860', - b'dc780f85', - ], - }, -} DBC = { CAR.BODY: dbc_dict('comma_body', None), diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 889cbdc8d5..024d5b007b 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -12,10 +12,10 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing -import openpilot.selfdrive.sentry as sentry -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog import cereal.messaging as messaging from openpilot.selfdrive.car import gen_empty_fingerprint +import openpilot.selfdrive.sentry as sentry FRAME_FINGERPRINT = 100 # 1s @@ -130,9 +130,6 @@ def fingerprint(logcan, sendcan, num_pandas): start_time = time.monotonic() if not skip_fw_query: - # Vin query only reliably works through OBDII - bus = 1 - cached_params = params.get("CarParamsCache") if cached_params is not None: with car.CarParams.from_bytes(cached_params) as cached_params: @@ -142,20 +139,22 @@ def fingerprint(logcan, sendcan, num_pandas): if cached_params is not None and len(cached_params.carFw) > 0 and \ cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache: cloudlog.warning("Using cached CarParams") - vin, vin_rx_addr = cached_params.carVin, 0 + vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin car_fw = list(cached_params.carFw) cached = True else: cloudlog.warning("Getting VIN & FW versions") + # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect set_obd_multiplexing(params, True) - vin_rx_addr, vin = get_vin(logcan, sendcan, bus) + # Vin query only reliably works through OBDII + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1)) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) cached = False exact_fw_match, fw_candidates = match_fw_to_car(car_fw) else: - vin, vin_rx_addr = VIN_UNKNOWN, 0 + vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN exact_fw_match, fw_candidates, car_fw = True, set(), [] cached = False @@ -190,8 +189,8 @@ def fingerprint(logcan, sendcan, num_pandas): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, - fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger, - fw_query_time=fw_query_time, error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus, + fingerprints=finger, fw_query_time=fw_query_time, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match @@ -257,3 +256,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): CP.fuzzyFingerprint = not exact_match return CarInterface(CP, CarController, CarState), CP + +def write_car_param(fingerprint="mock"): + params = Params() + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + params.put("CarParams", CP.to_bytes()) + +def get_demo_car_params(): + fingerprint="mock" + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + return CP diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 8a362d6ea0..cb365d56da 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,11 +1,12 @@ import cereal.messaging as messaging from common.conversions import Conversions as CV from opendbc.can.packer import CANPacker -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_meas_steer_torque_limits from openpilot.selfdrive.car.chrysler import chryslercan -from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP +from openpilot.selfdrive.car.interfaces import FORWARD_GEARS from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"] @@ -80,7 +81,7 @@ class CarController: if not self.CP.pcmCruiseSpeed: if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap: self.sl_force_active_timer = self.frame - put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) @@ -93,7 +94,7 @@ class CarController: lkas_active = CC.latActive and CS.madsEnabled if self.frame % 10 == 0 and self.CP.carFingerprint not in RAM_CARS: - can_sends.append(chryslercan.create_lkas_heartbit(self.packer, CS.madsEnabled, CS.lkas_heartbit)) + can_sends.append(chryslercan.create_lkas_heartbit(self.packer, CS.lkas_disabled, CS.lkas_heartbit)) ram_cars = self.CP.carFingerprint in RAM_CARS @@ -151,6 +152,8 @@ class CarController: lkas_control_bit = True if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2): lkas_control_bit = False + elif self.CP.spFlags & ChryslerFlagsSP.SP_WP_S20: + lkas_control_bit = CC.latActive and CS.out.gearShifter in FORWARD_GEARS elif CS.out.vEgo > self.CP.minSteerSpeed: lkas_control_bit = True elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 905b46d813..836aea5b51 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -24,6 +24,7 @@ class CarState(CarStateBase): self.lkas_enabled = False self.prev_lkas_enabled = False self.lkas_heartbit = None + self.lkas_disabled = False self.buttonStates = BUTTON_STATES.copy() self.buttonStatesPrev = BUTTON_STATES.copy() @@ -99,6 +100,8 @@ class CarState(CarStateBase): else: self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1 self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"] + if not self.control_initialized: + self.lkas_disabled = bool(cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]) ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1 ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4 diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 80bf2f3591..224b81ad15 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -48,7 +48,7 @@ def create_lkas_hud(packer, CP, lkas_active, mads_enabled, hud_alert, hud_count, if CP.carFingerprint in RAM_CARS: values['AUTO_HIGH_BEAM_ON'] = auto_high_beam - values['LKAS_Disabled'] = 0 if mads_enabled else 1 + values['LKAS_DISABLED'] = 0 if mads_enabled else 1 return packer.make_can_msg("DAS_6", 0, values) @@ -81,8 +81,8 @@ def create_cruise_buttons(packer, frame, bus, CP, cruise_buttons_msg=None, butto return packer.make_can_msg("CRUISE_BUTTONS", bus, values) -def create_lkas_heartbit(packer, mads_enabled, lkas_heartbit): +def create_lkas_heartbit(packer, lkas_disabled, lkas_heartbit): # LKAS_HEARTBIT (697) LKAS heartbeat values = lkas_heartbit.copy() # forward what we parsed - values["LKAS_DISABLED"] = 0 if mads_enabled else 1 + values["LKAS_DISABLED"] = 1 if lkas_disabled else 0 return packer.make_can_msg("LKAS_HEARTBIT", 0, values) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py new file mode 100644 index 0000000000..940d73c249 --- /dev/null +++ b/selfdrive/car/chrysler/fingerprints.py @@ -0,0 +1,606 @@ +from cereal import car +from openpilot.selfdrive.car.chrysler.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.PACIFICA_2017_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68239262AH', + b'68239262AI', + b'68239262AJ', + b'68239263AH', + b'68239263AJ', + ], + (Ecu.srs, 0x744, None): [ + b'68238840AH', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AC', + b'68288309AD', + ], + (Ecu.engine, 0x7e0, None): [ + b'68277480AV ', + b'68277480AX ', + b'68277480AZ ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190175BF', + b'05190175BH', + b'05190226AK', + ], + }, + CAR.PACIFICA_2018: { + (Ecu.combinationMeter, 0x742, None): [ + b'68227902AF', + b'68227902AG', + b'68227902AH', + b'68360252AC', + ], + (Ecu.srs, 0x744, None): [ + b'68211617AF', + b'68211617AG', + b'68358974AC', + b'68405937AA', + ], + (Ecu.abs, 0x747, None): [ + b'68222747AG', + b'68330876AA', + b'68330876AB', + b'68352227AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'68226356AF', + b'68226356AH', + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288891AE', + b'68378884AA', + b'68525338AA', + b'68525338AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68267018AO ', + b'68267020AJ ', + b'68340762AD ', + b'68340764AD ', + b'68352652AE ', + b'68366851AH ', + b'68366853AE ', + b'68372861AF ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68277370AJ', + b'68277370AM', + b'68277372AD', + b'68277372AN', + b'68277374AA', + b'68277374AB', + b'68277374AD', + b'68277374AN', + b'68367471AC', + b'68380571AB', + ], + }, + CAR.PACIFICA_2020: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405327AC', + b'68436233AB', + b'68436233AC', + b'68436250AE', + b'68529067AA', + b'68594993AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405565AB', + b'68405565AC', + b'68444299AC', + b'68480708AC', + b'68526663AB', + ], + (Ecu.abs, 0x747, None): [ + b'68397394AA', + b'68433480AB', + b'68453575AF', + b'68577676AA', + b'68593395AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AC', + b'68540436AD', + b'68598670AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68416742AA', + b'68460393AA', + b'68460393AB', + b'68494461AB', + b'68524936AA', + b'68524936AB', + b'68525338AB', + b'68594340AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68413871AD ', + b'68413871AE ', + b'68413871AH ', + b'68413871AI ', + b'68413873AI ', + b'68443120AE ', + b'68443123AC ', + b'68443125AC ', + b'68526752AD ', + b'68526752AE ', + b'68526754AE ', + b'68536264AE ', + b'68700306AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68414271AC', + b'68414271AD', + b'68414275AC', + b'68443154AB', + b'68443155AC', + b'68443158AB', + b'68501050AD', + b'68527221AB', + b'68527223AB', + b'68586231AD', + ], + }, + CAR.PACIFICA_2018_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68358439AE', + b'68358439AG', + ], + (Ecu.srs, 0x744, None): [ + b'68358990AC', + b'68405939AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AD', + b'68525339AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'68366580AI ', + b'68366580AK ', + b'68366580AM ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190226AI', + b'05190226AK', + b'05190226AM', + ], + }, + CAR.PACIFICA_2019_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405292AC', + b'68434956AC', + b'68434956AD', + b'68434960AE', + b'68434960AF', + b'68529064AB', + b'68594990AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405567AB', + b'68405567AC', + b'68453076AD', + b'68480710AC', + b'68526665AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AB', + b'68540436AC', + b'68540436AD', + b'68598670AB', + b'68598670AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68416741AA', + b'68460392AA', + b'68525339AA', + b'68525339AB', + b'68594341AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68416680AE ', + b'68416680AF ', + b'68416680AG ', + b'68444228AD ', + b'68444228AE ', + b'68444228AF ', + b'68499122AD ', + b'68499122AE ', + b'68499122AF ', + b'68526772AD ', + b'68526772AH ', + b'68599493AC ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05185116AF', + b'05185116AJ', + b'05185116AK', + b'05190240AP', + b'05190240AQ', + b'05190240AR', + b'05190265AG', + b'05190265AH', + b'05190289AE', + b'68540977AH', + b'68540977AK', + b'68597647AE', + ], + }, + CAR.JEEP_GRAND_CHEROKEE: { + (Ecu.combinationMeter, 0x742, None): [ + b'68302211AC', + b'68302212AD', + b'68302246AC', + b'68331511AC', + b'68331574AC', + b'68331687AC', + b'68340272AD', + ], + (Ecu.srs, 0x744, None): [ + b'68316742AB', + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68306178AD', + b'68336276AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672627AB', + b'68332015AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68321644AB', + b'68321644AC', + b'68321646AC', + b'68321648AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035920AE ', + b'68284455AI ', + b'68284456AI ', + b'68284477AF ', + b'68325564AH ', + b'68325565AH ', + b'68325565AI ', + b'68325618AD ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035517AH', + b'68311218AC', + b'68311223AF', + b'68311223AG', + b'68361911AE', + b'68361911AF', + b'68361911AH', + b'68361916AD', + ], + }, + CAR.JEEP_GRAND_CHEROKEE_2019: { + (Ecu.combinationMeter, 0x742, None): [ + b'68402703AB', + b'68402708AB', + b'68402971AD', + b'68454144AD', + b'68454152AB', + b'68454156AB', + b'68516650AB', + b'68516651AB', + b'68516669AB', + b'68516671AB', + b'68516683AB', + ], + (Ecu.srs, 0x744, None): [ + b'68355363AB', + b'68355364AB', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AC', + b'68408639AD', + b'68499978AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672788AA', + b'68456722AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68417279AA', + b'68417280AA', + b'68453431AA', + b'68453433AA', + b'68453435AA', + b'68499171AA', + b'68499171AB', + b'68501183AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035674AB ', + b'68412635AG ', + b'68422860AB', + b'68449435AE ', + b'68496223AA ', + b'68504959AD ', + b'68504960AD ', + b'68504993AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + b'68419672AC', + b'68423905AB', + b'68449258AC', + b'68495807AA', + b'68495807AB', + b'68503641AC', + b'68503664AC', + ], + }, + CAR.RAM_1500: { + (Ecu.combinationMeter, 0x742, None): [ + b'68294051AG', + b'68294051AI', + b'68294052AG', + b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434847AC', + b'68434849AC', + b'68434856AC', + b'68434858AC', + b'68434859AC', + b'68434860AC', + b'68453483AC', + b'68453487AD', + b'68453491AC', + b'68453499AD', + b'68453503AC', + b'68453505AC', + b'68453505AD', + b'68453511AC', + b'68453513AC', + b'68453513AD', + b'68453514AD', + b'68505633AB', + b'68510277AG', + b'68510277AH', + b'68510280AG', + b'68510282AG', + b'68510282AH', + b'68510283AG', + b'68527346AE', + b'68527361AD', + b'68527375AD', + b'68527381AE', + b'68527382AE', + b'68527383AD', + b'68527387AE', + b'68527403AC', + b'68631938AA', + b'68631942AA', + ], + (Ecu.srs, 0x744, None): [ + b'68428609AB', + b'68441329AB', + b'68473844AB', + b'68490898AA', + b'68500728AA', + b'68615033AA', + b'68615034AA', + ], + (Ecu.abs, 0x747, None): [ + b'68292406AH', + b'68432418AB', + b'68432418AD', + b'68436004AD', + b'68436004AE', + b'68438454AC', + b'68438454AD', + b'68438456AE', + b'68438456AF', + b'68535469AB', + b'68535470AC', + b'68548900AB', + b'68586307AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672892AB', + b'04672932AB', + b'04672932AC', + b'22DTRHD_AA', + b'68320950AH', + b'68320950AI', + b'68320950AJ', + b'68320950AL', + b'68320950AM', + b'68454268AB', + b'68475160AE', + b'68475160AF', + b'68475160AG', + ], + (Ecu.eps, 0x75a, None): [ + b'21590101AA', + b'21590101AB', + b'68273275AF', + b'68273275AG', + b'68273275AH', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AA', + b'68466110AB', + b'68469901AA', + b'68469907AA', + b'68522583AA', + b'68522583AB', + b'68522584AA', + b'68522585AB', + b'68552788AA', + b'68552789AA', + b'68552790AA', + b'68552791AB', + b'68552794AA', + b'68585106AB', + b'68585107AB', + b'68585108AB', + b'68585109AB', + b'68585112AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035699AG ', + b'05036026AB ', + b'05036065AE ', + b'05036066AE ', + b'05149368AA ', + b'05149591AD ', + b'05149591AE ', + b'05149592AE ', + b'05149600AD ', + b'05149605AE ', + b'05149846AA ', + b'05149848AA ', + b'05190341AD', + b'68378695AJ ', + b'68378696AJ ', + b'68378701AI ', + b'68378710AL ', + b'68378748AL ', + b'68378758AM ', + b'68448163AJ', + b'68448163AK', + b'68448163AL', + b'68448165AG', + b'68448165AK', + b'68455111AC ', + b'68455119AC ', + b'68455145AC ', + b'68455145AE ', + b'68455146AC ', + b'68467915AC ', + b'68467936AC ', + b'68500630AD', + b'68500630AE', + b'68502719AC ', + b'68502722AC ', + b'68502734AF ', + b'68502740AF ', + b'68502741AF ', + b'68502742AC ', + b'68539650AD', + b'68539650AF', + b'68539651AD', + b'68586101AA ', + b'68586105AB ', + b'68629922AC ', + b'68629926AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035706AD', + b'05035842AB', + b'05036069AA', + b'05149536AC', + b'05149537AC', + b'05149543AC', + b'68360078AL', + b'68360080AL', + b'68360080AM', + b'68360081AM', + b'68360085AJ', + b'68360085AL', + b'68384328AD', + b'68384332AD', + b'68445531AC', + b'68445533AB', + b'68445536AB', + b'68445537AB', + b'68466081AB', + b'68466087AB', + b'68484466AC', + b'68484467AC', + b'68484471AC', + b'68502994AD', + b'68520867AE', + b'68520867AF', + b'68520870AC', + b'68540431AB', + b'68540433AB', + b'68629936AC', + ], + }, + CAR.RAM_HD: { + (Ecu.combinationMeter, 0x742, None): [ + b'68361606AH', + b'68437735AC', + b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', + b'68528791AF', + b'68628474AB', + ], + (Ecu.srs, 0x744, None): [ + b'68399794AC', + b'68428503AA', + b'68428505AA', + b'68428507AA', + ], + (Ecu.abs, 0x747, None): [ + b'68334977AH', + b'68455481AC', + b'68504022AA', + b'68504022AB', + b'68504022AC', + b'68530686AB', + b'68530686AC', + b'68544596AC', + b'68641704AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672895AB', + b'04672934AB', + b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', + b'68484694AE', + b'68615489AB', + ], + (Ecu.eps, 0x761, None): [ + b'68421036AC', + b'68507906AB', + b'68534023AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370491AA', + b'52370931CT', + b'52401032AE', + b'52421132AF', + b'52421332AF', + b'68527616AD ', + b'M2370131MB', + b'M2421132MB', + ], + }, +} diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 0c759b6801..8ab98bb289 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate not in RAM_CARS: # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. - new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019) + new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019) new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw) if new_eps_platform or new_eps_firmware: ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value @@ -53,7 +53,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00006 # Jeep - elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): + elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019): ret.mass = 1778 ret.wheelbase = 2.71 ret.steerRatio = 16.7 @@ -94,6 +94,10 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.44 ret.enableBsm = 720 in fingerprint[0] + if 0x4FF in fingerprint[0]: + ret.spFlags |= ChryslerFlagsSP.SP_WP_S20.value + ret.minSteerSpeed = 0.0 + return ret def _update(self, c): @@ -124,9 +128,11 @@ class CarInterface(CarInterfaceBase): self.CS.madsEnabled = True if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1: self.CS.madsEnabled = not self.CS.madsEnabled + self.CS.lkas_disabled = not self.CS.lkas_disabled self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled) else: self.CS.madsEnabled = False + self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS) if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed: if any(b.type == ButtonType.cancel for b in buttonEvents): diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index e14cae4ebe..5d8f898204 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from enum import IntFlag, StrEnum from dataclasses import dataclass, field from typing import Dict, List, Optional, Union @@ -18,6 +17,7 @@ class ChryslerFlags(IntFlag): class ChryslerFlagsSP(IntFlag): SP_RAM_HD_PARAMSD_IGNORE = 1 + SP_WP_S20 = 2 class CAR(StrEnum): @@ -29,8 +29,8 @@ class CAR(StrEnum): PACIFICA_2020 = "CHRYSLER PACIFICA 2020" # Jeep - JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk - JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk + JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk + JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk # Ram RAM_1500 = "RAM 1500 5TH GEN" @@ -77,84 +77,23 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { - CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), - CAR.PACIFICA_2018_HYBRID: None, # same platforms + CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), + CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), - ChryslerCarInfo("Chrysler Pacifica 2021", package="All"), + ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), ], - CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), - CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), + CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), + CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], } -# Unique CAN messages: -# Only the hybrids have 270: 8 -# Only the gas have 55: 8, 416: 7 -# For 564, All 2017 have length 4, whereas 2018-19 have length 8. -# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8. -# For 560, All 2019 have length 8, whereas all 2017-18 have length 4. - -# Jeep Grand Cherokee unique messages: -# 2017 Trailhawk: 618: 8 -# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8. - -FINGERPRINTS = { - CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8 - }], - CAR.PACIFICA_2018: [{ - 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 - }, - { - 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 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878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 - }, - { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 - }], - CAR.JEEP_CHEROKEE: [{ - 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - # Based on c88f65eeaee4003a|2022-08-04--15-37-16 - { - 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], - CAR.JEEP_CHEROKEE_2019: [{ - # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], -} CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf132) @@ -191,203 +130,10 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], extra_ecus=[ - (Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids - (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms ], ) -FW_VERSIONS = { - CAR.JEEP_CHEROKEE_2019: { - (Ecu.combinationMeter, 0x742, None): [ - b'68402971AD', - ], - (Ecu.srs, 0x744, None): [ - b'68355363AB', - ], - (Ecu.abs, 0x747, None): [ - b'68408639AD', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'68456722AC', - ], - (Ecu.eps, 0x75A, None): [ - b'68453431AA', - ], - (Ecu.engine, 0x7e0, None): [ - b'05035674AB ', - ], - (Ecu.transmission, 0x7e1, None): [ - b'05035707AA', - ], - }, - - CAR.RAM_1500: { - (Ecu.combinationMeter, 0x742, None): [ - b'68294051AG', - b'68294051AI', - b'68294052AG', - b'68294063AG', - b'68294063AH', - b'68294063AI', - b'68434846AC', - b'68434858AC', - b'68434860AC', - b'68453503AC', - b'68453505AC', - b'68453511AC', - b'68453513AD', - b'68453514AD', - b'68510280AG', - b'68510283AG', - b'68527346AE', - b'68527375AD', - b'68527382AE', - ], - (Ecu.srs, 0x744, None): [ - b'68428609AB', - b'68441329AB', - b'68473844AB', - b'68490898AA', - b'68500728AA', - b'68615033AA', - b'68615034AA', - ], - (Ecu.abs, 0x747, None): [ - b'68292406AH', - b'68432418AB', - b'68432418AD', - b'68436004AD', - b'68436004AE', - b'68438454AC', - b'68438454AD', - b'68438456AE', - b'68438456AF', - b'68535469AB', - b'68535470AC', - b'68548900AB', - b'68586307AB', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'04672892AB', - b'04672932AB', - b'04672932AC', - b'22DTRHD_AA', - b'68320950AH', - b'68320950AI', - b'68320950AJ', - b'68320950AL', - b'68320950AM', - b'68454268AB', - b'68475160AE', - b'68475160AF', - b'68475160AG', - ], - (Ecu.eps, 0x75A, None): [ - b'21590101AA', - b'21590101AB', - b'68273275AF', - b'68273275AG', - b'68273275AH', - b'68312176AE', - b'68312176AG', - b'68440789AC', - b'68466110AB', - b'68469901AA', - b'68522583AB', - b'68522585AB', - b'68552788AA', - b'68552789AA', - b'68552790AA', - b'68585106AB', - b'68585109AB', - b'68585112AB', - ], - (Ecu.engine, 0x7e0, None): [ - b'05036065AE ', - b'05036066AE ', - b'05149592AE ', - b'05149591AD ', - b'05149846AA ', - b'05149848AA ', - b'68378701AI ', - b'68378748AL ', - b'68378758AM ', - b'68448163AJ', - b'68448165AK', - b'68500630AD', - b'68500630AE', - b'68539650AD', - ], - (Ecu.transmission, 0x7e1, None): [ - b'05149536AC', - b'68360078AL', - b'68360080AM', - b'68360081AM', - b'68360085AL', - b'68384328AD', - b'68384332AD', - b'68445533AB', - b'68484467AC', - b'68502994AD', - b'68520867AE', - b'68540431AB', - ], - }, - - CAR.RAM_HD: { - (Ecu.combinationMeter, 0x742, None): [ - b'68361606AH', - b'68437735AC', - b'68492693AD', - b'68525485AB', - b'68525487AB', - b'68525498AB', - b'68528791AF', - ], - (Ecu.srs, 0x744, None): [ - b'68399794AC', - b'68428503AA', - b'68428505AA', - b'68428507AA', - ], - (Ecu.abs, 0x747, None): [ - b'68334977AH', - b'68455481AC', - b'68504022AA', - b'68504022AB', - b'68504022AC', - b'68530686AB', - b'68530686AC', - b'68544596AC', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'04672895AB', - b'04672934AB', - b'56029827AG', - b'56029827AH', - b'68462657AE', - b'68484694AD', - b'68484694AE', - ], - (Ecu.eps, 0x761, None): [ - b'68421036AC', - b'68507906AB', - b'68534023AC', - ], - (Ecu.engine, 0x7e0, None): [ - b'52370131AF', - b'52370231AF', - b'52370231AG', - b'52370931CT', - b'52401032AE', - b'52421132AF', - b'52421332AF', - b'68527616AD ', - b'M2370131MB', - b'M2421132MB', - ], - }, -} DBC = { CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), @@ -395,8 +141,8 @@ DBC = { CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None), CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None), } diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index c11075342c..1f731f0344 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2e80dde010..f2ce743607 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -244,10 +244,13 @@ class CarInfo: # all the parts needed for the supported car car_parts: CarParts = field(default_factory=CarParts) + def __post_init__(self): + self.make, self.model, self.years = split_name(self.name) + self.year_list = get_year_list(self.years) + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint - self.make, self.model, self.years = split_name(self.name) # longitudinal column op_long = "Stock" @@ -309,7 +312,6 @@ class CarInfo: self.row[Column.STEERING_TORQUE] = Star.FULL self.all_footnotes = all_footnotes - self.year_list = get_year_list(self.years) self.detail_sentence = self.get_detail_sentence(CP) return self diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index cff1df79a5..13f7926def 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -8,7 +8,7 @@ from panda.python.uds import SERVICE_TYPE from openpilot.selfdrive.car import make_can_msg from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def make_tester_present_msg(addr, bus, subaddr=None): diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 1d627e4b37..6a7c3c75be 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,13 +1,12 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr - FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True) _DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes -def is_valid_for_fingerprint(msg, car_fingerprint): +def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]): adr = msg.address # ignore addresses that are more than 11 bits return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index b79f60b874..261119c485 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -4,6 +4,7 @@ from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_std_steer_angle_limits from openpilot.selfdrive.car.ford import fordcan from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -88,9 +89,8 @@ class CarController: gas = accel if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS - stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index acc8639adc..92fee243e7 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -18,7 +18,7 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] self.vehicle_sensors_valid = False - self.hybrid_platform = False + self.unsupported_platform = False self.lkas_enabled = None self.prev_lkas_enabled = None @@ -33,10 +33,11 @@ class CarState(CarStateBase): self.prev_lkas_enabled = self.lkas_enabled self.buttonStatesPrev = self.buttonStates.copy() - # Hybrid variants experience a bug where a message from the PCM sends invalid checksums, - # we do not support these cars at this time. + # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums, + # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem. # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants - self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 + self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and + self.CP.carFingerprint not in CANFD_CAR) # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement # The vehicle usually recovers out of this state within a minute of normal driving diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py new file mode 100644 index 0000000000..0085b6b9c6 --- /dev/null +++ b/selfdrive/car/ford/fingerprints.py @@ -0,0 +1,143 @@ +from cereal import car +from openpilot.selfdrive.car.ford.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.BRONCO_SPORT_MK1: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.ESCAPE_MK4: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.EXPLORER_MK6: { + (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.F_150_MK14: { + (Ecu.eps, 0x730, None): [ + b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.F_150_LIGHTNING_MK1: { + (Ecu.abs, 0x760, None): [ + b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MUSTANG_MACH_E_MK1: { + (Ecu.eps, 0x730, None): [ + b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FOCUS_MK4: { + (Ecu.eps, 0x730, None): [ + b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAVERICK_MK1: { + (Ecu.eps, 0x730, None): [ + b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index a90a9f8f79..ef9a558c02 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -118,7 +118,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path return packer.make_can_msg("LateralMotionControl2", CAN.main, values) -def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool): +def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, v_ego_kph: float): """ Creates a CAN message for the Ford ACC Command. @@ -127,13 +127,14 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl Frequency is 50Hz. """ - decel = accel < 0 and long_active values = { "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 + "AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2 "AccResumEnbl_B_Rq": 1 if long_active else 0, + "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h # TODO: we may be able to improve braking response by utilizing pre-charging better "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index f5c67dc378..fadae1d93c 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -20,13 +20,17 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" - ret.dashcamOnly = candidate in {CAR.F_150_MK14} + ret.dashcamOnly = candidate in CANFD_CAR ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.5] + ret.longitudinalTuning.kiV = [0.] + CAN = CanBus(fingerprint=fingerprint) cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] if CAN.main >= 4: @@ -62,6 +66,17 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.0 ret.mass = 2000 + elif candidate == CAR.F_150_LIGHTNING_MK1: + # required trim only on SuperCrew + ret.wheelbase = 3.70 + ret.steerRatio = 16.9 + ret.mass = 2948 + + elif candidate == CAR.MUSTANG_MACH_E_MK1: + ret.wheelbase = 2.984 + ret.steerRatio = 17.0 # guess + ret.mass = 2200 + elif candidate == CAR.FOCUS_MK4: ret.wheelbase = 2.7 ret.steerRatio = 15.0 @@ -154,7 +169,7 @@ class CarInterface(CarInterfaceBase): if not self.CS.vehicle_sensors_valid: events.add(car.CarEvent.EventName.vehicleSensorsInvalid) - if self.CS.hybrid_platform: + if self.CS.unsupported_platform: events.add(car.CarEvent.EventName.startupNoControl) ret.events = events.to_msg() diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 716c9b6e58..209bbebae3 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -119,17 +119,23 @@ class RadarInterface(RadarInterfaceBase): self.track_id += 1 valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"]) - amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"] # dBsm [-64|63] - if valid and 0 < amplitude <= 15: + if valid: azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964] dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984] distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984] + dRel = cos(azimuth) * dist # m from front of car + yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive - # *** openpilot radar point *** - self.pts[i].dRel = cos(azimuth) * dist # m from front of car - self.pts[i].yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive - self.pts[i].vRel = distRate # m/s + # delphi doesn't notify of track switches, so do it manually + # TODO: refactor this to radard if more radars behave this way + if abs(self.pts[i].vRel - distRate) > 2 or abs(self.pts[i].dRel - dRel) > 5: + self.track_id += 1 + self.pts[i].trackId = self.track_id + + self.pts[i].dRel = dRel + self.pts[i].yRel = yRel + self.pts[i].vRel = distRate self.pts[i].measured = True diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index e645b4cbe6..dff29629f6 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -6,7 +6,8 @@ from typing import Dict, Iterable, Optional, Tuple import capnp from cereal import car -from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS +from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG +from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu @@ -51,7 +52,7 @@ class TestFordFW(unittest.TestCase): @parameterized.expand(FW_VERSIONS.items()) def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]): for (ecu, addr, subaddr), fws in fw_versions.items(): - self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") + self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU") self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") self.assertIsNone(subaddr, "Unexpected ECU subaddress") diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index cb16d7111f..092a6d47ee 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,12 +1,12 @@ from collections import defaultdict -from dataclasses import dataclass, field +from dataclasses import dataclass from enum import Enum, StrEnum from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import AngleRateLimit, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ - Device + Device from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -57,9 +57,11 @@ class CAR(StrEnum): F_150_MK14 = "FORD F-150 14TH GEN" FOCUS_MK4 = "FORD FOCUS 4TH GEN" MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" + F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN" + MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN" -CANFD_CAR = {CAR.F_150_MK14} +CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} class RADAR: @@ -71,6 +73,8 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base # F-150 radar is not yet supported DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None) +DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None) +DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None) class Footnote(Enum): @@ -84,11 +88,13 @@ class Footnote(Enum): @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3])) def init_make(self, CP: car.CarParams): - if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): - self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3]) + harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3 + if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14): + self.car_parts = CarParts([Device.threex_angled_mount, harness]) + else: + self.car_parts = CarParts([Device.threex, harness]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @@ -98,10 +104,12 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), ], CAR.EXPLORER_MK6: [ - FordCarInfo("Ford Explorer 2020-22"), + FordCarInfo("Ford Explorer 2020-23"), FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"), ], CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), + CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), + CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), CAR.MAVERICK_MK1: [ FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), @@ -113,171 +121,15 @@ FW_QUERY_CONFIG = FwQueryConfig( requests=[ # CAN and CAN FD queries are combined. # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus - # TODO: properly handle auxiliary requests to separate queries and add back whitelists Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.engine], - ), - Request( - [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], - [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], bus=0, auxiliary=True, ), ], extra_ecus=[ + (Ecu.engine, 0x7e0, None), (Ecu.shiftByWire, 0x732, None), ], ) - -FW_VERSIONS = { - CAR.BRONCO_SPORT_MK1: { - (Ecu.eps, 0x730, None): [ - b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.ESCAPE_MK4: { - (Ecu.eps, 0x730, None): [ - b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.EXPLORER_MK6: { - (Ecu.eps, 0x730, None): [ - b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.F_150_MK14: { - (Ecu.eps, 0x730, None): [ - b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.FOCUS_MK4: { - (Ecu.eps, 0x730, None): [ - b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.MAVERICK_MK1: { - (Ecu.eps, 0x730, None): [ - b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, -} diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 1caedcd321..8ff0bd47c4 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -9,6 +9,12 @@ import panda.python.uds as uds AddrType = Tuple[int, Optional[int]] EcuAddrBusType = Tuple[int, Optional[int], int] +EcuAddrSubAddr = Tuple[int, int, Optional[int]] + +LiveFwVersions = Dict[AddrType, Set[bytes]] +OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]] + +STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI def p16(val): @@ -53,6 +59,9 @@ class StdQueries: UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + GM_VIN_REQUEST = b'\x1a\x90' + GM_VIN_RESPONSE = b'\x5a\x90' + @dataclass class Request: @@ -79,7 +88,7 @@ class FwQueryConfig: extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, # returns set of candidates. Only will match if one candidate is returned - match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None + match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None def __post_init__(self): for i in range(len(self.requests)): @@ -87,3 +96,13 @@ class FwQueryConfig: new_request = copy.deepcopy(self.requests[i]) new_request.bus += 4 self.requests.append(new_request) + + def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, + include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]: + # Add ecus in database + extra ecus + brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus} + + if include_extra_ecus: + brand_ecus |= set(self.extra_ecus) + + return brand_ecus diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 45c4967cb8..44607d8357 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -8,17 +8,17 @@ import panda.python.uds as uds from cereal import car from openpilot.common.params import Params from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs -from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] -FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) +FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} @@ -45,16 +45,6 @@ def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], return dict(fw_versions_dict) -def get_brand_addrs() -> Dict[str, Set[AddrType]]: - brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set) - for brand, cars in VERSIONS.items(): - # Add ecus in database + extra ecus to match against - brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} - for fw in cars.values(): - brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} - return dict(brand_addrs) - - def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars @@ -105,11 +95,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= return set() -def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" + if extra_fw_versions is None: + extra_fw_versions = {} + invalid = set() candidates = {c: f for c, f in FW_VERSIONS.items() if is_brand(MODEL_TO_BRAND[c], match_brand)} @@ -117,12 +110,14 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s for candidate, fws in candidates.items(): config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): + expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, []) ecu_type = ecu[0] addr = ecu[1:] found_versions = live_fw_versions.get(addr, set()) if not len(found_versions): # Some models can sometimes miss an ecu, or show on two different addresses + # FIXME: this logic can be improved to be more specific, should require one of the two addresses if candidate in config.non_essential_ecus.get(ecu_type, []): continue @@ -159,7 +154,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function config = FW_QUERY_CONFIGS[brand] if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None: - matches |= config.match_fw_to_car_fuzzy(fw_versions_dict) + matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand]) if len(matches): return exact_match, matches @@ -179,22 +174,21 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: if r.bus > num_pandas * 4 - 1: continue - for brand_versions in VERSIONS[brand].values(): - for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus: - # Only query ecus in whitelist if whitelist is not empty - if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: - a = (addr, sub_addr, r.bus) - # Build set of queries - if sub_addr is None: - if a not in parallel_queries[r.obd_multiplexing]: - parallel_queries[r.obd_multiplexing].append(a) - else: # subaddresses must be queried one by one - if [a] not in queries[r.obd_multiplexing]: - queries[r.obd_multiplexing].append([a]) + for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]): + # Only query ecus in whitelist if whitelist is not empty + if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: + a = (addr, sub_addr, r.bus) + # Build set of queries + if sub_addr is None: + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) + else: # subaddresses must be queried one by one + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) - # Build set of expected responses to filter - response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) - responses.add((response_addr, sub_addr, r.bus)) + # Build set of expected responses to filter + response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) + responses.add((response_addr, sub_addr, r.bus)) for obd_multiplexing in queries: queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) @@ -207,11 +201,12 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: return ecu_responses -def get_brand_ecu_matches(ecu_rx_addrs): +def get_brand_ecu_matches(ecu_rx_addrs: Set[EcuAddrBusType]) -> dict[str, set[AddrType]]: """Returns dictionary of brands and matches with ECUs in their FW versions""" - brand_addrs = get_brand_addrs() - brand_matches = {brand: set() for brand, _, _ in REQUESTS} + brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for + brand, config in FW_QUERY_CONFIGS.items()} + brand_matches: dict[str, set[AddrType]] = {brand: set() for brand, _, _ in REQUESTS} brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS} for addr, sub_addr, _ in ecu_rx_addrs: @@ -275,27 +270,25 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for brand, brand_versions in versions.items(): config = FW_QUERY_CONFIGS[brand] - for ecu in brand_versions.values(): - # Each brand can define extra ECUs to query for data collection - for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus: - a = (brand, addr, sub_addr) - if a not in ecu_types: - ecu_types[a] = ecu_type + for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions): + a = (brand, addr, sub_addr) + if a not in ecu_types: + ecu_types[a] = ecu_type - if sub_addr is None: - if a not in parallel_addrs: - parallel_addrs.append(a) - else: - if [a] not in addrs: - addrs.append([a]) + if sub_addr is None: + if a not in parallel_addrs: + parallel_addrs.append(a) + else: + if [a] not in addrs: + addrs.append([a]) addrs.insert(0, parallel_addrs) # Get versions and build capnp list to put into CarParams car_fw = [] requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] - for addr in tqdm(addrs, disable=not progress): - for addr_chunk in chunks(addr): + for addr_group in tqdm(addrs, disable=not progress): # split by subaddr, if any + for addr_chunk in chunks(addr_group): for brand, config, r in requests: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: @@ -350,6 +343,13 @@ if __name__ == "__main__": pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') + # Set up params for boardd + params = Params() + params.remove("FirmwareQueryDone") + params.put_bool("IsOnroad", False) + time.sleep(0.2) # thread is 10 Hz + params.put_bool("IsOnroad", True) + extra: Any = None if args.scan: extra = {} @@ -360,13 +360,12 @@ if __name__ == "__main__": extra[(Ecu.unknown, 0x750, i)] = [] extra = {"any": {"debug": extra}} - time.sleep(1.) num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) t = time.time() print("Getting vin...") - vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) - print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 6b027777f0..7ea84f3fb7 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -154,21 +154,6 @@ class CarController: if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - # Show green icon when LKA torque is applied, and - # alarming orange icon when approaching torque limit. - # If not sent again, LKA icon disappears in about 5 seconds. - # Conveniently, sending camera message periodically also works as a keepalive. - lka_active = CS.lkas_status == 1 - lka_critical = lka_active and abs(actuators.steer) > 0.9 - lka_icon_status = (lka_active, lka_critical) - - # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and \ - (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): - steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) - can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) - self.lka_icon_status_last = lka_icon_status - new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 58e428e9fb..da24fd2c6b 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -37,7 +37,9 @@ class CarState(CarStateBase): self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] self.gap_dist_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"] self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) - self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0 + # This is to avoid a fault where you engage while still moving backwards after shifting to D. + # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2) + self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2) self.prev_mads_enabled = self.mads_enabled self.prev_lkas_enabled = self.lkas_enabled @@ -121,6 +123,10 @@ class CarState(CarStateBase): if self.CP.pcmCruise: ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3) + if self.CP.enableBsm: + ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1 + ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1 + return ret @staticmethod @@ -154,6 +160,9 @@ class CarState(CarStateBase): ("ECMAcceleratorPos", 80), ] + if CP.enableBsm: + messages.append(("BCMBlindSpotMonitor", 10)) + # Used to read back last counter sent to PT by camera if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py new file mode 100644 index 0000000000..c349ee2856 --- /dev/null +++ b/selfdrive/car/gm/fingerprints.py @@ -0,0 +1,59 @@ +# ruff: noqa: E501 +from openpilot.selfdrive.car.gm.values import CAR + +# Trailblazer also matches as a SILVERADO, TODO: split with fw versions + + +FINGERPRINTS = { + CAR.HOLDEN_ASTRA: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7 + }], + CAR.VOLT: [{ + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 + }], + CAR.BUICK_LACROSSE: [{ + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], + CAR.BUICK_REGAL: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8 + }], + CAR.CADILLAC_ATS: [{ + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.MALIBU: [{ + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.ACADIA: [{ + 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7 + }, + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], + CAR.ESCALADE: [{ + 170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], + CAR.ESCALADE_ESV: [{ + 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 + }], + CAR.ESCALADE_ESV_2019: [{ + 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 + }], + CAR.BOLT_EUV: [{ + 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.SILVERADO: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.EQUINOX: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], +} + +FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { +} diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 2e03dc39f5..fd874cfd79 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,13 +1,15 @@ #!/usr/bin/env python3 +import os from cereal import car from math import fabs, exp from panda import Panda +from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel from openpilot.selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type @@ -25,6 +27,8 @@ NON_LINEAR_TORQUE_PARAMS = { CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122] } +NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json') + class CarInterface(CarInterfaceBase): @staticmethod @@ -44,8 +48,8 @@ class CarInterface(CarInterfaceBase): else: return CarInterfaceBase.get_steer_feedforward_default - def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, - lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, + lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) def sig(val): @@ -58,11 +62,22 @@ class CarInterface(CarInterfaceBase): non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint) assert non_linear_torque_params, "The params are not defined" a, b, c, _ = non_linear_torque_params - steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c) + steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) return float(steer_torque) + friction + def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, + lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + inputs = list(latcontrol_inputs) + if gravity_adjusted: + inputs[0] += inputs[1] + return float(self.neural_ff_model.predict(inputs)) + friction + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: - if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: + if self.CP.carFingerprint == CAR.BOLT_EUV: + self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint) + return self.torque_from_lateral_accel_neural + elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: return self.torque_from_lateral_accel_siglin else: return self.torque_from_lateral_accel_linear @@ -72,6 +87,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False + ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py index fce5fea720..2aea5b231b 100755 --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -2,7 +2,8 @@ from parameterized import parameterized import unittest -from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET +from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS +from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e9ec8de9c5..8188ad4e6e 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from collections import defaultdict from dataclasses import dataclass from enum import Enum, StrEnum @@ -7,6 +6,8 @@ from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + Ecu = car.CarParams.Ecu @@ -140,92 +141,46 @@ class CanBus: OBSTACLE = 1 CAMERA = 2 CHASSIS = 2 - SW_GMLAN = 3 LOOPBACK = 128 DROPPED = 192 -FINGERPRINTS = { - CAR.HOLDEN_ASTRA: [ - # Astra BK MY17, ASCM unplugged - { - 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7, - }], - CAR.VOLT: [ - # Volt Premier w/ ACC 2017 - { - 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 - }, - # Volt Premier w/ ACC 2018 - { - 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 - }, - # Volt Premier 2018 w/ flashed firmware, no radar - { - 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 - }], - CAR.BUICK_LACROSSE: [ - # LaCrosse Premium AWD 2017 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 - }], - CAR.BUICK_REGAL : [ - # Regal TourX Essence w/ ACC 2018 - { - 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8 - }], - CAR.CADILLAC_ATS: [ - # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 - }], - CAR.MALIBU: [ - # Malibu Premier w/ ACC 2017 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8, - }], - CAR.ACADIA: [ - # Acadia Denali w/ACC 2018 - { - 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7 - }, - # Acadia Denali w/ /ACC 2018 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 - }], - CAR.ESCALADE: [ - { - 170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 - }], - CAR.ESCALADE_ESV: [ - { - 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 - }], - CAR.ESCALADE_ESV_2019: [ - { - 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 - }], - CAR.BOLT_EUV: [ - { - 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - CAR.SILVERADO: [ - { - 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - CAR.EQUINOX: [ - { - 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. - # TODO: split with FW versions - # CAR.TRAILBLAZER: [ - # { - # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 - # }], -} + +# In a Data Module, an identifier is a string used to recognize an object, +# either by itself or together with the identifiers of parent objects. +# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951 +GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1' +GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2' +GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3' +# This DID is for identifying the part number that reflects the mix of hardware, +# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant. +# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB. +GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb' +GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc' +GM_FW_RESPONSE = b'\x5a' + +GM_FW_REQUESTS = [ + GM_SOFTWARE_MODULE_1_REQUEST, + GM_SOFTWARE_MODULE_2_REQUEST, + GM_SOFTWARE_MODULE_3_REQUEST, + GM_END_MODEL_PART_NUMBER_REQUEST, + GM_BASE_MODEL_PART_NUMBER_REQUEST, +] GM_RX_OFFSET = 0x400 +FW_QUERY_CONFIG = FwQueryConfig( + requests=[request for req in GM_FW_REQUESTS for request in [ + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])], + rx_offset=GM_RX_OFFSET, + bus=0, + logging=True, + ), + ]], + extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], +) + DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 742166be0d..6d78fb3ebf 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -4,7 +4,7 @@ from cereal import car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import create_gas_interceptor_command @@ -213,7 +213,7 @@ class CarController: if not self.CP.pcmCruiseSpeed: if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap: self.sl_force_active_timer = self.frame - put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py new file mode 100644 index 0000000000..77fa14fc33 --- /dev/null +++ b/selfdrive/car/honda/fingerprints.py @@ -0,0 +1,1477 @@ +from cereal import car +from openpilot.selfdrive.car.honda.values import CAR + +Ecu = car.CarParams.Ecu + +# Modified FW can be identified by the second dash being replaced by a comma +# For example: `b'39990-TVA,A150\x00\x00'` +# +# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models + + +FW_VERSIONS = { + CAR.ACCORD: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6A0-8720\x00\x00', + b'37805-6A0-9520\x00\x00', + b'37805-6A0-9620\x00\x00', + b'37805-6A0-9720\x00\x00', + b'37805-6A0-A540\x00\x00', + b'37805-6A0-A550\x00\x00', + b'37805-6A0-A640\x00\x00', + b'37805-6A0-A650\x00\x00', + b'37805-6A0-A740\x00\x00', + b'37805-6A0-A750\x00\x00', + b'37805-6A0-A840\x00\x00', + b'37805-6A0-A850\x00\x00', + b'37805-6A0-A930\x00\x00', + b'37805-6A0-AF30\x00\x00', + b'37805-6A0-AG30\x00\x00', + b'37805-6A0-AJ10\x00\x00', + b'37805-6A0-C540\x00\x00', + b'37805-6A0-CG20\x00\x00', + b'37805-6A1-H650\x00\x00', + b'37805-6B2-A550\x00\x00', + b'37805-6B2-A560\x00\x00', + b'37805-6B2-A650\x00\x00', + b'37805-6B2-A660\x00\x00', + b'37805-6B2-A720\x00\x00', + b'37805-6B2-A810\x00\x00', + b'37805-6B2-A820\x00\x00', + b'37805-6B2-A920\x00\x00', + b'37805-6B2-AA10\x00\x00', + b'37805-6B2-C520\x00\x00', + b'37805-6B2-C540\x00\x00', + b'37805-6B2-M520\x00\x00', + b'37805-6B2-Y810\x00\x00', + b'37805-6M4-B730\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TVC-A910\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6A7-A220\x00\x00', + b'28101-6A7-A230\x00\x00', + b'28101-6A7-A320\x00\x00', + b'28101-6A7-A330\x00\x00', + b'28101-6A7-A410\x00\x00', + b'28101-6A7-A510\x00\x00', + b'28101-6A7-A610\x00\x00', + b'28101-6A7-A710\x00\x00', + b'28101-6A9-H140\x00\x00', + b'28101-6A9-H420\x00\x00', + b'28102-6B8-A560\x00\x00', + b'28102-6B8-A570\x00\x00', + b'28102-6B8-A700\x00\x00', + b'28102-6B8-A800\x00\x00', + b'28102-6B8-C560\x00\x00', + b'28102-6B8-C570\x00\x00', + b'28102-6B8-M520\x00\x00', + b'28102-6B8-R700\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TVA-A050\x00\x00', + b'46114-TVA-A060\x00\x00', + b'46114-TVA-A080\x00\x00', + b'46114-TVA-A120\x00\x00', + b'46114-TVA-A320\x00\x00', + b'46114-TVE-H550\x00\x00', + b'46114-TVE-H560\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TVA-B040\x00\x00', + b'57114-TVA-B050\x00\x00', + b'57114-TVA-B060\x00\x00', + b'57114-TVA-B530\x00\x00', + b'57114-TVA-C040\x00\x00', + b'57114-TVA-C050\x00\x00', + b'57114-TVA-C060\x00\x00', + b'57114-TVA-C530\x00\x00', + b'57114-TVA-E520\x00\x00', + b'57114-TVE-H250\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBX-H120\x00\x00', + b'39990-TVA,A150\x00\x00', + b'39990-TVA-A140\x00\x00', + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TVA-X030\x00\x00', + b'39990-TVA-X040\x00\x00', + b'39990-TVE-H130\x00\x00', + ], + (Ecu.unknown, 0x18da3af1, None): [ + b'39390-TVA-A020\x00\x00', + b'39390-TVA-A120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBX-H230\x00\x00', + b'77959-TVA-A460\x00\x00', + b'77959-TVA-F330\x00\x00', + b'77959-TVA-H230\x00\x00', + b'77959-TVA-L420\x00\x00', + b'77959-TVA-X330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBX-H310\x00\x00', + b'78109-TVA-A010\x00\x00', + b'78109-TVA-A020\x00\x00', + b'78109-TVA-A030\x00\x00', + b'78109-TVA-A110\x00\x00', + b'78109-TVA-A120\x00\x00', + b'78109-TVA-A130\x00\x00', + b'78109-TVA-A210\x00\x00', + b'78109-TVA-A220\x00\x00', + b'78109-TVA-A230\x00\x00', + b'78109-TVA-A310\x00\x00', + b'78109-TVA-C010\x00\x00', + b'78109-TVA-C130\x00\x00', + b'78109-TVA-L010\x00\x00', + b'78109-TVA-L210\x00\x00', + b'78109-TVA-R310\x00\x00', + b'78109-TVC-A010\x00\x00', + b'78109-TVC-A020\x00\x00', + b'78109-TVC-A030\x00\x00', + b'78109-TVC-A110\x00\x00', + b'78109-TVC-A130\x00\x00', + b'78109-TVC-A210\x00\x00', + b'78109-TVC-A220\x00\x00', + b'78109-TVC-A230\x00\x00', + b'78109-TVC-C010\x00\x00', + b'78109-TVC-C110\x00\x00', + b'78109-TVC-L010\x00\x00', + b'78109-TVC-L210\x00\x00', + b'78109-TVC-M510\x00\x00', + b'78109-TVC-YF10\x00\x00', + b'78109-TVE-H610\x00\x00', + b'78109-TWA-A210\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBX-H140\x00\x00', + b'36802-TVA-A150\x00\x00', + b'36802-TVA-A160\x00\x00', + b'36802-TVA-A170\x00\x00', + b'36802-TVA-A180\x00\x00', + b'36802-TVA-A330\x00\x00', + b'36802-TVC-A330\x00\x00', + b'36802-TVE-H070\x00\x00', + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBX-H130\x00\x00', + b'36161-TVA-A060\x00\x00', + b'36161-TVA-A330\x00\x00', + b'36161-TVC-A330\x00\x00', + b'36161-TVE-H050\x00\x00', + b'36161-TWA-A070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TVA-A010\x00\x00', + b'38897-TVA-A020\x00\x00', + b'38897-TVA-A230\x00\x00', + b'38897-TVA-A240\x00\x00', + ], + }, + CAR.ACCORDH: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TWA-A120\x00\x00', + b'38897-TWD-J020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TWA-A040\x00\x00', + b'57114-TWA-A050\x00\x00', + b'57114-TWA-A530\x00\x00', + b'57114-TWA-B520\x00\x00', + b'57114-TWA-C510\x00\x00', + b'57114-TWB-H030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TWA-A440\x00\x00', + b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TWA-A010\x00\x00', + b'78109-TWA-A020\x00\x00', + b'78109-TWA-A030\x00\x00', + b'78109-TWA-A110\x00\x00', + b'78109-TWA-A120\x00\x00', + b'78109-TWA-A130\x00\x00', + b'78109-TWA-A210\x00\x00', + b'78109-TWA-A220\x00\x00', + b'78109-TWA-A230\x00\x00', + b'78109-TWA-A610\x00\x00', + b'78109-TWA-H210\x00\x00', + b'78109-TWA-L010\x00\x00', + b'78109-TWA-L210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TWA-A070\x00\x00', + b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + b'36802-TWA-A210\x00\x00', + b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TWB-H120\x00\x00', + ], + }, + CAR.ACCORD_NIDEC_4CYL: { + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-T2F-X840\x00\x00', + ], + (Ecu.fwdRadar, 0x18DAB0F1, None): [ + b'36161-T2F-A140\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78109-T2F-L110\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-T2F-A030\x00\x00', + ], + }, + CAR.CIVIC: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A640\x00\x00', + b'37805-5AA-A650\x00\x00', + b'37805-5AA-A670\x00\x00', + b'37805-5AA-A680\x00\x00', + b'37805-5AA-A810\x00\x00', + b'37805-5AA-C640\x00\x00', + b'37805-5AA-C680\x00\x00', + b'37805-5AA-C820\x00\x00', + b'37805-5AA-L650\x00\x00', + b'37805-5AA-L660\x00\x00', + b'37805-5AA-L680\x00\x00', + b'37805-5AA-L690\x00\x00', + b'37805-5AA-L810\x00\x00', + b'37805-5AG-Q710\x00\x00', + b'37805-5AJ-A610\x00\x00', + b'37805-5AJ-A620\x00\x00', + b'37805-5AJ-L610\x00\x00', + b'37805-5BA-A310\x00\x00', + b'37805-5BA-A510\x00\x00', + b'37805-5BA-A740\x00\x00', + b'37805-5BA-A760\x00\x00', + b'37805-5BA-A930\x00\x00', + b'37805-5BA-A960\x00\x00', + b'37805-5BA-C640\x00\x00', + b'37805-5BA-C860\x00\x00', + b'37805-5BA-L410\x00\x00', + b'37805-5BA-L760\x00\x00', + b'37805-5BA-L930\x00\x00', + b'37805-5BA-L940\x00\x00', + b'37805-5BA-L960\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A040\x00\x00', + b'28101-5CG-A050\x00\x00', + b'28101-5CG-A070\x00\x00', + b'28101-5CG-A080\x00\x00', + b'28101-5CG-A320\x00\x00', + b'28101-5CG-A810\x00\x00', + b'28101-5CG-A820\x00\x00', + b'28101-5DJ-A040\x00\x00', + b'28101-5DJ-A060\x00\x00', + b'28101-5DJ-A510\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBA-A540\x00\x00', + b'57114-TBA-A550\x00\x00', + b'57114-TBA-A560\x00\x00', + b'57114-TBA-A570\x00\x00', + b'57114-TEA-Q220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA,A030\x00\x00', + b'39990-TBA-A030\x00\x00', + b'39990-TBG-A030\x00\x00', + b'39990-TEA-T020\x00\x00', + b'39990-TEG-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A030\x00\x00', + b'77959-TBA-A040\x00\x00', + b'77959-TBG-A030\x00\x00', + b'77959-TEA-Q820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A510\x00\x00', + b'78109-TBA-A520\x00\x00', + b'78109-TBA-A530\x00\x00', + b'78109-TBA-C310\x00\x00', + b'78109-TBA-C520\x00\x00', + b'78109-TBC-A310\x00\x00', + b'78109-TBC-A320\x00\x00', + b'78109-TBC-A510\x00\x00', + b'78109-TBC-A520\x00\x00', + b'78109-TBC-A530\x00\x00', + b'78109-TBC-C510\x00\x00', + b'78109-TBC-C520\x00\x00', + b'78109-TBC-C530\x00\x00', + b'78109-TBH-A510\x00\x00', + b'78109-TBH-A530\x00\x00', + b'78109-TED-Q510\x00\x00', + b'78109-TEG-A310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TBA-A020\x00\x00', + b'36161-TBA-A030\x00\x00', + b'36161-TBA-A040\x00\x00', + b'36161-TBC-A020\x00\x00', + b'36161-TBC-A030\x00\x00', + b'36161-TED-Q320\x00\x00', + b'36161-TEG-A010\x00\x00', + b'36161-TEG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A010\x00\x00', + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CIVIC_BOSCH: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A940\x00\x00', + b'37805-5AA-A950\x00\x00', + b'37805-5AA-C950\x00\x00', + b'37805-5AA-L940\x00\x00', + b'37805-5AA-L950\x00\x00', + b'37805-5AG-Z910\x00\x00', + b'37805-5AJ-A750\x00\x00', + b'37805-5AJ-L750\x00\x00', + b'37805-5AK-T530\x00\x00', + b'37805-5AN-A750\x00\x00', + b'37805-5AN-A830\x00\x00', + b'37805-5AN-A840\x00\x00', + b'37805-5AN-A930\x00\x00', + b'37805-5AN-A940\x00\x00', + b'37805-5AN-A950\x00\x00', + b'37805-5AN-AG20\x00\x00', + b'37805-5AN-AH20\x00\x00', + b'37805-5AN-AJ30\x00\x00', + b'37805-5AN-AK10\x00\x00', + b'37805-5AN-AK20\x00\x00', + b'37805-5AN-AR10\x00\x00', + b'37805-5AN-AR20\x00\x00', + b'37805-5AN-C650\x00\x00', + b'37805-5AN-CH20\x00\x00', + b'37805-5AN-E630\x00\x00', + b'37805-5AN-E720\x00\x00', + b'37805-5AN-E820\x00\x00', + b'37805-5AN-J820\x00\x00', + b'37805-5AN-L840\x00\x00', + b'37805-5AN-L930\x00\x00', + b'37805-5AN-L940\x00\x00', + b'37805-5AN-LF20\x00\x00', + b'37805-5AN-LH20\x00\x00', + b'37805-5AN-LJ20\x00\x00', + b'37805-5AN-LR20\x00\x00', + b'37805-5AN-LS20\x00\x00', + b'37805-5AW-G720\x00\x00', + b'37805-5AZ-E850\x00\x00', + b'37805-5AZ-G540\x00\x00', + b'37805-5AZ-G740\x00\x00', + b'37805-5AZ-G840\x00\x00', + b'37805-5BB-A530\x00\x00', + b'37805-5BB-A540\x00\x00', + b'37805-5BB-A620\x00\x00', + b'37805-5BB-A630\x00\x00', + b'37805-5BB-A640\x00\x00', + b'37805-5BB-C540\x00\x00', + b'37805-5BB-C630\x00\x00', + b'37805-5BB-C640\x00\x00', + b'37805-5BB-L540\x00\x00', + b'37805-5BB-L630\x00\x00', + b'37805-5BB-L640\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A920\x00\x00', + b'28101-5CG-AB10\x00\x00', + b'28101-5CG-C110\x00\x00', + b'28101-5CG-C220\x00\x00', + b'28101-5CG-C320\x00\x00', + b'28101-5CG-G020\x00\x00', + b'28101-5CG-L020\x00\x00', + b'28101-5CK-A130\x00\x00', + b'28101-5CK-A140\x00\x00', + b'28101-5CK-A150\x00\x00', + b'28101-5CK-C130\x00\x00', + b'28101-5CK-C140\x00\x00', + b'28101-5CK-C150\x00\x00', + b'28101-5CK-G210\x00\x00', + b'28101-5CK-J710\x00\x00', + b'28101-5CK-Q610\x00\x00', + b'28101-5DJ-A610\x00\x00', + b'28101-5DJ-A710\x00\x00', + b'28101-5DV-E330\x00\x00', + b'28101-5DV-E610\x00\x00', + b'28101-5DV-E820\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBG-A330\x00\x00', + b'57114-TBG-A340\x00\x00', + b'57114-TBG-A350\x00\x00', + b'57114-TGG-A340\x00\x00', + b'57114-TGG-C320\x00\x00', + b'57114-TGG-G320\x00\x00', + b'57114-TGG-L320\x00\x00', + b'57114-TGG-L330\x00\x00', + b'57114-TGK-T320\x00\x00', + b'57114-TGL-G330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA-C020\x00\x00', + b'39990-TBA-C120\x00\x00', + b'39990-TEA-T820\x00\x00', + b'39990-TEZ-T020\x00\x00', + b'39990-TGG-A020\x00\x00', + b'39990-TGG-A120\x00\x00', + b'39990-TGG-J510\x00\x00', + b'39990-TGL-E130\x00\x00', + b'39990-TGN-E120\x00\x00', + # modded EPS bosch civic + b'39990-TBA,C020\x00\x00', + b'39990-TBA,C120\x00\x00', + b'39990-TEA,T820\x00\x00', + b'39990-TEZ,T020\x00\x00', + b'39990-TGG,A020\x00\x00', + b'39990-TGG,A120\x00\x00', + b'39990-TGG,J510\x00\x00', + b'39990-TGL,E130\x00\x00', + b'39990-TGN,E120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A060\x00\x00', + b'77959-TBG-A050\x00\x00', + b'77959-TEA-G020\x00\x00', + b'77959-TGG-A020\x00\x00', + b'77959-TGG-A030\x00\x00', + b'77959-TGG-E010\x00\x00', + b'77959-TGG-G010\x00\x00', + b'77959-TGG-G110\x00\x00', + b'77959-TGG-J320\x00\x00', + b'77959-TGG-Z820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A110\x00\x00', + b'78109-TBA-A910\x00\x00', + b'78109-TBA-C340\x00\x00', + b'78109-TBA-C910\x00\x00', + b'78109-TBC-A740\x00\x00', + b'78109-TBC-C540\x00\x00', + b'78109-TBG-A110\x00\x00', + b'78109-TBH-A710\x00\x00', + b'78109-TEG-A720\x00\x00', + b'78109-TFJ-G020\x00\x00', + b'78109-TGG-9020\x00\x00', + b'78109-TGG-A210\x00\x00', + b'78109-TGG-A220\x00\x00', + b'78109-TGG-A310\x00\x00', + b'78109-TGG-A320\x00\x00', + b'78109-TGG-A330\x00\x00', + b'78109-TGG-A610\x00\x00', + b'78109-TGG-A620\x00\x00', + b'78109-TGG-A810\x00\x00', + b'78109-TGG-A820\x00\x00', + b'78109-TGG-C010\x00\x00', + b'78109-TGG-C220\x00\x00', + b'78109-TGG-E110\x00\x00', + b'78109-TGG-G030\x00\x00', + b'78109-TGG-G230\x00\x00', + b'78109-TGG-G410\x00\x00', + b'78109-TGK-Z410\x00\x00', + b'78109-TGL-G120\x00\x00', + b'78109-TGL-G130\x00\x00', + b'78109-TGL-G210\x00\x00', + b'78109-TGL-G230\x00\x00', + b'78109-TGL-GM10\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBA-A150\x00\x00', + b'36802-TBA-A160\x00\x00', + b'36802-TFJ-G060\x00\x00', + b'36802-TGG-A050\x00\x00', + b'36802-TGG-A060\x00\x00', + b'36802-TGG-A070\x00\x00', + b'36802-TGG-A130\x00\x00', + b'36802-TGG-G040\x00\x00', + b'36802-TGG-G130\x00\x00', + b'36802-TGK-Q120\x00\x00', + b'36802-TGL-G040\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBA-A130\x00\x00', + b'36161-TBA-A140\x00\x00', + b'36161-TFJ-G070\x00\x00', + b'36161-TGG-A060\x00\x00', + b'36161-TGG-A080\x00\x00', + b'36161-TGG-A120\x00\x00', + b'36161-TGG-G050\x00\x00', + b'36161-TGG-G070\x00\x00', + b'36161-TGG-G130\x00\x00', + b'36161-TGG-G140\x00\x00', + b'36161-TGK-Q120\x00\x00', + b'36161-TGL-G050\x00\x00', + b'36161-TGL-G070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + b'38897-TBA-A110\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'39494-TGL-G030\x00\x00', + ], + }, + CAR.CIVIC_BOSCH_DIESEL: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-59N-G630\x00\x00', + b'37805-59N-G830\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-59Y-G220\x00\x00', + b'28101-59Y-G620\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TGN-E320\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TFK-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TFK-G210\x00\x00', + b'77959-TGN-G220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TFK-G020\x00\x00', + b'78109-TGN-G120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TFK-G130\x00\x00', + b'36802-TGN-G130\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TGN-E010\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TFK-G130\x00\x00', + b'36161-TGN-G130\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CLARITY: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TRW-A910\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TRW-A010\x00\x00', + b'57114-TRW-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TRW-A020\x00\x00', + b'39990-TRW,A020\x00\x00', # modified firmware + b'39990,TRW,A020\x00\x00', # extra modified firmware + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TRW-A210\x00\x00', + b'77959-TRW-A220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TRW-A010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TRW-A020\x00\x00', + b'78109-TRW-A030\x00\x00', + ], + }, + CAR.CRV: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1W-A230\x00\x00', + b'57114-T1W-A240\x00\x00', + b'57114-TFF-A940\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T0A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1W-A210\x00\x00', + b'78109-T1W-C210\x00\x00', + b'78109-T1X-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1W-A830\x00\x00', + b'36161-T1W-C830\x00\x00', + b'36161-T1X-A830\x00\x00', + ], + }, + CAR.CRV_5G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5PA-3060\x00\x00', + b'37805-5PA-3080\x00\x00', + b'37805-5PA-3180\x00\x00', + b'37805-5PA-4050\x00\x00', + b'37805-5PA-4150\x00\x00', + b'37805-5PA-6520\x00\x00', + b'37805-5PA-6530\x00\x00', + b'37805-5PA-6630\x00\x00', + b'37805-5PA-6640\x00\x00', + b'37805-5PA-7630\x00\x00', + b'37805-5PA-9530\x00\x00', + b'37805-5PA-9630\x00\x00', + b'37805-5PA-9640\x00\x00', + b'37805-5PA-9730\x00\x00', + b'37805-5PA-9830\x00\x00', + b'37805-5PA-9840\x00\x00', + b'37805-5PA-A650\x00\x00', + b'37805-5PA-A670\x00\x00', + b'37805-5PA-A680\x00\x00', + b'37805-5PA-A850\x00\x00', + b'37805-5PA-A870\x00\x00', + b'37805-5PA-A880\x00\x00', + b'37805-5PA-A890\x00\x00', + b'37805-5PA-AB10\x00\x00', + b'37805-5PA-AD10\x00\x00', + b'37805-5PA-AF20\x00\x00', + b'37805-5PA-AH20\x00\x00', + b'37805-5PA-BF10\x00\x00', + b'37805-5PA-C680\x00\x00', + b'37805-5PD-Q630\x00\x00', + b'37805-5PF-F730\x00\x00', + b'37805-5PF-M630\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5RG-A020\x00\x00', + b'28101-5RG-A030\x00\x00', + b'28101-5RG-A040\x00\x00', + b'28101-5RG-A120\x00\x00', + b'28101-5RG-A220\x00\x00', + b'28101-5RH-A020\x00\x00', + b'28101-5RH-A030\x00\x00', + b'28101-5RH-A040\x00\x00', + b'28101-5RH-A120\x00\x00', + b'28101-5RH-A220\x00\x00', + b'28101-5RL-Q010\x00\x00', + b'28101-5RM-F010\x00\x00', + b'28101-5RM-K010\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TLA-A040\x00\x00', + b'57114-TLA-A050\x00\x00', + b'57114-TLA-A060\x00\x00', + b'57114-TLB-A830\x00\x00', + b'57114-TMC-Z040\x00\x00', + b'57114-TMC-Z050\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TLA,A040\x00\x00', + b'39990-TLA-A040\x00\x00', + b'39990-TLA-A110\x00\x00', + b'39990-TLA-A220\x00\x00', + b'39990-TME-T030\x00\x00', + b'39990-TME-T120\x00\x00', + b'39990-TMT-T010\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TLA-A040\x00\x00', + b'46114-TLA-A050\x00\x00', + b'46114-TLA-A930\x00\x00', + b'46114-TMC-U020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TLA-A020\x00\x00', + b'78109-TLA-A110\x00\x00', + b'78109-TLA-A120\x00\x00', + b'78109-TLA-A210\x00\x00', + b'78109-TLA-A220\x00\x00', + b'78109-TLA-C020\x00\x00', + b'78109-TLA-C110\x00\x00', + b'78109-TLA-C210\x00\x00', + b'78109-TLA-C310\x00\x00', + b'78109-TLB-A020\x00\x00', + b'78109-TLB-A110\x00\x00', + b'78109-TLB-A120\x00\x00', + b'78109-TLB-A210\x00\x00', + b'78109-TLB-A220\x00\x00', + b'78109-TMC-Q210\x00\x00', + b'78109-TMM-F210\x00\x00', + b'78109-TMM-M110\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TLA-A010\x00\x00', + b'38897-TLA-A110\x00\x00', + b'38897-TNY-G010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TLA-A040\x00\x00', + b'36802-TLA-A050\x00\x00', + b'36802-TLA-A060\x00\x00', + b'36802-TMC-Q040\x00\x00', + b'36802-TMC-Q070\x00\x00', + b'36802-TNY-A030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TLA-A060\x00\x00', + b'36161-TLA-A070\x00\x00', + b'36161-TLA-A080\x00\x00', + b'36161-TMC-Q020\x00\x00', + b'36161-TMC-Q030\x00\x00', + b'36161-TMC-Q040\x00\x00', + b'36161-TNY-A020\x00\x00', + b'36161-TNY-A030\x00\x00', + b'36161-TNY-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-A240\x00\x00', + b'77959-TLA-A250\x00\x00', + b'77959-TLA-A320\x00\x00', + b'77959-TLA-A410\x00\x00', + b'77959-TLA-A420\x00\x00', + b'77959-TLA-Q040\x00\x00', + b'77959-TLA-Z040\x00\x00', + b'77959-TMM-F040\x00\x00', + ], + }, + CAR.CRV_EU: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-R5Z-G740\x00\x00', + b'37805-R5Z-G780\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1V-G920\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1V-G520\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-T1V-G010\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5LH-E120\x00\x00', + b'28103-5LH-E100\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1B-3050\x00\x00', + b'78109-T1V-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T1G-G940\x00\x00', + ], + }, + CAR.CRV_HYBRID: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TMB-H030\x00\x00', + b'57114-TPA-G020\x00\x00', + b'57114-TPG-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TMA-H020\x00\x00', + b'39990-TPA-G030\x00\x00', + b'39990-TPG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TMA-H110\x00\x00', + b'38897-TPG-A110\x00\x00', + b'38897-TPG-A210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TMB-H510\x00\x00', + b'54008-TMB-H610\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TMB-H040\x00\x00', + b'36161-TPA-E050\x00\x00', + b'36161-TPG-A030\x00\x00', + b'36161-TPG-A040\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TMB-H220\x00\x00', + b'78109-TPA-G520\x00\x00', + b'78109-TPG-A110\x00\x00', + b'78109-TPG-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TMB-H040\x00\x00', + b'36802-TPA-E040\x00\x00', + b'36802-TPG-A020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-C320\x00\x00', + b'77959-TLA-C410\x00\x00', + b'77959-TLA-C420\x00\x00', + b'77959-TLA-G220\x00\x00', + b'77959-TLA-H240\x00\x00', + ], + }, + CAR.FIT: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T5R-L020\x00\x00', + b'57114-T5R-L220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T5R-C020\x00\x00', + b'39990-T5R-C030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T5A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T5A-A210\x00\x00', + b'78109-T5A-A410\x00\x00', + b'78109-T5A-A420\x00\x00', + b'78109-T5A-A910\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T5R-A040\x00\x00', + b'36161-T5R-A240\x00\x00', + b'36161-T5R-A520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T5R-A230\x00\x00', + ], + }, + CAR.FREED: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TDK-J010\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TDK-J050\x00\x00', + b'39990-TDK-N020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TDK-J120\x00\x00', + b'57114-TDK-J330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TDK-J310\x00\x00', + b'78109-TDK-J320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TDK-J070\x00\x00', + b'36161-TDK-J080\x00\x00', + b'36161-TDK-J530\x00\x00', + ], + }, + CAR.ODYSSEY: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-THR-A010\x00\x00', + b'38897-THR-A020\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5MR-3050\x00\x00', + b'37805-5MR-3250\x00\x00', + b'37805-5MR-4080\x00\x00', + b'37805-5MR-4180\x00\x00', + b'37805-5MR-A240\x00\x00', + b'37805-5MR-A250\x00\x00', + b'37805-5MR-A310\x00\x00', + b'37805-5MR-A740\x00\x00', + b'37805-5MR-A750\x00\x00', + b'37805-5MR-A840\x00\x00', + b'37805-5MR-C620\x00\x00', + b'37805-5MR-D530\x00\x00', + b'37805-5MR-K730\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THR-A020\x00\x00', + b'39990-THR-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-THR-A010\x00\x00', + b'77959-THR-A110\x00\x00', + b'77959-THR-X010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-THR-A020\x00\x00', + b'36161-THR-A030\x00\x00', + b'36161-THR-A110\x00\x00', + b'36161-THR-A720\x00\x00', + b'36161-THR-A730\x00\x00', + b'36161-THR-A810\x00\x00', + b'36161-THR-A910\x00\x00', + b'36161-THR-C010\x00\x00', + b'36161-THR-D110\x00\x00', + b'36161-THR-K020\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5NZ-A110\x00\x00', + b'28101-5NZ-A310\x00\x00', + b'28101-5NZ-C310\x00\x00', + b'28102-5MX-A001\x00\x00', + b'28102-5MX-A600\x00\x00', + b'28102-5MX-A610\x00\x00', + b'28102-5MX-A700\x00\x00', + b'28102-5MX-A710\x00\x00', + b'28102-5MX-A900\x00\x00', + b'28102-5MX-A910\x00\x00', + b'28102-5MX-C001\x00\x00', + b'28102-5MX-D001\x00\x00', + b'28102-5MX-D710\x00\x00', + b'28102-5MX-K610\x00\x00', + b'28103-5NZ-A100\x00\x00', + b'28103-5NZ-A300\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-THR-A040\x00\x00', + b'57114-THR-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THR-A220\x00\x00', + b'78109-THR-A230\x00\x00', + b'78109-THR-A420\x00\x00', + b'78109-THR-A430\x00\x00', + b'78109-THR-A720\x00\x00', + b'78109-THR-A730\x00\x00', + b'78109-THR-A820\x00\x00', + b'78109-THR-A830\x00\x00', + b'78109-THR-AB20\x00\x00', + b'78109-THR-AB30\x00\x00', + b'78109-THR-AB40\x00\x00', + b'78109-THR-AC20\x00\x00', + b'78109-THR-AC30\x00\x00', + b'78109-THR-AC40\x00\x00', + b'78109-THR-AC50\x00\x00', + b'78109-THR-AD30\x00\x00', + b'78109-THR-AE20\x00\x00', + b'78109-THR-AE30\x00\x00', + b'78109-THR-AE40\x00\x00', + b'78109-THR-AK10\x00\x00', + b'78109-THR-AL10\x00\x00', + b'78109-THR-AN10\x00\x00', + b'78109-THR-C220\x00\x00', + b'78109-THR-C320\x00\x00', + b'78109-THR-C330\x00\x00', + b'78109-THR-CE20\x00\x00', + b'78109-THR-DA20\x00\x00', + b'78109-THR-DA30\x00\x00', + b'78109-THR-DA40\x00\x00', + b'78109-THR-K120\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-THR-A020\x00\x00', + ], + }, + CAR.ODYSSEY_CHN: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6D-H220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6A-F310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6A-P040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6A-P110\x00\x00', + ], + }, + CAR.PILOT: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TG7-A520\x00\x00', + b'54008-TG7-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5EY-A050\x00\x00', + b'28101-5EY-A100\x00\x00', + b'28101-5EY-A430\x00\x00', + b'28101-5EY-A500\x00\x00', + b'28101-5EZ-A050\x00\x00', + b'28101-5EZ-A060\x00\x00', + b'28101-5EZ-A100\x00\x00', + b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A330\x00\x00', + b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A500\x00\x00', + b'28101-5EZ-A600\x00\x00', + b'28101-5EZ-A700\x00\x00', + b'28103-5EY-A110\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-RLV-4060\x00\x00', + b'37805-RLV-4070\x00\x00', + b'37805-RLV-5140\x00\x00', + b'37805-RLV-5230\x00\x00', + b'37805-RLV-A830\x00\x00', + b'37805-RLV-A840\x00\x00', + b'37805-RLV-B210\x00\x00', + b'37805-RLV-B220\x00\x00', + b'37805-RLV-B420\x00\x00', + b'37805-RLV-B430\x00\x00', + b'37805-RLV-B620\x00\x00', + b'37805-RLV-B710\x00\x00', + b'37805-RLV-B720\x00\x00', + b'37805-RLV-C430\x00\x00', + b'37805-RLV-C510\x00\x00', + b'37805-RLV-C520\x00\x00', + b'37805-RLV-C530\x00\x00', + b'37805-RLV-C910\x00\x00', + b'37805-RLV-F120\x00\x00', + b'37805-RLV-L080\x00\x00', + b'37805-RLV-L090\x00\x00', + b'37805-RLV-L160\x00\x00', + b'37805-RLV-L180\x00\x00', + b'37805-RLV-L350\x00\x00', + b'37805-RLV-L410\x00\x00', + b'37805-RLV-L430\x00\x00', + b'37805-RLV-L850\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TG7-A030\x00\x00', + b'38897-TG7-A040\x00\x00', + b'38897-TG7-A110\x00\x00', + b'38897-TG7-A210\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TG7-A030\x00\x00', + b'39990-TG7-A040\x00\x00', + b'39990-TG7-A060\x00\x00', + b'39990-TG7-A070\x00\x00', + b'39990-TGS-A230\x00\x00', + b'39990-TGS-A320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TG7-A310\x00\x00', + b'36161-TG7-A520\x00\x00', + b'36161-TG7-A630\x00\x00', + b'36161-TG7-A720\x00\x00', + b'36161-TG7-A820\x00\x00', + b'36161-TG7-A930\x00\x00', + b'36161-TG7-C520\x00\x00', + b'36161-TG7-D520\x00\x00', + b'36161-TG7-D630\x00\x00', + b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A410\x00\x00', + b'36161-TG8-A520\x00\x00', + b'36161-TG8-A630\x00\x00', + b'36161-TG8-A720\x00\x00', + b'36161-TG8-A830\x00\x00', + b'36161-TGS-A030\x00\x00', + b'36161-TGS-A130\x00\x00', + b'36161-TGS-A220\x00\x00', + b'36161-TGS-A320\x00\x00', + b'36161-TGT-A030\x00\x00', + b'36161-TGT-A130\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TG7-A020\x00\x00', + b'77959-TG7-A110\x00\x00', + b'77959-TG7-A210\x00\x00', + b'77959-TG7-Y210\x00\x00', + b'77959-TGS-A010\x00\x00', + b'77959-TGS-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TG7-A040\x00\x00', + b'78109-TG7-A050\x00\x00', + b'78109-TG7-A420\x00\x00', + b'78109-TG7-A520\x00\x00', + b'78109-TG7-A720\x00\x00', + b'78109-TG7-AJ10\x00\x00', + b'78109-TG7-AJ20\x00\x00', + b'78109-TG7-AK10\x00\x00', + b'78109-TG7-AK20\x00\x00', + b'78109-TG7-AM20\x00\x00', + b'78109-TG7-AP10\x00\x00', + b'78109-TG7-AP20\x00\x00', + b'78109-TG7-AS20\x00\x00', + b'78109-TG7-AT20\x00\x00', + b'78109-TG7-AU20\x00\x00', + b'78109-TG7-AX20\x00\x00', + b'78109-TG7-D020\x00\x00', + b'78109-TG7-DJ10\x00\x00', + b'78109-TG7-YK20\x00\x00', + b'78109-TG8-A420\x00\x00', + b'78109-TG8-A520\x00\x00', + b'78109-TG8-AJ10\x00\x00', + b'78109-TG8-AJ20\x00\x00', + b'78109-TG8-AK20\x00\x00', + b'78109-TG8-AS20\x00\x00', + b'78109-TGS-AB10\x00\x00', + b'78109-TGS-AC10\x00\x00', + b'78109-TGS-AD10\x00\x00', + b'78109-TGS-AJ20\x00\x00', + b'78109-TGS-AK20\x00\x00', + b'78109-TGS-AP20\x00\x00', + b'78109-TGS-AT20\x00\x00', + b'78109-TGS-AX20\x00\x00', + b'78109-TGT-AJ20\x00\x00', + b'78109-TGT-AK30\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TG7-A130\x00\x00', + b'57114-TG7-A140\x00\x00', + b'57114-TG7-A230\x00\x00', + b'57114-TG7-A240\x00\x00', + b'57114-TG7-A630\x00\x00', + b'57114-TG7-A730\x00\x00', + b'57114-TG8-A140\x00\x00', + b'57114-TG8-A240\x00\x00', + b'57114-TG8-A630\x00\x00', + b'57114-TG8-A730\x00\x00', + b'57114-TGS-A530\x00\x00', + b'57114-TGT-A530\x00\x00', + ], + }, + CAR.ACURA_RDX: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TX4-A220\x00\x00', + b'57114-TX5-A220\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TX4-A030\x00\x00', + b'36161-TX5-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX4-B010\x00\x00', + b'77959-TX4-C010\x00\x00', + b'77959-TX4-C020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TX4-A210\x00\x00', + b'78109-TX4-A310\x00\x00', + b'78109-TX5-A210\x00\x00', + b'78109-TX5-A310\x00\x00', + ], + }, + CAR.ACURA_RDX_3G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5YF-A130\x00\x00', + b'37805-5YF-A230\x00\x00', + b'37805-5YF-A320\x00\x00', + b'37805-5YF-A330\x00\x00', + b'37805-5YF-A420\x00\x00', + b'37805-5YF-A430\x00\x00', + b'37805-5YF-A750\x00\x00', + b'37805-5YF-A760\x00\x00', + b'37805-5YF-A850\x00\x00', + b'37805-5YF-A870\x00\x00', + b'37805-5YF-AD20\x00\x00', + b'37805-5YF-C210\x00\x00', + b'37805-5YF-C220\x00\x00', + b'37805-5YF-C410\x00\x00', + b'37805-5YF-C420\x00\x00', + b'37805-5YF-C430\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TJB-A030\x00\x00', + b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TJB-A040\x00\x00', + b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28102-5YK-A610\x00\x00', + b'28102-5YK-A620\x00\x00', + b'28102-5YK-A630\x00\x00', + b'28102-5YK-A700\x00\x00', + b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', + b'28102-5YL-A620\x00\x00', + b'28102-5YL-A700\x00\x00', + b'28102-5YL-A711\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TJB-A140\x00\x00', + b'78109-TJB-A240\x00\x00', + b'78109-TJB-A420\x00\x00', + b'78109-TJB-AB10\x00\x00', + b'78109-TJB-AD10\x00\x00', + b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AQ20\x00\x00', + b'78109-TJB-AR10\x00\x00', + b'78109-TJB-AS10\x00\x00', + b'78109-TJB-AU10\x00\x00', + b'78109-TJB-AW10\x00\x00', + b'78109-TJC-A240\x00\x00', + b'78109-TJC-A420\x00\x00', + b'78109-TJC-AA10\x00\x00', + b'78109-TJC-AD10\x00\x00', + b'78109-TJC-AF10\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', + b'77959-TJB-A210\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TJB-A040\x00\x00', + b'46114-TJB-A050\x00\x00', + b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TJB-A040\x00\x00', + b'38897-TJB-A110\x00\x00', + b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TJB-A030\x00\x00', + b'39990-TJB-A040\x00\x00', + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', + ], + }, + CAR.RIDGELINE: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6Z-A020\x00\x00', + b'39990-T6Z-A030\x00\x00', + b'39990-T6Z-A050\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6Z-A020\x00\x00', + b'36161-T6Z-A310\x00\x00', + b'36161-T6Z-A420\x00\x00', + b'36161-T6Z-A520\x00\x00', + b'36161-T6Z-A620\x00\x00', + b'36161-TJZ-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6Z-A010\x00\x00', + b'38897-T6Z-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6Z-A420\x00\x00', + b'78109-T6Z-A510\x00\x00', + b'78109-T6Z-A710\x00\x00', + b'78109-T6Z-A810\x00\x00', + b'78109-T6Z-A910\x00\x00', + b'78109-T6Z-AA10\x00\x00', + b'78109-T6Z-C620\x00\x00', + b'78109-T6Z-C910\x00\x00', + b'78109-TJZ-A510\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6Z-A020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T6Z-A120\x00\x00', + b'57114-T6Z-A130\x00\x00', + b'57114-T6Z-A520\x00\x00', + b'57114-TJZ-A520\x00\x00', + ], + }, + CAR.INSIGHT: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TXM-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TXM-A070\x00\x00', + b'36802-TXM-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TXM-A050\x00\x00', + b'36161-TXM-A060\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TXM-A230\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TXM-A030\x00\x00', + b'57114-TXM-A040\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TXM-A020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TXM-A010\x00\x00', + b'78109-TXM-A020\x00\x00', + b'78109-TXM-A030\x00\x00', + b'78109-TXM-A110\x00\x00', + b'78109-TXM-C010\x00\x00', + ], + }, + CAR.HRV: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T7A-A010\x00\x00', + b'38897-T7A-A110\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THX-A020\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T7A-A040\x00\x00', + b'36161-T7A-A140\x00\x00', + b'36161-T7A-A240\x00\x00', + b'36161-T7A-C440\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T7A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THW-A110\x00\x00', + b'78109-THX-A110\x00\x00', + b'78109-THX-A120\x00\x00', + b'78109-THX-A210\x00\x00', + b'78109-THX-A220\x00\x00', + b'78109-THX-C220\x00\x00', + ], + }, + CAR.HRV_3G: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, + CAR.ACURA_ILX: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TX6-A010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TV9-A140\x00\x00', + b'36161-TX6-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX6-A230\x00\x00', + b'77959-TX6-C210\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T3R-A120\x00\x00', + b'78109-T3R-A410\x00\x00', + b'78109-TV9-A510\x00\x00', + ], + }, + CAR.HONDA_E: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TYF-N030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TYF-E140\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TYF-E010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TYF-G430\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-TYF-G610\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TYF-E030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TYF-E020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TYF-E030\x00\x00', + ], + }, + CAR.CIVIC_2022: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T24-T120\x00\x00', + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A210\x00\x00', + b'38897-T20-A310\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + b'38897-T24-Z120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T20-A980\x00\x00', + b'77959-T20-M820\x00\x00', + b'77959-T47-A940\x00\x00', + b'77959-T47-A950\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-T21-A220\x00\x00', + b'78108-T21-A230\x00\x00', + b'78108-T21-A620\x00\x00', + b'78108-T21-A740\x00\x00', + b'78108-T21-MB10\x00\x00', + b'78108-T22-A020\x00\x00', + b'78108-T23-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T20-A060\x00\x00', + b'36161-T20-A070\x00\x00', + b'36161-T20-A080\x00\x00', + b'36161-T24-T070\x00\x00', + b'36161-T47-A070\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T24-TB30\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + b'28101-65H-A120\x00\x00', + b'28101-65J-N010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-64A-A540\x00\x00', + b'37805-64A-A620\x00\x00', + b'37805-64D-P510\x00\x00', + b'37805-64L-A540\x00\x00', + b'37805-64S-A540\x00\x00', + b'37805-64S-A720\x00\x00', + b'37805-64S-AA10\x00\x00', + ], + }, +} diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index b3be8d0aa0..e04162bebc 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -325,6 +325,9 @@ class CarInterface(CarInterfaceBase): if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + if ret.enableGasInterceptor and candidate not in HONDA_BOSCH: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR + if candidate in HONDA_BOSCH_RADARLESS: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py index da64b8f70b..4e3f9182ea 100755 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -2,7 +2,7 @@ import re import unittest -from openpilot.selfdrive.car.honda.values import FW_VERSIONS +from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index e703bde8b0..2f7cf7ca49 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), @@ -181,6 +181,13 @@ FW_QUERY_CONFIG = FwQueryConfig( ), # Data collection requests: + # Attempt to get the radarless Civic 2022+ camera FW + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + bus=0, + logging=True + ), # Log extra identifiers for current ECUs Request( [HONDA_VERSION_REQUEST], @@ -210,1417 +217,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.ACCORD: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6A0-8720\x00\x00', - b'37805-6A0-9520\x00\x00', - b'37805-6A0-9620\x00\x00', - b'37805-6A0-9720\x00\x00', - b'37805-6A0-A540\x00\x00', - b'37805-6A0-A550\x00\x00', - b'37805-6A0-A640\x00\x00', - b'37805-6A0-A650\x00\x00', - b'37805-6A0-A740\x00\x00', - b'37805-6A0-A750\x00\x00', - b'37805-6A0-A840\x00\x00', - b'37805-6A0-A850\x00\x00', - b'37805-6A0-A930\x00\x00', - b'37805-6A0-AF30\x00\x00', - b'37805-6A0-AG30\x00\x00', - b'37805-6B2-C520\x00\x00', - b'37805-6A0-C540\x00\x00', - b'37805-6A1-H650\x00\x00', - b'37805-6B2-A550\x00\x00', - b'37805-6B2-A560\x00\x00', - b'37805-6B2-A650\x00\x00', - b'37805-6B2-A660\x00\x00', - b'37805-6B2-A720\x00\x00', - b'37805-6B2-A810\x00\x00', - b'37805-6B2-A820\x00\x00', - b'37805-6B2-A920\x00\x00', - b'37805-6B2-M520\x00\x00', - b'37805-6B2-Y810\x00\x00', - b'37805-6M4-B730\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TVC-A910\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-6A7-A220\x00\x00', - b'28101-6A7-A230\x00\x00', - b'28101-6A7-A320\x00\x00', - b'28101-6A7-A330\x00\x00', - b'28101-6A7-A410\x00\x00', - b'28101-6A7-A510\x00\x00', - b'28101-6A7-A610\x00\x00', - b'28101-6A7-A710\x00\x00', - b'28101-6A9-H140\x00\x00', - b'28101-6A9-H420\x00\x00', - b'28102-6B8-A560\x00\x00', - b'28102-6B8-A570\x00\x00', - b'28102-6B8-A700\x00\x00', - b'28102-6B8-A800\x00\x00', - b'28102-6B8-C560\x00\x00', - b'28102-6B8-C570\x00\x00', - b'28102-6B8-M520\x00\x00', - b'28102-6B8-R700\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TVA-A060\x00\x00', - b'46114-TVA-A080\x00\x00', - b'46114-TVA-A120\x00\x00', - b'46114-TVA-A320\x00\x00', - b'46114-TVA-A050\x00\x00', - b'46114-TVE-H550\x00\x00', - b'46114-TVE-H560\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TVA-B040\x00\x00', - b'57114-TVA-B050\x00\x00', - b'57114-TVA-B060\x00\x00', - b'57114-TVA-B530\x00\x00', - b'57114-TVA-C040\x00\x00', - b'57114-TVA-C050\x00\x00', - b'57114-TVA-C060\x00\x00', - b'57114-TVA-C530\x00\x00', - b'57114-TVA-E520\x00\x00', - b'57114-TVE-H250\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBX-H120\x00\x00', - b'39990-TVA-A140\x00\x00', - b'39990-TVA-A150\x00\x00', - b'39990-TVA-A160\x00\x00', - b'39990-TVA-A340\x00\x00', - b'39990-TVA-X030\x00\x00', - b'39990-TVA-X040\x00\x00', - b'39990-TVA,A150\x00\x00', # modified firmware - b'39990-TVE-H130\x00\x00', - ], - (Ecu.unknown, 0x18da3af1, None): [ - b'39390-TVA-A020\x00\x00', - b'39390-TVA-A120\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBX-H230\x00\x00', - b'77959-TVA-A460\x00\x00', - b'77959-TVA-F330\x00\x00', - b'77959-TVA-H230\x00\x00', - b'77959-TVA-L420\x00\x00', - b'77959-TVA-X330\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBX-H310\x00\x00', - b'78109-TVA-A010\x00\x00', - b'78109-TVA-A020\x00\x00', - b'78109-TVA-A030\x00\x00', - b'78109-TVA-A110\x00\x00', - b'78109-TVA-A120\x00\x00', - b'78109-TVA-A130\x00\x00', - b'78109-TVA-A210\x00\x00', - b'78109-TVA-A220\x00\x00', - b'78109-TVA-A230\x00\x00', - b'78109-TVA-A310\x00\x00', - b'78109-TVA-C010\x00\x00', - b'78109-TVA-L010\x00\x00', - b'78109-TVA-L210\x00\x00', - b'78109-TVA-R310\x00\x00', - b'78109-TVC-A010\x00\x00', - b'78109-TVC-A020\x00\x00', - b'78109-TVC-A030\x00\x00', - b'78109-TVC-A110\x00\x00', - b'78109-TVC-A130\x00\x00', - b'78109-TVC-A210\x00\x00', - b'78109-TVC-A220\x00\x00', - b'78109-TVC-A230\x00\x00', - b'78109-TVC-C010\x00\x00', - b'78109-TVC-C110\x00\x00', - b'78109-TVC-L010\x00\x00', - b'78109-TVC-L210\x00\x00', - b'78109-TVC-M510\x00\x00', - b'78109-TVC-YF10\x00\x00', - b'78109-TVE-H610\x00\x00', - b'78109-TWA-A210\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A010\x00\x00', - b'78209-TVA-A110\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TBX-H140\x00\x00', - b'36802-TVA-A150\x00\x00', - b'36802-TVA-A160\x00\x00', - b'36802-TVA-A170\x00\x00', - b'36802-TVA-A330\x00\x00', - b'36802-TVC-A330\x00\x00', - b'36802-TVE-H070\x00\x00', - b'36802-TWA-A070\x00\x00', - b'36802-TWA-A080\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TBX-H130\x00\x00', - b'36161-TVA-A060\x00\x00', - b'36161-TVA-A330\x00\x00', - b'36161-TVC-A330\x00\x00', - b'36161-TVE-H050\x00\x00', - b'36161-TWA-A070\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TVA-A010\x00\x00', - b'38897-TVA-A020\x00\x00', - b'38897-TVA-A230\x00\x00', - b'38897-TVA-A240\x00\x00', - ], - }, - CAR.ACCORDH: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TWA-A120\x00\x00', - b'38897-TWD-J020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TWA-A040\x00\x00', - b'57114-TWA-A050\x00\x00', - b'57114-TWA-A530\x00\x00', - b'57114-TWA-B520\x00\x00', - b'57114-TWB-H030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TWA-A440\x00\x00', - b'77959-TWA-L420\x00\x00', - b'77959-TWB-H220\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TWA-A010\x00\x00', - b'78109-TWA-A020\x00\x00', - b'78109-TWA-A030\x00\x00', - b'78109-TWA-A110\x00\x00', - b'78109-TWA-A120\x00\x00', - b'78109-TWA-A130\x00\x00', - b'78109-TWA-A210\x00\x00', - b'78109-TWA-A220\x00\x00', - b'78109-TWA-A230\x00\x00', - b'78109-TWA-L010\x00\x00', - b'78109-TWA-L210\x00\x00', - b'78109-TWA-H210\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A010\x00\x00', - b'78209-TVA-A110\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TWA-A070\x00\x00', - b'36161-TWA-A330\x00\x00', - b'36161-TWB-H040\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TWA-A070\x00\x00', - b'36802-TWA-A080\x00\x00', - b'36802-TWA-A330\x00\x00', - b'36802-TWB-H060\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TVA-A160\x00\x00', - b'39990-TVA-A150\x00\x00', - b'39990-TVA-A340\x00\x00', - b'39990-TWB-H120\x00\x00', - ], - }, - CAR.ACCORD_NIDEC_4CYL: { - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-T2F-X840\x00\x00', - ], - (Ecu.fwdRadar, 0x18DAB0F1, None): [ - b'36161-T2F-A140\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78109-T2F-L110\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-T2F-A030\x00\x00', - ], - }, - CAR.CIVIC: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A640\x00\x00', - b'37805-5AA-A650\x00\x00', - b'37805-5AA-A670\x00\x00', - b'37805-5AA-A680\x00\x00', - b'37805-5AA-A810\x00\x00', - b'37805-5AA-C640\x00\x00', - b'37805-5AA-C680\x00\x00', - b'37805-5AA-C820\x00\x00', - b'37805-5AA-L650\x00\x00', - b'37805-5AA-L660\x00\x00', - b'37805-5AA-L680\x00\x00', - b'37805-5AA-L690\x00\x00', - b'37805-5AA-L810\000\000', - b'37805-5AG-Q710\x00\x00', - b'37805-5AJ-A610\x00\x00', - b'37805-5AJ-A620\x00\x00', - b'37805-5AJ-L610\x00\x00', - b'37805-5BA-A310\x00\x00', - b'37805-5BA-A510\x00\x00', - b'37805-5BA-A740\x00\x00', - b'37805-5BA-A760\x00\x00', - b'37805-5BA-A930\x00\x00', - b'37805-5BA-A960\x00\x00', - b'37805-5BA-C860\x00\x00', - b'37805-5BA-L410\x00\x00', - b'37805-5BA-L760\x00\x00', - b'37805-5BA-L930\x00\x00', - b'37805-5BA-L940\x00\x00', - b'37805-5BA-L960\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5CG-A040\x00\x00', - b'28101-5CG-A050\x00\x00', - b'28101-5CG-A070\x00\x00', - b'28101-5CG-A080\x00\x00', - b'28101-5CG-A320\x00\x00', - b'28101-5CG-A810\x00\x00', - b'28101-5CG-A820\x00\x00', - b'28101-5DJ-A040\x00\x00', - b'28101-5DJ-A060\x00\x00', - b'28101-5DJ-A510\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TBA-A540\x00\x00', - b'57114-TBA-A550\x00\x00', - b'57114-TBA-A560\x00\x00', - b'57114-TBA-A570\x00\x00', - b'57114-TEA-Q220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBA,A030\x00\x00', # modified firmware - b'39990-TBA-A030\x00\x00', - b'39990-TBG-A030\x00\x00', - b'39990-TEA-T020\x00\x00', - b'39990-TEG-A010\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBA-A030\x00\x00', - b'77959-TBA-A040\x00\x00', - b'77959-TBG-A030\x00\x00', - b'77959-TEA-Q820\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBA-A510\x00\x00', - b'78109-TBA-A520\x00\x00', - b'78109-TBA-A530\x00\x00', - b'78109-TBA-C520\x00\x00', - b'78109-TBC-A310\x00\x00', - b'78109-TBC-A320\x00\x00', - b'78109-TBC-A510\x00\x00', - b'78109-TBC-A520\x00\x00', - b'78109-TBC-A530\x00\x00', - b'78109-TBC-C510\x00\x00', - b'78109-TBC-C520\x00\x00', - b'78109-TBC-C530\x00\x00', - b'78109-TBH-A510\x00\x00', - b'78109-TBH-A530\x00\x00', - b'78109-TED-Q510\x00\x00', - b'78109-TEG-A310\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TBA-A020\x00\x00', - b'36161-TBA-A030\x00\x00', - b'36161-TBA-A040\x00\x00', - b'36161-TBC-A020\x00\x00', - b'36161-TBC-A030\x00\x00', - b'36161-TED-Q320\x00\x00', - b'36161-TEG-A010\x00\x00', - b'36161-TEG-A020\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A010\x00\x00', - b'38897-TBA-A020\x00\x00', - ], - }, - CAR.CIVIC_BOSCH: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A940\x00\x00', - b'37805-5AA-A950\x00\x00', - b'37805-5AA-C950\x00\x00', - b'37805-5AA-L940\x00\x00', - b'37805-5AA-L950\x00\x00', - b'37805-5AG-Z910\x00\x00', - b'37805-5AJ-A750\x00\x00', - b'37805-5AJ-L750\x00\x00', - b'37805-5AK-T530\x00\x00', - b'37805-5AN-A750\x00\x00', - b'37805-5AN-A830\x00\x00', - b'37805-5AN-A840\x00\x00', - b'37805-5AN-A930\x00\x00', - b'37805-5AN-A940\x00\x00', - b'37805-5AN-A950\x00\x00', - b'37805-5AN-AG20\x00\x00', - b'37805-5AN-AH20\x00\x00', - b'37805-5AN-AJ30\x00\x00', - b'37805-5AN-AK10\x00\x00', - b'37805-5AN-AK20\x00\x00', - b'37805-5AN-AR10\x00\x00', - b'37805-5AN-AR20\x00\x00', - b'37805-5AN-CH20\x00\x00', - b'37805-5AN-E630\x00\x00', - b'37805-5AN-E720\x00\x00', - b'37805-5AN-E820\x00\x00', - b'37805-5AN-J820\x00\x00', - b'37805-5AN-L840\x00\x00', - b'37805-5AN-L930\x00\x00', - b'37805-5AN-L940\x00\x00', - b'37805-5AN-LF20\x00\x00', - b'37805-5AN-LH20\x00\x00', - b'37805-5AN-LJ20\x00\x00', - b'37805-5AN-LR20\x00\x00', - b'37805-5AN-LS20\x00\x00', - b'37805-5AW-G720\x00\x00', - b'37805-5AZ-E850\x00\x00', - b'37805-5AZ-G540\x00\x00', - b'37805-5AZ-G740\x00\x00', - b'37805-5AZ-G840\x00\x00', - b'37805-5BB-A530\x00\x00', - b'37805-5BB-A540\x00\x00', - b'37805-5BB-A630\x00\x00', - b'37805-5BB-A640\x00\x00', - b'37805-5BB-C540\x00\x00', - b'37805-5BB-C630\x00\x00', - b'37805-5BB-C640\x00\x00', - b'37805-5BB-L540\x00\x00', - b'37805-5BB-L630\x00\x00', - b'37805-5BB-L640\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5CG-A920\x00\x00', - b'28101-5CG-AB10\x00\x00', - b'28101-5CG-C110\x00\x00', - b'28101-5CG-C220\x00\x00', - b'28101-5CG-C320\x00\x00', - b'28101-5CG-G020\x00\x00', - b'28101-5CG-L020\x00\x00', - b'28101-5CK-A130\x00\x00', - b'28101-5CK-A140\x00\x00', - b'28101-5CK-A150\x00\x00', - b'28101-5CK-C130\x00\x00', - b'28101-5CK-C140\x00\x00', - b'28101-5CK-C150\x00\x00', - b'28101-5CK-G210\x00\x00', - b'28101-5CK-J710\x00\x00', - b'28101-5CK-Q610\x00\x00', - b'28101-5DJ-A610\x00\x00', - b'28101-5DJ-A710\x00\x00', - b'28101-5DV-E330\x00\x00', - b'28101-5DV-E610\x00\x00', - b'28101-5DV-E820\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TBG-A330\x00\x00', - b'57114-TBG-A340\x00\x00', - b'57114-TBG-A350\x00\x00', - b'57114-TGG-A340\x00\x00', - b'57114-TGG-C320\x00\x00', - b'57114-TGG-G320\x00\x00', - b'57114-TGG-L320\x00\x00', - b'57114-TGG-L330\x00\x00', - b'57114-TGK-T320\x00\x00', - b'57114-TGL-G330\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBA-C020\x00\x00', - b'39990-TBA-C120\x00\x00', - b'39990-TEA-T820\x00\x00', - b'39990-TEZ-T020\x00\x00', - b'39990-TGG-A020\x00\x00', - b'39990-TGG-A120\x00\x00', - b'39990-TGG-J510\x00\x00', - b'39990-TGL-E130\x00\x00', - b'39990-TGN-E120\x00\x00', - # modded EPS bosch civic - b'39990-TBA,C020\x00\x00', - b'39990-TBA,C120\x00\x00', - b'39990-TEA,T820\x00\x00', - b'39990-TEZ,T020\x00\x00', - b'39990-TGG,A020\x00\x00', - b'39990-TGG,A120\x00\x00', - b'39990-TGG,J510\x00\x00', - b'39990-TGL,E130\x00\x00', - b'39990-TGN,E120\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBA-A060\x00\x00', - b'77959-TBG-A050\x00\x00', - b'77959-TEA-G020\x00\x00', - b'77959-TGG-A020\x00\x00', - b'77959-TGG-A030\x00\x00', - b'77959-TGG-E010\x00\x00', - b'77959-TGG-G010\x00\x00', - b'77959-TGG-G110\x00\x00', - b'77959-TGG-J320\x00\x00', - b'77959-TGG-Z820\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBA-A110\x00\x00', - b'78109-TBA-A910\x00\x00', - b'78109-TBA-C340\x00\x00', - b'78109-TBA-C910\x00\x00', - b'78109-TBC-A740\x00\x00', - b'78109-TBC-C540\x00\x00', - b'78109-TBG-A110\x00\x00', - b'78109-TBH-A710\x00\x00', - b'78109-TEG-A720\x00\x00', - b'78109-TFJ-G020\x00\x00', - b'78109-TGG-9020\x00\x00', - b'78109-TGG-A210\x00\x00', - b'78109-TGG-A220\x00\x00', - b'78109-TGG-A310\x00\x00', - b'78109-TGG-A320\x00\x00', - b'78109-TGG-A330\x00\x00', - b'78109-TGG-A610\x00\x00', - b'78109-TGG-A620\x00\x00', - b'78109-TGG-A810\x00\x00', - b'78109-TGG-A820\x00\x00', - b'78109-TGG-C220\x00\x00', - b'78109-TGG-E110\x00\x00', - b'78109-TGG-G030\x00\x00', - b'78109-TGG-G230\x00\x00', - b'78109-TGG-G410\x00\x00', - b'78109-TGK-Z410\x00\x00', - b'78109-TGL-G120\x00\x00', - b'78109-TGL-G130\x00\x00', - b'78109-TGL-G210\x00\x00', - b'78109-TGL-G230\x00\x00', - b'78109-TGL-GM10\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TBA-A150\x00\x00', - b'36802-TBA-A160\x00\x00', - b'36802-TFJ-G060\x00\x00', - b'36802-TGG-A050\x00\x00', - b'36802-TGG-A060\x00\x00', - b'36802-TGG-A130\x00\x00', - b'36802-TGG-G040\x00\x00', - b'36802-TGG-G130\x00\x00', - b'36802-TGK-Q120\x00\x00', - b'36802-TGL-G040\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TBA-A130\x00\x00', - b'36161-TBA-A140\x00\x00', - b'36161-TFJ-G070\x00\x00', - b'36161-TGG-A060\x00\x00', - b'36161-TGG-A080\x00\x00', - b'36161-TGG-A120\x00\x00', - b'36161-TGG-G050\x00\x00', - b'36161-TGG-G130\x00\x00', - b'36161-TGG-G140\x00\x00', - b'36161-TGK-Q120\x00\x00', - b'36161-TGL-G050\x00\x00', - b'36161-TGL-G070\x00\x00', - b'36161-TGG-G070\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A110\x00\x00', - b'38897-TBA-A020\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'39494-TGL-G030\x00\x00', - ], - }, - CAR.CIVIC_BOSCH_DIESEL: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-59N-G630\x00\x00', - b'37805-59N-G830\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-59Y-G220\x00\x00', - b'28101-59Y-G620\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TGN-E320\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TFK-G020\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TFK-G210\x00\x00', - b'77959-TGN-G220\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TFK-G020\x00\x00', - b'78109-TGN-G120\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TFK-G130\x00\x00', - b'36802-TGN-G130\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TGN-E010\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TFK-G130\x00\x00', - b'36161-TGN-G130\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A020\x00\x00', - ], - }, - CAR.CRV: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T1W-A230\x00\x00', - b'57114-T1W-A240\x00\x00', - b'57114-TFF-A940\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T0A-A230\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T1W-A210\x00\x00', - b'78109-T1W-C210\x00\x00', - b'78109-T1X-A210\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T1W-A830\x00\x00', - b'36161-T1W-C830\x00\x00', - b'36161-T1X-A830\x00\x00', - ], - }, - CAR.CRV_5G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5PA-AH20\x00\x00', - b'37805-5PA-3060\x00\x00', - b'37805-5PA-3080\x00\x00', - b'37805-5PA-3180\x00\x00', - b'37805-5PA-4050\x00\x00', - b'37805-5PA-4150\x00\x00', - b'37805-5PA-6520\x00\x00', - b'37805-5PA-6530\x00\x00', - b'37805-5PA-6630\x00\x00', - b'37805-5PA-6640\x00\x00', - b'37805-5PA-7630\x00\x00', - b'37805-5PA-9630\x00\x00', - b'37805-5PA-9640\x00\x00', - b'37805-5PA-9730\x00\x00', - b'37805-5PA-9830\x00\x00', - b'37805-5PA-9840\x00\x00', - b'37805-5PA-A650\x00\x00', - b'37805-5PA-A670\x00\x00', - b'37805-5PA-A680\x00\x00', - b'37805-5PA-A850\x00\x00', - b'37805-5PA-A870\x00\x00', - b'37805-5PA-A880\x00\x00', - b'37805-5PA-A890\x00\x00', - b'37805-5PA-AB10\x00\x00', - b'37805-5PA-AD10\x00\x00', - b'37805-5PA-AF20\x00\x00', - b'37805-5PA-C680\x00\x00', - b'37805-5PD-Q630\x00\x00', - b'37805-5PF-F730\x00\x00', - b'37805-5PF-M630\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5RG-A020\x00\x00', - b'28101-5RG-A030\x00\x00', - b'28101-5RG-A040\x00\x00', - b'28101-5RG-A120\x00\x00', - b'28101-5RG-A220\x00\x00', - b'28101-5RH-A020\x00\x00', - b'28101-5RH-A030\x00\x00', - b'28101-5RH-A040\x00\x00', - b'28101-5RH-A120\x00\x00', - b'28101-5RH-A220\x00\x00', - b'28101-5RL-Q010\x00\x00', - b'28101-5RM-F010\x00\x00', - b'28101-5RM-K010\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TLA-A040\x00\x00', - b'57114-TLA-A050\x00\x00', - b'57114-TLA-A060\x00\x00', - b'57114-TLB-A830\x00\x00', - b'57114-TMC-Z040\x00\x00', - b'57114-TMC-Z050\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TLA-A040\x00\x00', - b'39990-TLA-A110\x00\x00', - b'39990-TLA-A220\x00\x00', - b'39990-TLA,A040\x00\x00', # modified firmware - b'39990-TME-T030\x00\x00', - b'39990-TME-T120\x00\x00', - b'39990-TMT-T010\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TLA-A040\x00\x00', - b'46114-TLA-A050\x00\x00', - b'46114-TLA-A930\x00\x00', - b'46114-TMC-U020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TLA-A110\x00\x00', - b'78109-TLA-A120\x00\x00', - b'78109-TLA-A210\x00\x00', - b'78109-TLA-A220\x00\x00', - b'78109-TLA-C020\x00\x00', - b'78109-TLA-C110\x00\x00', - b'78109-TLA-C210\x00\x00', - b'78109-TLA-C310\x00\x00', - b'78109-TLB-A020\x00\x00', - b'78109-TLB-A110\x00\x00', - b'78109-TLB-A120\x00\x00', - b'78109-TLB-A210\x00\x00', - b'78109-TLB-A220\x00\x00', - b'78109-TMC-Q210\x00\x00', - b'78109-TMM-F210\x00\x00', - b'78109-TMM-M110\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TLA-A010\x00\x00', - b'38897-TLA-A110\x00\x00', - b'38897-TNY-G010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TLA-A040\x00\x00', - b'36802-TLA-A050\x00\x00', - b'36802-TLA-A060\x00\x00', - b'36802-TMC-Q040\x00\x00', - b'36802-TMC-Q070\x00\x00', - b'36802-TNY-A030\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TLA-A060\x00\x00', - b'36161-TLA-A070\x00\x00', - b'36161-TLA-A080\x00\x00', - b'36161-TMC-Q020\x00\x00', - b'36161-TMC-Q030\x00\x00', - b'36161-TMC-Q040\x00\x00', - b'36161-TNY-A020\x00\x00', - b'36161-TNY-A030\x00\x00', - b'36161-TNY-A040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TLA-A240\x00\x00', - b'77959-TLA-A250\x00\x00', - b'77959-TLA-A320\x00\x00', - b'77959-TLA-A410\x00\x00', - b'77959-TLA-A420\x00\x00', - b'77959-TLA-Q040\x00\x00', - b'77959-TLA-Z040\x00\x00', - b'77959-TMM-F040\x00\x00', - ], - }, - CAR.CRV_EU: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-R5Z-G740\x00\x00', - b'37805-R5Z-G780\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'], - (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'], - (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5LH-E120\x00\x00', - b'28103-5LH-E100\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T1V-G020\x00\x00', - b'78109-T1B-3050\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'], - }, - CAR.CRV_HYBRID: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TPA-G020\x00\x00', - b'57114-TPG-A020\x00\x00', - b'57114-TMB-H030\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TPA-G030\x00\x00', - b'39990-TPG-A020\x00\x00', - b'39990-TMA-H020\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TMA-H110\x00\x00', - b'38897-TPG-A110\x00\x00', - b'38897-TPG-A210\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TMB-H510\x00\x00', - b'54008-TMB-H610\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TMB-H040\x00\x00', - b'36161-TPA-E050\x00\x00', - b'36161-TPG-A030\x00\x00', - b'36161-TPG-A040\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TMB-H220\x00\x00', - b'78109-TPA-G520\x00\x00', - b'78109-TPG-A110\x00\x00', - b'78109-TPG-A210\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TLA-X010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TPA-E040\x00\x00', - b'36802-TPG-A020\x00\x00', - b'36802-TMB-H040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TLA-C320\x00\x00', - b'77959-TLA-C410\x00\x00', - b'77959-TLA-C420\x00\x00', - b'77959-TLA-G220\x00\x00', - b'77959-TLA-H240\x00\x00', - ], - }, - CAR.FIT: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T5R-L020\x00\x00', - b'57114-T5R-L220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T5R-C020\x00\x00', - b'39990-T5R-C030\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T5A-J010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T5A-A210\x00\x00', - b'78109-T5A-A410\x00\x00', - b'78109-T5A-A420\x00\x00', - b'78109-T5A-A910\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T5R-A040\x00\x00', - b'36161-T5R-A240\x00\x00', - b'36161-T5R-A520\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T5R-A230\x00\x00', - ], - }, - CAR.FREED: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TDK-J010\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TDK-J050\x00\x00', - b'39990-TDK-N020\x00\x00', - ], - # TODO: vsa is "essential" for fpv2 but doesn't appear on some models - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TDK-J120\x00\x00', - b'57114-TDK-J330\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TDK-J310\x00\x00', - b'78109-TDK-J320\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TDK-J070\x00\x00', - b'36161-TDK-J080\x00\x00', - b'36161-TDK-J530\x00\x00', - ], - }, - CAR.ODYSSEY: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-THR-A010\x00\x00', - b'38897-THR-A020\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5MR-4080\x00\x00', - b'37805-5MR-A240\x00\x00', - b'37805-5MR-A250\x00\x00', - b'37805-5MR-A310\x00\x00', - b'37805-5MR-A740\x00\x00', - b'37805-5MR-A750\x00\x00', - b'37805-5MR-A840\x00\x00', - b'37805-5MR-C620\x00\x00', - b'37805-5MR-D530\x00\x00', - b'37805-5MR-K730\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-THR-A020\x00\x00', - b'39990-THR-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-THR-A010\x00\x00', - b'77959-THR-A110\x00\x00', - b'77959-THR-X010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-THR-A020\x00\x00', - b'36161-THR-A030\x00\x00', - b'36161-THR-A110\x00\x00', - b'36161-THR-A720\x00\x00', - b'36161-THR-A730\x00\x00', - b'36161-THR-A810\x00\x00', - b'36161-THR-A910\x00\x00', - b'36161-THR-C010\x00\x00', - b'36161-THR-D110\x00\x00', - b'36161-THR-K020\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5NZ-A110\x00\x00', - b'28101-5NZ-A310\x00\x00', - b'28101-5NZ-C310\x00\x00', - b'28102-5MX-A001\x00\x00', - b'28102-5MX-A600\x00\x00', - b'28102-5MX-A610\x00\x00', - b'28102-5MX-A710\x00\x00', - b'28102-5MX-A900\x00\x00', - b'28102-5MX-A910\x00\x00', - b'28102-5MX-C001\x00\x00', - b'28102-5MX-D001\x00\x00', - b'28102-5MX-D710\x00\x00', - b'28102-5MX-K610\x00\x00', - b'28103-5NZ-A100\x00\x00', - b'28103-5NZ-A300\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-THR-A040\x00\x00', - b'57114-THR-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-THR-A220\x00\x00', - b'78109-THR-A230\x00\x00', - b'78109-THR-A420\x00\x00', - b'78109-THR-A430\x00\x00', - b'78109-THR-A720\x00\x00', - b'78109-THR-A820\x00\x00', - b'78109-THR-A830\x00\x00', - b'78109-THR-AB20\x00\x00', - b'78109-THR-AB30\x00\x00', - b'78109-THR-AB40\x00\x00', - b'78109-THR-AC20\x00\x00', - b'78109-THR-AC30\x00\x00', - b'78109-THR-AC40\x00\x00', - b'78109-THR-AC50\x00\x00', - b'78109-THR-AD30\x00\x00', - b'78109-THR-AE20\x00\x00', - b'78109-THR-AE30\x00\x00', - b'78109-THR-AE40\x00\x00', - b'78109-THR-AK10\x00\x00', - b'78109-THR-AL10\x00\x00', - b'78109-THR-AN10\x00\x00', - b'78109-THR-C220\x00\x00', - b'78109-THR-C330\x00\x00', - b'78109-THR-CE20\x00\x00', - b'78109-THR-DA20\x00\x00', - b'78109-THR-DA30\x00\x00', - b'78109-THR-DA40\x00\x00', - b'78109-THR-K120\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-THR-A020\x00\x00', - ], - }, - CAR.ODYSSEY_CHN: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T6D-H220\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T6A-J010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T6A-F310\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T6A-P040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T6A-P110\x00\x00', - ], - }, - CAR.PILOT: { - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TG7-A520\x00\x00', - b'54008-TG7-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5EY-A050\x00\x00', - b'28101-5EY-A100\x00\x00', - b'28101-5EZ-A050\x00\x00', - b'28101-5EZ-A060\x00\x00', - b'28101-5EZ-A100\x00\x00', - b'28101-5EZ-A210\x00\x00', - b'28101-5EZ-A600\x00\x00', - b'28101-5EZ-A430\x00\x00', - b'28101-5EZ-A700\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-RLV-4060\x00\x00', - b'37805-RLV-4070\x00\x00', - b'37805-RLV-A830\x00\x00', - b'37805-RLV-A840\x00\x00', - b'37805-RLV-C430\x00\x00', - b'37805-RLV-C510\x00\x00', - b'37805-RLV-C520\x00\x00', - b'37805-RLV-C530\x00\x00', - b'37805-RLV-C910\x00\x00', - b'37805-RLV-B220\x00\x00', - b'37805-RLV-B210\x00\x00', - b'37805-RLV-L160\x00\x00', - b'37805-RLV-B420\x00\x00', - b'37805-RLV-F120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TG7-A030\x00\x00', - b'38897-TG7-A040\x00\x00', - b'38897-TG7-A110\x00\x00', - b'38897-TG7-A210\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TG7-A030\x00\x00', - b'39990-TG7-A040\x00\x00', - b'39990-TG7-A060\x00\x00', - b'39990-TG7-A070\x00\x00', - b'39990-TGS-A230\x00\x00', - b'39990-TGS-A320\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TG7-A310\x00\x00', - b'36161-TG7-A520\x00\x00', - b'36161-TG7-A630\x00\x00', - b'36161-TG7-A720\x00\x00', - b'36161-TG7-A820\x00\x00', - b'36161-TG7-A930\x00\x00', - b'36161-TG7-C520\x00\x00', - b'36161-TG7-D520\x00\x00', - b'36161-TG7-D630\x00\x00', - b'36161-TG7-Y630\x00\x00', - b'36161-TG8-A520\x00\x00', - b'36161-TG8-A630\x00\x00', - b'36161-TG8-A720\x00\x00', - b'36161-TG8-A830\x00\x00', - b'36161-TGS-A130\x00\x00', - b'36161-TGT-A030\x00\x00', - b'36161-TGT-A130\x00\x00', - b'36161-TGS-A030\x00\x00', - b'36161-TGS-A220\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TG7-A020\x00\x00', - b'77959-TG7-A110\x00\x00', - b'77959-TG7-A210\x00\x00', - b'77959-TG7-Y210\x00\x00', - b'77959-TGS-A010\x00\x00', - b'77959-TGS-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TG7-A040\x00\x00', - b'78109-TG7-A050\x00\x00', - b'78109-TG7-A420\x00\x00', - b'78109-TG7-A520\x00\x00', - b'78109-TG7-A720\x00\x00', - b'78109-TG7-AJ10\x00\x00', - b'78109-TG7-AJ20\x00\x00', - b'78109-TG7-AK10\x00\x00', - b'78109-TG7-AK20\x00\x00', - b'78109-TG7-AM20\x00\x00', - b'78109-TG7-AP10\x00\x00', - b'78109-TG7-AP20\x00\x00', - b'78109-TG7-AS20\x00\x00', - b'78109-TG7-AT20\x00\x00', - b'78109-TG7-AU20\x00\x00', - b'78109-TG7-AX20\x00\x00', - b'78109-TG7-D020\x00\x00', - b'78109-TG7-DJ10\x00\x00', - b'78109-TG7-YK20\x00\x00', - b'78109-TG8-A420\x00\x00', - b'78109-TG8-A520\x00\x00', - b'78109-TG8-AJ10\x00\x00', - b'78109-TG8-AJ20\x00\x00', - b'78109-TG8-AK20\x00\x00', - b'78109-TGS-AK20\x00\x00', - b'78109-TGS-AP20\x00\x00', - b'78109-TGT-AJ20\x00\x00', - b'78109-TGT-AK30\x00\x00', - b'78109-TGS-AT20\x00\x00', - b'78109-TGS-AX20\x00\x00', - b'78109-TGS-AJ20\x00\x00', - b'78109-TGS-AC10\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TG7-A130\x00\x00', - b'57114-TG7-A140\x00\x00', - b'57114-TG7-A230\x00\x00', - b'57114-TG7-A240\x00\x00', - b'57114-TG7-A630\x00\x00', - b'57114-TG7-A730\x00\x00', - b'57114-TG8-A140\x00\x00', - b'57114-TG8-A240\x00\x00', - b'57114-TG8-A630\x00\x00', - b'57114-TG8-A730\x00\x00', - b'57114-TGS-A530\x00\x00', - b'57114-TGT-A530\x00\x00', - ], - }, - CAR.ACURA_RDX: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TX5-A220\x00\x00', - b'57114-TX4-A220\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TX5-A030\x00\x00', - b'36161-TX4-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TX4-C010\x00\x00', - b'77959-TX4-B010\x00\x00', - b'77959-TX4-C020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TX5-A310\x00\x00', - b'78109-TX4-A210\x00\x00', - b'78109-TX4-A310\x00\x00', - ], - }, - CAR.ACURA_RDX_3G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5YF-A130\x00\x00', - b'37805-5YF-A230\x00\x00', - b'37805-5YF-A320\x00\x00', - b'37805-5YF-A330\x00\x00', - b'37805-5YF-A420\x00\x00', - b'37805-5YF-A430\x00\x00', - b'37805-5YF-A750\x00\x00', - b'37805-5YF-A850\x00\x00', - b'37805-5YF-A870\x00\x00', - b'37805-5YF-AD20\x00\x00', - b'37805-5YF-C210\x00\x00', - b'37805-5YF-C220\x00\x00', - b'37805-5YF-C410\000\000', - b'37805-5YF-C420\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TJB-A030\x00\x00', - b'57114-TJB-A040\x00\x00', - b'57114-TJB-A120\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TJB-A040\x00\x00', - b'36802-TJB-A050\x00\x00', - b'36802-TJB-A540\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TJB-A040\x00\x00', - b'36161-TJB-A530\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TJB-A520\x00\x00', - b'54008-TJB-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28102-5YK-A610\x00\x00', - b'28102-5YK-A620\x00\x00', - b'28102-5YK-A630\x00\x00', - b'28102-5YK-A700\x00\x00', - b'28102-5YK-A711\x00\x00', - b'28102-5YK-A800\x00\x00', - b'28102-5YL-A620\x00\x00', - b'28102-5YL-A700\x00\x00', - b'28102-5YL-A711\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TJB-A140\x00\x00', - b'78109-TJB-A240\x00\x00', - b'78109-TJB-A420\x00\x00', - b'78109-TJB-AB10\x00\x00', - b'78109-TJB-AD10\x00\x00', - b'78109-TJB-AF10\x00\x00', - b'78109-TJB-AQ20\x00\x00', - b'78109-TJB-AR10\x00\x00', - b'78109-TJB-AS10\000\000', - b'78109-TJB-AU10\x00\x00', - b'78109-TJB-AW10\x00\x00', - b'78109-TJC-A420\x00\x00', - b'78109-TJC-AA10\x00\x00', - b'78109-TJC-AD10\x00\x00', - b'78109-TJC-AF10\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TJB-A040\x00\x00', - b'77959-TJB-A120\x00\x00', - b'77959-TJB-A210\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TJB-A040\x00\x00', - b'46114-TJB-A050\x00\x00', - b'46114-TJB-A060\x00\x00', - b'46114-TJB-A120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TJB-A040\x00\x00', - b'38897-TJB-A110\x00\x00', - b'38897-TJB-A120\x00\x00', - b'38897-TJB-A220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TJB-A030\x00\x00', - b'39990-TJB-A040\x00\x00', - b'39990-TJB-A070\x00\x00', - b'39990-TJB-A130\x00\x00', - ], - }, - CAR.RIDGELINE: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T6Z-A020\x00\x00', - b'39990-T6Z-A030\x00\x00', - b'39990-T6Z-A050\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T6Z-A020\x00\x00', - b'36161-T6Z-A310\x00\x00', - b'36161-T6Z-A420\x00\x00', - b'36161-T6Z-A520\x00\x00', - b'36161-T6Z-A620\x00\x00', - b'36161-TJZ-A120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T6Z-A010\x00\x00', - b'38897-T6Z-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T6Z-A420\x00\x00', - b'78109-T6Z-A510\x00\x00', - b'78109-T6Z-A710\x00\x00', - b'78109-T6Z-A810\x00\x00', - b'78109-T6Z-A910\x00\x00', - b'78109-T6Z-AA10\x00\x00', - b'78109-T6Z-C620\x00\x00', - b'78109-T6Z-C910\x00\x00', - b'78109-TJZ-A510\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T6Z-A020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T6Z-A120\x00\x00', - b'57114-T6Z-A130\x00\x00', - b'57114-T6Z-A520\x00\x00', - b'57114-TJZ-A520\x00\x00', - ], - }, - CAR.INSIGHT: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TXM-A040\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TXM-A070\x00\x00', - b'36802-TXM-A080\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TXM-A050\x00\x00', - b'36161-TXM-A060\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TXM-A230\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TXM-A030\x00\x00', - b'57114-TXM-A040\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TXM-A020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TXM-A010\x00\x00', - b'78109-TXM-A020\x00\x00', - b'78109-TXM-A110\x00\x00', - b'78109-TXM-C010\x00\x00', - b'78109-TXM-A030\x00\x00', - ], - }, - CAR.HRV: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T7A-A010\x00\x00', - b'38897-T7A-A110\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-THX-A020\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T7A-A140\x00\x00', - b'36161-T7A-A240\x00\x00', - b'36161-T7A-C440\x00\x00', - b'36161-T7A-A040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T7A-A230\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-THX-A110\x00\x00', - b'78109-THX-A120\x00\x00', - b'78109-THX-A210\x00\x00', - b'78109-THX-A220\x00\x00', - b'78109-THX-C220\x00\x00', - b'78109-THW-A110\x00\x00', - ], - }, - CAR.HRV_3G: { - (Ecu.eps, 0x18DA30F1, None): [ - b'39990-3W0-A030\x00\x00', - ], - (Ecu.gateway, 0x18DAEFF1, None): [ - b'38897-3W1-A010\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-3V0-A820\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78108-3V1-A220\x00\x00', - ], - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-3W0-A040\x00\x00', - ], - (Ecu.transmission, 0x18DA1EF1, None): [ - b'28101-6EH-A010\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ - b'37805-6CT-A710\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ - b'46114-3W0-A020\x00\x00', - ], - }, - CAR.ACURA_ILX: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TX6-A010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TV9-A140\x00\x00', - b'36161-TX6-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TX6-A230\x00\x00', - b'77959-TX6-C210\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T3R-A120\x00\x00', - b'78109-T3R-A410\x00\x00', - b'78109-TV9-A510\x00\x00', - ], - }, - CAR.HONDA_E:{ - (Ecu.eps, 0x18DA30F1, None):[ - b'39990-TYF-N030\x00\x00' - ], - (Ecu.gateway, 0x18DAEFF1, None):[ - b'38897-TYF-E140\x00\x00' - ], - (Ecu.shiftByWire, 0x18DA0BF1, None):[ - b'54008-TYF-E010\x00\x00' - ], - (Ecu.srs, 0x18DA53F1, None):[ - b'77959-TYF-G430\x00\x00' - ], - (Ecu.combinationMeter, 0x18DA60F1, None):[ - b'78108-TYF-G610\x00\x00' - ], - (Ecu.fwdRadar, 0x18DAB0F1, None):[ - b'36802-TYF-E030\x00\x00' - ], - (Ecu.fwdCamera, 0x18DAB5F1, None):[ - b'36161-TYF-E020\x00\x00' - ], - (Ecu.vsa, 0x18DA28F1, None):[ - b'57114-TYF-E030\x00\x00' - ], - }, - CAR.CIVIC_2022: { - (Ecu.eps, 0x18DA30F1, None): [ - b'39990-T39-A130\x00\x00', - b'39990-T43-J020\x00\x00', - b'39990-T24-T120\x00\x00', - ], - (Ecu.gateway, 0x18DAEFF1, None): [ - b'38897-T20-A020\x00\x00', - b'38897-T20-A510\x00\x00', - b'38897-T21-A010\x00\x00', - b'38897-T20-A210\x00\x00', - b'38897-T20-A310\x00\x00', - b'38897-T24-Z120\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-T20-A970\x00\x00', - b'77959-T47-A940\x00\x00', - b'77959-T47-A950\x00\x00', - b'77959-T20-M820\x00\x00', - b'77959-T20-A980\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78108-T21-A220\x00\x00', - b'78108-T21-A620\x00\x00', - b'78108-T23-A110\x00\x00', - b'78108-T21-A230\x00\x00', - b'78108-T22-A020\x00\x00', - b'78108-T21-MB10\x00\x00', - b'78108-T21-A740\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T20-A070\x00\x00', - b'36161-T20-A080\x00\x00', - b'36161-T20-A060\x00\x00', - b'36161-T47-A070\x00\x00', - b'36161-T24-T070\x00\x00', - ], - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-T20-AB40\x00\x00', - b'57114-T43-JB30\x00\x00', - b'57114-T24-TB30\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-65D-A020\x00\x00', - b'28101-65D-A120\x00\x00', - b'28101-65H-A020\x00\x00', - b'28101-65H-A120\x00\x00', - b'28101-65J-N010\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-64L-A540\x00\x00', - b'37805-64S-A540\x00\x00', - b'37805-64S-A720\x00\x00', - b'37805-64A-A540\x00\x00', - b'37805-64A-A620\x00\x00', - b'37805-64D-P510\x00\x00', - b'37805-64S-AA10\x00\x00', - ], - }, - CAR.CLARITY: { - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TRW-A910\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TRW-A010\x00\x00', - b'57114-TRW-A020\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TRW-A020\x00\x00', - b'39990-TRW,A020\x00\x00', # modified firmware - b'39990,TRW,A020\x00\x00', # extra modified firmware - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TRW-A210\x00\x00', - b'77959-TRW-A220\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TRW-A010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TRW-A020\x00\x00', - b'78109-TRW-A030\x00\x00', - ], - }, -} DBC = { CAR.ACCORD_NIDEC_4CYL: dbc_dict('honda_accord_touring_2016_can_generated', 'acura_ilx_2016_nidec'), diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4428c77736..ed47aaa3bb 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -2,7 +2,7 @@ from cereal import car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance @@ -176,7 +176,7 @@ class CarController: if not self.CP.pcmCruiseSpeed: if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap: self.sl_force_active_timer = self.frame - put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 1bc525abf4..1f3e8d3ae8 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -8,7 +8,7 @@ from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \ - CANFD_CAR, EV_CAR, HYBRID_CAR, NON_SCC_CAR, NON_SCC_NO_FCA_CAR, NON_SCC_RADAR_FCA_CAR,\ + CANFD_CAR, NON_SCC_CAR, NON_SCC_NO_FCA_CAR, NON_SCC_RADAR_FCA_CAR, \ Buttons, CarControllerParams from openpilot.selfdrive.car.interfaces import CarStateBase @@ -37,8 +37,8 @@ class CarState(CarStateBase): else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] - self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \ - "ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \ + self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \ + "ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \ "ACCELERATOR_BRAKE_ALT" self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \ "CRUISE_BUTTONS" @@ -137,8 +137,8 @@ class CarState(CarStateBase): ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"]) ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED - if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): - if self.CP.carFingerprint in HYBRID_CAR: + if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): + if self.CP.flags & HyundaiFlags.HYBRID: ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254. else: ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254. @@ -149,7 +149,7 @@ class CarState(CarStateBase): # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, # as this seems to be standard over all cars, but is not the preferred method. - if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: gear = cp.vl["CLU15"]["CF_Clu_Gear"] @@ -164,8 +164,9 @@ class CarState(CarStateBase): aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 - ret.stockFcw = aeb_warning and not aeb_braking + ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking ret.stockAeb = aeb_warning and aeb_braking elif self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: aeb_src = "ESCC" @@ -222,8 +223,8 @@ class CarState(CarStateBase): self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS - if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR): - offset = 255. if self.CP.carFingerprint in EV_CAR else 1023. + if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID): + offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023. ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset ret.gasPressed = ret.gas > 1e-5 else: @@ -283,7 +284,7 @@ class CarState(CarStateBase): # It limits the vehicle speed, overridable by pressing the accelerator past a certain point. # The car will brake, but does not respect positive acceleration commands in this mode # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists) - if self.CP.carFingerprint in EV_CAR: + if self.CP.flags & HyundaiFlags.EV: ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1 self.prev_cruise_buttons = self.cruise_buttons[-1] @@ -350,7 +351,7 @@ class CarState(CarStateBase): if CP.enableBsm: messages.append(("LCA11", 50)) - if CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): messages.append(("E_EMS11", 50)) else: messages += [ @@ -358,7 +359,7 @@ class CarState(CarStateBase): ("EMS16", 100), ] - if CP.carFingerprint in (HYBRID_CAR | EV_CAR): + if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): messages.append(("ELECT_GEAR", 20)) elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: pass @@ -422,7 +423,7 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] - if CP.carFingerprint in EV_CAR: + if CP.flags & HyundaiFlags.EV: messages += [ ("MANUAL_SPEED_LIMIT_ASSIST", 10), ] diff --git a/selfdrive/car/hyundai/enable_radar_tracks.py b/selfdrive/car/hyundai/enable_radar_tracks.py index 3f7dccd69e..3a64d50cb9 100644 --- a/selfdrive/car/hyundai/enable_radar_tracks.py +++ b/selfdrive/car/hyundai/enable_radar_tracks.py @@ -1,5 +1,5 @@ -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.common.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x07' EXT_DIAG_RESPONSE = b'\x50\x07' diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py new file mode 100644 index 0000000000..6dcf6214e2 --- /dev/null +++ b/selfdrive/car/hyundai/fingerprints.py @@ -0,0 +1,1804 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.hyundai.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.HYUNDAI_GENESIS: [{ + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }], + CAR.SANTA_FE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 + }, + { + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 + }, + { + 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 + }], + CAR.SONATA: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.SONATA_LF: [{ + 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.KIA_SORENTO: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 + }], + CAR.KIA_STINGER: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G80: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G90: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ_EV_2020: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.KONA_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 + }], + CAR.KONA_EV_2022: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 + }], + CAR.KIA_NIRO_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.KIA_OPTIMA_H: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }, + { + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }], + CAR.PALISADE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 + }], +} + +FW_VERSIONS = { + CAR.AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.AZERA_HEV_6TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', + b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', + b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7', + b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.HYUNDAI_GENESIS: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS 1.1 -150210', + b'\xf1\x00DH LKAS 1.4 -140110', + b'\xf1\x00DH LKAS 1.5 -140425', + ], + }, + CAR.IONIQ: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_PHEV_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', + ], + }, + CAR.IONIQ_PHEV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x82zT\xd2', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_EV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', + b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + ], + }, + CAR.IONIQ_EV_LTD: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', + b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + }, + CAR.IONIQ_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.SONATA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', + b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', + b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', + b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', + b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + ], + (Ecu.engine, 0x7e0, None): [ + b'HM6M1_0a0_F00', + b'HM6M1_0a0_G20', + b'HM6M2_0a0_BD0', + b'\xf1\x81HM6M1_0a0_F00', + b'\xf1\x81HM6M1_0a0_G20', + b'\xf1\x82DNBVN5GMCCXXXDCA', + b'\xf1\x82DNBVN5GMCCXXXG2F', + b'\xf1\x82DNBWN5TMDCXXXG2E', + b'\xf1\x82DNCVN5GMCCXXXF0A', + b'\xf1\x82DNCVN5GMCCXXXG2B', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', + b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', + b'\xf1\x87391162M003', + b'\xf1\x87391162M010', + b'\xf1\x87391162M013', + b'\xf1\x87391162M023', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', + b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', + b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', + b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', + b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', + b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', + b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', + b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSA\xb9\x13\xf9p', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + 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b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + 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b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5987784GJ2UVugDDtGx\x88\x87\x88w\x88\x87xwwwwd/\xfb\xff\x97fO\xff\xb0h\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + ], + }, + CAR.SONATA_LF: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', + b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', + b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', + ], + }, + CAR.TUCSON: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', + b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', + ], + }, + CAR.SANTA_FE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', + b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', + b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', + b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', + b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', + b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', + b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', + b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x00bcsh8p54 U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1', + b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', + b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', + b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00', + b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n', + b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', + b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', + b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', + b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', + b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', + b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', + b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', + b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', + b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M1_0a0_G20', + b'\xf1\x81HM6M1_0a0_H00', + b'\xf1\x81HM6M2_0a0_G00', + b'\xf1\x82TACVN5GMI3XXXH0A', + b'\xf1\x82TACVN5GSI3XXXH0A', + b'\xf1\x82TMBZN5TMD3XXXG2E', + b'\xf1\x82TMCFD5MMCXXXXG0A', + b'\xf1\x87 \xf1\x81 ', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', + b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', + b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', + b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', + b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTC1', + b'\xf1\x87391312MTE0', + b'\xf1\x87391312MTL0', + ], + }, + CAR.SANTA_FE_PHEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', + b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTF0', + b'\xf1\x87391312MTF1', + ], + }, + CAR.CUSTIN_1ST_GEN: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391212MEC0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', + ], + }, + CAR.KIA_STINGER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', + b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', + b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', + b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', + b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', + b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', + b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', + b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', + ], + }, + CAR.KIA_STINGER_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81HM6M1_0a0_H00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3', + b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + ], + }, + CAR.PALISADE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', + b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', + b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', + b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', + b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', + b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', + b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', + b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde', + b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', + b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", + b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + 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b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + ], + }, + CAR.VELOSTER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', + b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TJS-JDK06F200H0A', + b'\x01TJS-JNU06F200H0A', + b'391282BJF5 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', + b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\x0e\xba\x1e\xa2', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', + ], + }, + CAR.GENESIS_G70: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\x7f\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + ], + }, + CAR.GENESIS_G70_2020: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', + b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', + b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', + b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G80: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', + b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G90: { + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x810000000000\x00', + ], + }, + CAR.KONA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'"\x01TOS-0NU06F301J02', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', + ], + }, + CAR.KIA_CEED: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TCD-JECU4F202H0K', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1\x00\x00\x00\x00', + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350', + ], + }, + CAR.KIA_FORTE: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', + b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TBDM1NU06F200H01', + b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', + b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", + ], + }, + CAR.KIA_K5_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', + b'\xf1\x8799110L2000\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', + b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', + b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200', + b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', + b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', + b'\xf1\x8758910-L3200\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', + b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M2_0a0_DQ0', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', + b'\xf1\x87391212MKT0', + b'\xf1\x87391212MKT3', + b'\xf1\x87391212MKV0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', + b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + ], + }, + CAR.KIA_K5_HEV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391162JLA0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', + ], + }, + CAR.KONA_EV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', + b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', + b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', + ], + }, + CAR.KONA_EV_2022: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', + ], + }, + CAR.KONA_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', + ], + }, + CAR.KIA_NIRO_EV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', + b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', + b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', + ], + }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, + CAR.KIA_NIRO_PHEV: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', + b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', + b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + ], + }, + CAR.KIA_NIRO_PHEV_2022: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_NIRO_HEV_2021: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_SELTOS: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', + b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TSP2KNL06F100J0K', + b'\x01TSP2KNL06F200J0K', + b'\xf1\x81616D2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81616D5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200 ', + b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', + b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C2051\x00\x00CSP4N20NS3\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_G4: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.abs, 0x7d1, None): [ + b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', + ], + }, + CAR.KIA_OPTIMA_H: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', + ], + }, + CAR.KIA_OPTIMA_H_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', + b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', + b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', + b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', + ], + }, + CAR.ELANTRA_GT_I30: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', + ], + }, + CAR.ELANTRA_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', + b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', + b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\x7f\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M2_0a0_FF0', + b'\xf1\x82CNCVD0AMFCXCSFFB', + b'\xf1\x82CNCWD0AMFCXCSFFA', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', + ], + }, + CAR.ELANTRA_HEV_2021: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', + b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', + b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KONA_HEV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.SONATA_HYBRID: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', + b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', + b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391062J002', + b'\xf1\x87391162J012', + b'\xf1\x87391162J013', + b'\xf1\x87391162J014', + ], + }, + CAR.KIA_SORENTO: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KIA_EV6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', + ], + }, + CAR.IONIQ_5: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + ], + }, + CAR.IONIQ_6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', + b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', + ], + }, + CAR.TUCSON_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + ], + }, + CAR.SANTA_CRUZ_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', + ], + }, + CAR.KIA_SPORTAGE_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', + ], + }, + CAR.GENESIS_GV70_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', + ], + }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', + ], + }, + CAR.KIA_SORENTO_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', + ], + }, + CAR.KIA_SORENTO_HEV_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', + ], + }, + CAR.KIA_NIRO_HEV_2ND_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, + CAR.KIA_CARNIVAL_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KA4 MFC AT KOR LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.05 99210-R0000 201221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', + b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', + ], + }, + CAR.KIA_K8_HEV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', + ], + }, + CAR.STARIA_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00US4_ RDR ----- 1.00 1.00 99110-CG000 ', + ], + }, + + # Non SCC + CAR.GENESIS_G70_2021_NON_SCC: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC --CUP 1.00 1.02 96400-G9100 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC MT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KONA_NON_SCC: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816V5RAJ00040.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8161699051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00', + ], + }, + CAR.KIA_FORTE_2019_NON_SCC: { + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.04 56310/M6000 4BDDC104', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616B5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816VFRAF00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CXJQAM4966515JB0x\xa9\x98\x9b\x99fff\x98feg\x88\x88w\x88Ff\x8f\xff{\xff\xff\xff\xa8\xf6\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', + ], + }, + CAR.KIA_FORTE_2021_NON_SCC: { + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6000\x00 4BDDC108', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616B6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816VFRAL00010.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CXLQAM0906975JB0\x89\x88\xa6\x8aVfug\xba\x87\x94yffuxgfo\xff\x8b\xff\xff\xff\x91\x82\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', + ], + }, + CAR.KIA_SELTOS_2023_NON_SCC: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510', + b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81616G2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240 4SPSC104', + b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.03 99210-Q5500 230208', + b'\xf1\x00SP2 MFC AT AUS RHD 1.00 1.02 99210-Q5500 220624', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00', + b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00', + ], + }, + CAR.ELANTRA_2022_NON_SCC: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x8756310AA030\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA030\x00 4CNDC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x8758910-AB500\xf1\x00CN ESC \t 100 \x06\x01 58910-AB500', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87CXNQEM4091445JB3g\x98\x98\x89\x99\x87gv\x89wuwgwv\x89hD_\xffx\xff\xff\xff\x86\xeb\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0ANF3XCSG8A', + ], + }, + CAR.BAYON_1ST_GEN_NON_SCC: { + # TODO: Check working route for more FW + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00BC3 LKA AT EUR LHD 1.00 1.01 99211-Q0100 261' + ], + }, +} diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 083c5e3951..ff45c4ac16 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -13,6 +13,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu Ecu = car.CarParams.Ecu +SafetyModel = car.CarParams.SafetyModel ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName GearShifter = car.CarState.GearShifter @@ -21,6 +22,17 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel} +def set_safety_config_hyundai(candidate, CAN, can_fd=False): + platform = SafetyModel.hyundaiCanfd if can_fd else \ + SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \ + SafetyModel.hyundai + cfgs = [get_safety_config(platform), ] + if CAN.ECAN >= 4: + cfgs.insert(0, get_safety_config(SafetyModel.noOutput)) + + return cfgs + + class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): @@ -38,9 +50,14 @@ class CarInterface(CarInterfaceBase): CAN = CanBus(None, hda2, fingerprint) if candidate in CANFD_CAR: + # detect if car is hybrid + if 0x105 in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.HYBRID.value + elif candidate in EV_CAR: + ret.flags |= HyundaiFlags.EV.value + # detect HDA2 with ADAS Driving ECU if hda2: - ret.flags |= HyundaiFlags.CANFD_HDA2.value if 0x110 in fingerprint[CAN.CAM]: ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value else: @@ -57,6 +74,12 @@ class CarInterface(CarInterfaceBase): if candidate not in CANFD_RADAR_SCC_CAR: ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value else: + # TODO: detect EV and hybrid + if candidate in HYBRID_CAR: + ret.flags |= HyundaiFlags.HYBRID.value + elif candidate in EV_CAR: + ret.flags |= HyundaiFlags.EV.value + # Send LFA message on cars with HDA if 0x485 in fingerprint[2]: ret.flags |= HyundaiFlags.SEND_LFA.value @@ -156,7 +179,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 ret.tireStiffnessFactor = 0.385 - elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN): + elif candidate == CAR.TUCSON_4TH_GEN: ret.mass = 1630. # average ret.wheelbase = 2.756 ret.steerRatio = 16. @@ -170,13 +193,17 @@ class CarInterface(CarInterfaceBase): ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0 ret.wheelbase = 3.055 ret.steerRatio = 17.0 # from learner + elif candidate == CAR.STARIA_4TH_GEN: + ret.mass = 2205. + ret.wheelbase = 3.273 + ret.steerRatio = 11.94 # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf # Kia elif candidate == CAR.KIA_SORENTO: ret.mass = 1985. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022): ret.mass = 3543. * CV.LB_TO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.6 # average of all the cars @@ -188,7 +215,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.63 ret.steerRatio = 14.56 elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: - ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions + ret.mass = 1725. # weight from SX and above trims, average of FWD and AWD versions ret.wheelbase = 2.756 ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL): @@ -222,19 +249,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.9 ret.steerRatio = 16. ret.tireStiffnessFactor = 0.65 - elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: - ret.mass = 1767. # SX Prestige trim support only - ret.wheelbase = 2.756 - ret.steerRatio = 13.6 - elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): + elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN): ret.wheelbase = 2.81 ret.steerRatio = 13.5 # average of the platforms if candidate == CAR.KIA_SORENTO_4TH_GEN: ret.mass = 3957 * CV.LB_TO_KG - elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN: - ret.mass = 4255 * CV.LB_TO_KG else: - ret.mass = 4537 * CV.LB_TO_KG + ret.mass = 4396 * CV.LB_TO_KG elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: ret.mass = 2087. ret.wheelbase = 3.09 @@ -280,8 +301,7 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in - (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)) + ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR) else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] @@ -312,45 +332,33 @@ class CarInterface(CarInterfaceBase): ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value # *** panda safety config *** - if candidate in CANFD_CAR: - cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] - if CAN.ECAN >= 4: - cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) - ret.safetyConfigs = cfgs + ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR)) - if ret.flags & HyundaiFlags.CANFD_HDA2: - ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 - if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: - ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING + if hda2: + ret.flags |= HyundaiFlags.CANFD_HDA2.value + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + + if candidate in CANFD_CAR: + if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS - if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: - ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC else: - if candidate in LEGACY_SAFETY_MODE_CAR: - # these cars require a special panda safety mode due to missing counters and checksums in the messages - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] - else: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] - - if candidate in CAMERA_SCC_CAR: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC - if 0x391 in fingerprint[0]: ret.spFlags |= HyundaiFlagsSP.SP_CAN_LFA_BTN.value ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN - - if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC - if candidate in NON_SCC_CAR: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_NON_SCC + if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC if ret.openpilotLongitudinalControl: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG - if candidate in HYBRID_CAR: + if ret.flags & HyundaiFlags.HYBRID: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS - elif candidate in EV_CAR: + elif ret.flags & HyundaiFlags.EV: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_NON_SCC): diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py index 6fe4582f54..f641535678 100755 --- a/selfdrive/car/hyundai/tests/print_platform_codes.py +++ b/selfdrive/car/hyundai/tests/print_platform_codes.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 from cereal import car -from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index dbf2b38615..c7100d03f0 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -5,9 +5,10 @@ import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ - HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ + HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \ UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \ get_platform_codes +from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} @@ -17,10 +18,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} NO_DATES_PLATFORMS = { # CAN FD CAR.KIA_SPORTAGE_5TH_GEN, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.TUCSON_4TH_GEN, - CAR.TUCSON_HYBRID_4TH_GEN, # CAN CAR.ELANTRA, CAR.ELANTRA_GT_I30, @@ -48,6 +47,10 @@ class TestHyundaiFingerprint(unittest.TestCase): for car_model in CANFD_CAR: self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") + def test_hybrid_ev_sets(self): + self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV") + self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported") + def test_auxiliary_request_ecu_whitelist(self): # Asserts only auxiliary Ecus can exist in database for CAN-FD cars whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary} @@ -177,10 +180,8 @@ class TestHyundaiFingerprint(unittest.TestCase): excluded_platforms = { CAR.GENESIS_G70, # shared platform code, part number, and date CAR.GENESIS_G70_2020, - CAR.TUCSON_4TH_GEN, # shared platform code and part number - CAR.TUCSON_HYBRID_4TH_GEN, } - excluded_platforms |= CANFD_CAR - EV_CAR # shared platform codes + excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST # shared platform codes excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match platforms_with_shared_codes = set() @@ -193,7 +194,7 @@ class TestHyundaiFingerprint(unittest.TestCase): "subAddress": 0 if sub_addr is None else sub_addr}) CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS) if len(matches) == 1: self.assertEqual(list(matches)[0], platform) else: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 227b92162b..d6419fc9c3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 import re from dataclasses import dataclass from enum import Enum, IntFlag, StrEnum @@ -65,6 +64,8 @@ class HyundaiFlags(IntFlag): SEND_LFA = 128 USE_FCA = 256 CANFD_HDA2_ALT_STEERING = 512 + HYBRID = 1024 + EV = 2048 class HyundaiFlagsSP(IntFlag): @@ -105,6 +106,7 @@ class CAR(StrEnum): SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" SONATA = "HYUNDAI SONATA 2020" SONATA_LF = "HYUNDAI SONATA 2019" + STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN" TUCSON = "HYUNDAI TUCSON 2019" PALISADE = "HYUNDAI PALISADE 2020" VELOSTER = "HYUNDAI VELOSTER 2019" @@ -112,7 +114,6 @@ class CAR(StrEnum): IONIQ_5 = "HYUNDAI IONIQ 5 2022" IONIQ_6 = "HYUNDAI IONIQ 6 2023" TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" - TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN" SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN" @@ -126,6 +127,7 @@ class CAR(StrEnum): KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" + KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" @@ -138,8 +140,6 @@ class CAR(StrEnum): KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN" - KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN" - KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" KIA_STINGER_2022 = "KIA STINGER 2022" KIA_CEED = "KIA CEED INTRO ED 2019" @@ -175,7 +175,10 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.AZERA_HEV_6TH_GEN: [ + HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], CAR.ELANTRA: [ # TODO: 2017-18 could be Hyundai G HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), @@ -202,18 +205,19 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", - car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages # TODO: this is the 2024 US MY, not yet released CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", + car_parts=CarParts.common([CarHarness.hyundai_d])), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.TUCSON: [ HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), @@ -236,8 +240,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.TUCSON_4TH_GEN: [ HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), @@ -260,8 +264,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], + CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", @@ -271,19 +277,23 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_SPORTAGE_5TH_GEN: [ + HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], CAR.KIA_SORENTO: [ HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_SORENTO_HEV_4TH_GEN: [ + HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), @@ -291,7 +301,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], CAR.KIA_CARNIVAL_4TH_GEN: [ - HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], @@ -327,81 +337,6 @@ class Buttons: GAP_DIST = 3 CANCEL = 4 # on newer models, this is a pause/resume button -FINGERPRINTS = { - CAR.HYUNDAI_GENESIS: [{ - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }], - CAR.SANTA_FE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 - }, - { - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 - }, - { - 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 - }], - CAR.SONATA: [ - {67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8}, - ], - CAR.SONATA_LF: [ - {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, - ], - CAR.KIA_SORENTO: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 - }], - CAR.KIA_STINGER: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 - }], - CAR.GENESIS_G80: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 - }], - CAR.GENESIS_G90: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 - }], - CAR.IONIQ_EV_2020: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], - CAR.IONIQ: [{ - 68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], - CAR.KONA_EV: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 - }], - CAR.KONA_EV_2022: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 - }], - CAR.KIA_NIRO_EV: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 - }], - CAR.KIA_OPTIMA_H: [{ - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 - }, - { - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 - }], - CAR.PALISADE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 - }], -} - def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]: # Returns unique, platform-specific identification codes for a set of versions @@ -422,15 +357,14 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by return codes -def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: # Non-electric CAN FD platforms often do not have platform code specifiers needed # to distinguish between hybrid and ICE. All EVs so far are either exclusively # electric or specify electric in the platform code. - # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers - fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)} + fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)} candidates: Set[str] = set() - for candidate, fws in FW_VERSIONS.items(): + for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within date range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} @@ -492,6 +426,9 @@ PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1: DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)') PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') +# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H) +CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} + # List of ECUs expected to have platform codes, camera and radar should exist on all cars # TODO: use abs, it has the platform code and part number on many platforms PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] @@ -559,1667 +496,6 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) -FW_VERSIONS = { - CAR.AZERA_6TH_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.AZERA_HEV_6TH_GEN: { - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.HYUNDAI_GENESIS: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DH LKAS 1.1 -150210', - b'\xf1\x00DH LKAS 1.4 -140110', - b'\xf1\x00DH LKAS 1.5 -140425', - ], - }, - CAR.IONIQ: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_PHEV_2019: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_PHEV: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', - b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', - b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2', - b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', - b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_EV_2020: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', - b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', - ], - }, - CAR.IONIQ_EV_LTD: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', - b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', - b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', - b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', - b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', - b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', - ], - }, - CAR.IONIQ_HEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', - b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', - ], - }, - CAR.SONATA: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', - b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', - b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', - b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', - b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81HM6M1_0a0_F00', - b'\xf1\x82DNBVN5GMCCXXXDCA', - b'\xf1\x82DNBVN5GMCCXXXG2F', - b'\xf1\x82DNBWN5TMDCXXXG2E', - b'\xf1\x82DNCVN5GMCCXXXF0A', - b'\xf1\x82DNCVN5GMCCXXXG2B', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', - b'\xf1\x87391162M003', - b'\xf1\x87391162M013', - b'\xf1\x87391162M023', - b'\xf1\x87391162M010', - b'HM6M1_0a0_F00', - b'HM6M1_0a0_G20', - b'HM6M2_0a0_BD0', - b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', - b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', - b'\xf1\x81HM6M1_0a0_G20', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', - b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', - b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', - b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', - b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', - b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', - b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', - b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', - b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', - b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', - b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', - b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - 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ESC \f 11 \x17\x01\x13 58920-C2610', - b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', - b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00', - 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b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - ], - }, - CAR.TUCSON: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', - b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', - b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', - b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', - ], - }, - CAR.SANTA_FE: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', - b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', - b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', - b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', - b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', - b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', - b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', - b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', - b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', - b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', - b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', - b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', - b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', - b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1', - b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - 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b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', - b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', - b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', - b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', - b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', - ], - }, - CAR.SANTA_FE_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', - b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', - b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', - b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', - b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', - b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', - b'\xf1\x81HM6M1_0a0_H00', - b'\xf1\x82TACVN5GMI3XXXH0A', - b'\xf1\x82TMBZN5TMD3XXXG2E', - b'\xf1\x82TACVN5GSI3XXXH0A', - b'\xf1\x82TMCFD5MMCXXXXG0A', - b'\xf1\x81HM6M1_0a0_G20', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', - b'\xf1\x81HM6M2_0a0_G00', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', - b'\xf1\x87 \xf1\x81 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', - b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', - b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', - b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', - b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', - b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', - b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', - b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', - ], - }, - CAR.SANTA_FE_HEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', - b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', - b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', - b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTC1', - b'\xf1\x87391312MTE0', - b'\xf1\x87391312MTL0', - ], - }, - CAR.SANTA_FE_PHEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', - b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTF0', - b'\xf1\x87391312MTF1', - ], - }, - CAR.CUSTIN_1ST_GEN: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391212MEC0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', - ], - }, - CAR.KIA_STINGER: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', - b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', - b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', - b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', - b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', - b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', - b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', - b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', - b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', - b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', - b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', - b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - ], - }, - CAR.KIA_STINGER_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', - b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81HM6M1_0a0_H00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', - b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', - ], - }, - CAR.PALISADE: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', - b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', - b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', - b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', - b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', - b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', - b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', - b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', - b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', - b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', - b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', - b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', - b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', - b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 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96400-G9100 ', - b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - ], - }, - CAR.GENESIS_G70_2020: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', - b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', - b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', - b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', - b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G70_2021_NON_SCC: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IK__ SCC --CUP 1.00 1.02 96400-G9100 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC MT USA LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G80: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G90: { - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - ], - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], - (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], - }, - CAR.KONA: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ], - (Ecu.abs, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ], - (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ], - }, - CAR.KONA_NON_SCC: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816V5RAJ00040.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8161699051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00', - ], - }, - CAR.KIA_CEED: { - (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', ], - (Ecu.eps, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], - (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], - (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', - b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', - ], - (Ecu.abs, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], - }, - CAR.KIA_FORTE: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', - b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', - b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', - b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', - b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', - b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TBDM1NU06F200H01', - b'391182B945\x00', - b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', - b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", - ], - }, - CAR.KIA_K5_2021: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', - b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', - b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', - b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', - b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', - b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222', - ], - (Ecu.abs, 0x7D1, None): [ - b'\xf1\000DL ESC \006 101 \004\002 58910-L3200', - b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200', - b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', - b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', - b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', - b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200', - b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', - ], - (Ecu.engine, 0x7E0, None): [ - b'\xf1\x87391212MKT0', - b'\xf1\x87391212MKV0', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', - b'\xf1\x81HM6M2_0a0_DQ0', - b'\xf1\x87391212MKT3', - ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8', - b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\000\000\000\000\000\000\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8', - b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', - b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', - b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', - b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed', - ], - }, - CAR.KIA_FORTE_2019_NON_SCC: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.04 56310/M6000 4BDDC104', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616B5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VFRAF00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CXJQAM4966515JB0x\xa9\x98\x9b\x99fff\x98feg\x88\x88w\x88Ff\x8f\xff{\xff\xff\xff\xa8\xf6\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', - ], - }, - CAR.KIA_FORTE_2021_NON_SCC: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.08 56310M6000\x00 4BDDC108', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616B6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VFRAL00010.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CXLQAM0906975JB0\x89\x88\xa6\x8aVfug\xba\x87\x94yffuxgfo\xff\x8b\xff\xff\xff\x91\x82\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', - ], - }, - CAR.KIA_K5_HEV_2020: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', - b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', - ], - (Ecu.engine, 0x7E0, None): [ - b'\xf1\x87391162JLA0', - ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', - ], - }, - CAR.KONA_EV: { - (Ecu.abs, 0x7D1, None): [ - b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', - b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', - b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', - b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', - b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', - b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', - b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', - b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', - b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', - ], - }, - CAR.KONA_EV_2022: { - (Ecu.abs, 0x7D1, None): [ - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', - b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', - b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', - b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', - b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', - b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', - b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', - b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', - b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', - b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', - ], - }, - CAR.KONA_EV_2ND_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', - ], - }, - CAR.KIA_NIRO_EV: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', - b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', - b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', - b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', - b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', - b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', - b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', - b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', - b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', - b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', - ], - }, - CAR.KIA_NIRO_EV_2ND_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', - b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', - ], - }, - CAR.KIA_NIRO_PHEV: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', - b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', - ], - }, - CAR.KIA_NIRO_HEV_2021: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', - b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', - ], - }, - CAR.KIA_SELTOS: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ',], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450', - b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616D2051\000\000\000\000\000\000\000\000', - b'\xf1\x81616D5051\000\000\000\000\000\000\000\000', - b'\001TSP2KNL06F100J0K', - b'\001TSP2KNL06F200J0K', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ', - b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', - b'\xf1\000SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', - ], - }, - CAR.KIA_SELTOS_2023_NON_SCC: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510', - b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616K0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81616G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240 4SPSC104', - b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.03 99210-Q5500 230208', - b'\xf1\x00SP2 MFC AT AUS RHD 1.00 1.02 99210-Q5500 220624', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00', - b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00', - ], - }, - CAR.KIA_OPTIMA_G4: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', - ], - }, - CAR.KIA_OPTIMA_G4_FL: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', - b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', - ], - }, - CAR.KIA_OPTIMA_H: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', - ], - }, - CAR.KIA_OPTIMA_H_G4_FL: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.BAYON_1ST_GEN_NON_SCC: { - # TODO: Check working route for more FW - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00BC3 LKA AT EUR LHD 1.00 1.01 99211-Q0100 261' - ], - }, - CAR.ELANTRA: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', - b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', - b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', - b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', - b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', - ], - }, - CAR.ELANTRA_GT_I30: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', - b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', - b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', - b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', - b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', - b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', - ], - }, - CAR.ELANTRA_2021: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', - b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', - b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', - b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', - b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', - b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', - b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x82CNCWD0AMFCXCSFFA', - b'\xf1\x81HM6M2_0a0_FF0', - b'\xf1\x82CNCVD0AMFCXCSFFB', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', - ], - }, - CAR.ELANTRA_2022_NON_SCC: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x8756310AA030\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA030\x00 4CNDC106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x8758910-AB500\xf1\x00CN ESC \t 100 \x06\x01 58910-AB500', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CXNQEM4091445JB3g\x98\x98\x89\x99\x87gv\x89wuwgwv\x89hD_\xffx\xff\xff\xff\x86\xeb\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0ANF3XCSG8A', - ], - }, - CAR.ELANTRA_HEV_2021: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', - b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', - b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', - b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', - b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', - b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', - b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', - b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', - b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', - ] - }, - CAR.KONA_HEV: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ] - }, - CAR.SONATA_HYBRID: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', - b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', - b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', - b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', - b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\000PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', - b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', - b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', - b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', - b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391162J012', - b'\xf1\x87391162J013', - b'\xf1\x87391162J014', - b'\xf1\x87391062J002', - ], - }, - CAR.KIA_SORENTO: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01' - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330' - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ' - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG' - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00' - ], - }, - CAR.KIA_SORENTO_PHEV_4TH_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', - ] - }, - CAR.KIA_EV6: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', - b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', - b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', - b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', - b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', - b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', - b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', - b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', - b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', - ], - }, - CAR.IONIQ_5: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', - b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', - b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', - b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', - b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', - ], - }, - CAR.IONIQ_6: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', - b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', - ], - }, - CAR.TUCSON_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', - ], - }, - CAR.TUCSON_HYBRID_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', - b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', - ], - }, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', - ], - }, - CAR.SANTA_CRUZ_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', - ], - }, - CAR.KIA_SPORTAGE_5TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', - b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', - b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', - b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', - ], - }, - CAR.GENESIS_GV70_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', - ], - }, - CAR.GENESIS_GV60_EV_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', - b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', - b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', - ], - }, - CAR.KIA_SORENTO_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', - b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', - b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', - ], - }, - CAR.KIA_NIRO_HEV_2ND_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', - b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', - ], - }, - CAR.GENESIS_GV80: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', - ], - }, - CAR.KIA_CARNIVAL_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', - b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', - b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', - b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', - ], - }, - CAR.KIA_SORENTO_HEV_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', - b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', - b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', - ], - }, - CAR.KIA_K8_HEV_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', - ], - }, -} CHECKSUM = { "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, @@ -2235,14 +511,13 @@ CAN_GEARS = { "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, - CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN} + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN, + CAR.STARIA_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, - CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} # These CAN FD cars do not accept communication control to disable the ADAS ECU, # responds with 0x7F2822 - 'conditions not correct' @@ -2253,10 +528,8 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } # these cars use a different gas signal HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, - CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, - CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN, - CAR.AZERA_HEV_6TH_GEN} + CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020, + CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} @@ -2333,14 +606,11 @@ DBC = { CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), CAR.IONIQ_6: dbc_dict('hyundai_canfd', None), CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), @@ -2351,4 +621,6 @@ DBC = { CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), + CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index d37f3a8db0..b639a01288 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,19 +1,20 @@ -import yaml +import json import operator import os import time import numpy as np +import tomllib from abc import abstractmethod, ABC from difflib import SequenceMatcher -from json import load -from typing import Any, Dict, Optional, Tuple, List, Callable +from enum import StrEnum +from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple from cereal import car from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV -from openpilot.common.kalman.simple_kalman import KF1D, get_kalman_gain +from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip -from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN @@ -24,38 +25,49 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 FRICTION_THRESHOLD = 0.3 -TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') -TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') -TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') +TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') +TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/lat_models') # dict used to rename activation functions whose names aren't valid python identifiers ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'} GAC_DICT = {1: 1, 2: 2, 3: 3} +FORWARD_GEARS = [GearShifter.drive, GearShifter.low, GearShifter.eco, + GearShifter.sport, GearShifter.manumatic, GearShifter.brake] def similarity(s1: str, s2: str) -> float: return SequenceMatcher(None, s1, s2).ratio() +class LatControlInputs(NamedTuple): + lateral_acceleration: float + roll_compensation: float + vego: float + aego: float + + +TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float] + + def get_torque_params(candidate): - with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.CSafeLoader) + with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: + sub = tomllib.load(f) if candidate in sub: candidate = sub[candidate] - with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.CSafeLoader) - with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.CSafeLoader) + with open(TORQUE_PARAMS_PATH, 'rb') as f: + params = tomllib.load(f) + with open(TORQUE_OVERRIDE_PATH, 'rb') as f: + override = tomllib.load(f) # Ensure no overlap if sum([candidate in x for x in [sub, params, override]]) > 1: @@ -74,7 +86,7 @@ def get_torque_params(candidate): class FluxModel: def __init__(self, params_file, zero_bias=False): with open(params_file, "r") as f: - params = load(f) + params = json.load(f) self.input_size = params["input_size"] self.output_size = params["output_size"] @@ -301,17 +313,16 @@ class CarInterfaceBase(ABC): @staticmethod def get_steer_feedforward_default(desired_angle, v_ego): # Proportional to realigning tire momentum: lateral acceleration. - # TODO: something with lateralPlan.curvatureRates return desired_angle * (v_ego**2) def get_steer_feedforward_function(self): return self.get_steer_feedforward_default - def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, - lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) - return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction + return (latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)) + friction def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: return self.torque_from_lateral_accel_linear @@ -559,19 +570,25 @@ class CarInterfaceBase(ABC): return mads_enabled - def get_sp_started_mads(self, mads_enabled, cruiseState_available): + def get_sp_started_mads(self, cs_out, CS): + if not cs_out.cruiseState.available and CS.out.cruiseState.available: + self.madsEnabledInit = False + self.madsEnabledInitPrev = False + return False if not self.mads_main_toggle or self.prev_acc_mads_combo: - return mads_enabled - if not self.madsEnabledInit and mads_enabled: + return CS.madsEnabled + if not self.madsEnabledInit and CS.madsEnabled: self.madsEnabledInit = True self.last_mads_init = time.monotonic() - if self.madsEnabledInit and not self.madsEnabledInitPrev: + if cs_out.gearShifter not in FORWARD_GEARS: + self.last_mads_init = time.monotonic() + if self.madsEnabledInit and (not self.madsEnabledInitPrev or cs_out.gearShifter not in FORWARD_GEARS): if time.monotonic() < self.last_mads_init + 1.: return False self.madsEnabledInitPrev = True - return cruiseState_available + return cs_out.cruiseState.available else: - return mads_enabled + return CS.madsEnabled def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False): cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \ @@ -619,7 +636,7 @@ class CarInterfaceBase(ABC): if self.gap_button_counter > 50: self.gap_button_counter = 0 self.experimental_mode_hold = True - put_bool_nonblocking("ExperimentalMode", not self.experimental_mode) + self.param_s.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode) else: self.gap_button_counter = 0 self.experimental_mode_hold = False @@ -643,14 +660,14 @@ class CarInterfaceBase(ABC): CS.gac_tr_cluster = gac_default if CS.gac_tr != 2: CS.gac_tr = 2 - put_nonblocking("LongitudinalPersonality", "2") + self.param_s.put_nonblocking("LongitudinalPersonality", "2") return cs_out, CS if gac_button: self.gac_button_counter += 1 elif self.prev_gac_button and not gac_button and self.gac_button_counter < 50: self.gac_button_counter = 0 CS.gac_tr = self.get_sp_gac_state(CS.gac_tr, 0, 2, inc_dec) - put_nonblocking("LongitudinalPersonality", str(CS.gac_tr)) + self.param_s.put_nonblocking("LongitudinalPersonality", str(CS.gac_tr)) else: self.gac_button_counter = 0 CS.gac_tr_cluster = clip(CS.gac_tr + 1, gac_min, gac_max) # always 1 higher @@ -682,7 +699,7 @@ class CarInterfaceBase(ABC): self.cruise_cancelled_btn = True events.add(EventName.manualLongitudinalRequired) # do disable on MADS button if ACC is disabled - if b.type == ButtonType.altButton1 and b.pressed: + if b.type == ButtonType.altButton1 and b.pressed and self.enable_mads: if not cs_out.madsEnabled: # disabled MADS if not cs_out.cruiseState.enabled: events.add(EventName.buttonCancel) @@ -779,7 +796,7 @@ class CarStateBase(ABC): def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = [[v_ego_raw], [0.0]] + self.v_ego_kf.set_x([[v_ego_raw], [0.0]]) v_ego_x = self.v_ego_kf.update(v_ego_raw) return float(v_ego_x[0]), float(v_ego_x[1]) @@ -876,9 +893,14 @@ class CarStateBase(ABC): return None +INTERFACE_ATTR_FILE = { + "FINGERPRINTS": "fingerprints", + "FW_VERSIONS": "fingerprints", +} + # interface-specific helpers -def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]: +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str | StrEnum, Any]: # read all the folders in selfdrive/car and return a dict where: # - keys are all the car models or brand names # - values are attr values from all car folders @@ -886,7 +908,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): try: brand_name = car_folder.split('/')[-1] - brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr]) + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr]) if hasattr(brand_values, attr) or not ignore_none: attr_data = getattr(brand_values, attr, None) else: @@ -902,3 +924,35 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo pass return result + + +class NanoFFModel: + def __init__(self, weights_loc: str, platform: str): + self.weights_loc = weights_loc + self.platform = platform + self.load_weights(platform) + + def load_weights(self, platform: str): + with open(self.weights_loc, 'r') as fob: + self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()} + + def relu(self, x: np.ndarray): + return np.maximum(0.0, x) + + def forward(self, x: np.ndarray): + assert x.ndim == 1 + x = (x - self.weights['input_norm_mat'][:, 0]) / (self.weights['input_norm_mat'][:, 1] - self.weights['input_norm_mat'][:, 0]) + x = self.relu(np.dot(x, self.weights['w_1']) + self.weights['b_1']) + x = self.relu(np.dot(x, self.weights['w_2']) + self.weights['b_2']) + x = self.relu(np.dot(x, self.weights['w_3']) + self.weights['b_3']) + x = np.dot(x, self.weights['w_4']) + self.weights['b_4'] + return x + + def predict(self, x: List[float], do_sample: bool = False): + x = self.forward(np.array(x)) + if do_sample: + pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature']) + else: + pred = x[0] + pred = pred * (self.weights['output_norm_mat'][1] - self.weights['output_norm_mat'][0]) + self.weights['output_norm_mat'][0] + return pred diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index adbc598ea6..696935fd35 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -3,7 +3,7 @@ from collections import defaultdict from functools import partial import cereal.messaging as messaging -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index ff4e2384f4..d348406714 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits @@ -76,7 +76,7 @@ class CarController: if not self.CP.pcmCruiseSpeed: if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap: self.sl_force_active_timer = self.frame - put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py new file mode 100644 index 0000000000..292f407935 --- /dev/null +++ b/selfdrive/car/mazda/fingerprints.py @@ -0,0 +1,260 @@ +from cereal import car +from openpilot.selfdrive.car.mazda.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.CX5_2022: { + (Ecu.eps, 0x730, None): [ + b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX5: { + (Ecu.eps, 0x730, None): [ + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX9: { + (Ecu.eps, 0x730, None): [ + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA3: { + (Ecu.eps, 0x730, None): [ + b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA6: { + (Ecu.eps, 0x730, None): [ + b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GFBC-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GDDM-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX9_2021: { + (Ecu.eps, 0x730, None): [ + b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 18c2eabc83..8330ed805b 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -75,276 +75,15 @@ class Buttons: FW_QUERY_CONFIG = FwQueryConfig( requests=[ - Request( - [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], - [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - ), - # Log responses on powertrain bus + # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0 Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], bus=0, - logging=True, ), ], ) -FW_VERSIONS = { - CAR.CX5_2022: { - (Ecu.eps, 0x730, None): [ - b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.CX5: { - (Ecu.eps, 0x730, None): [ - b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - 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CAR.MAZDA3: { - (Ecu.eps, 0x730, None): [ - b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - - ], - (Ecu.engine, 0x7e0, None): [ - b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - 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b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', - b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.abs, 0x760, None): [ - b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', - b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.CX9_2021 : { - (Ecu.eps, 0x730, None): [ - b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - } -} - DBC = { CAR.CX5: dbc_dict('mazda_2017', None), diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py new file mode 100644 index 0000000000..69e88be898 --- /dev/null +++ b/selfdrive/car/nissan/fingerprints.py @@ -0,0 +1,104 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.nissan.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.XTRAIL: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 + }, + { + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 + }], + CAR.LEAF: [{ + 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 + }, + { + 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 + }], + CAR.LEAF_IC: [{ + 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 + }], + CAR.ROGUE: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.ALTIMA: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], +} + +FW_VERSIONS = { + CAR.ALTIMA: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86CA1D', + ], + (Ecu.eps, 0x742, None): [ + b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'237109HE2B', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U29HE0A', + ], + }, + CAR.LEAF: { + (Ecu.abs, 0x740, None): [ + b'476606WK9B', + ], + (Ecu.eps, 0x742, None): [ + b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.fwdCamera, 0x707, None): [ + b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26WK0C', + ], + }, + CAR.LEAF_IC: { + (Ecu.fwdCamera, 0x707, None): [ + b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + ], + (Ecu.abs, 0x740, None): [ + b'476605SD2E', + b'476605SH1D', + b'476605SK2A', + ], + (Ecu.eps, 0x742, None): [ + b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U25SF0C', + b'284U25SH3A', + b'284U25SK2D', + ], + }, + CAR.XTRAIL: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86FR2A', + ], + (Ecu.abs, 0x740, None): [ + b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', + b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', + ], + (Ecu.eps, 0x742, None): [ + b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.combinationMeter, 0x743, None): [ + b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26FR0E', + ], + }, +} diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 474cb15e7f..d064ce894d 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from dataclasses import dataclass, field from enum import StrEnum from typing import Dict, List, Optional, Union @@ -46,41 +45,6 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), } -FINGERPRINTS = { - CAR.XTRAIL: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 - }, - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 - }, - ], - CAR.LEAF: [ - { - 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 - }, - # 2020 Leaf SV Plus - { - 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 - }, - ], - CAR.LEAF_IC: [ - { - 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 - }, - ], - CAR.ROGUE: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - ], - CAR.ALTIMA: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - ] -} - # Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) @@ -95,104 +59,37 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' NISSAN_RX_OFFSET = 0x20 FW_QUERY_CONFIG = FwQueryConfig( - requests=[ + requests=[request for bus, logging in ((0, False), (1, True)) for request in [ Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), # Rogue's engine solely responds to this Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), - ], + ]], ) -FW_VERSIONS = { - CAR.ALTIMA: { - (Ecu.fwdCamera, 0x707, None): [ - b'284N86CA1D', - ], - (Ecu.eps, 0x742, None): [ - b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', - ], - (Ecu.engine, 0x7e0, None): [ - b'237109HE2B', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U29HE0A', - ], - }, - CAR.LEAF: { - (Ecu.abs, 0x740, None): [ - b'476606WK9B', - ], - (Ecu.eps, 0x742, None): [ - b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.fwdCamera, 0x707, None): [ - b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U26WK0C', - ], - }, - CAR.LEAF_IC: { - (Ecu.fwdCamera, 0x707, None): [ - b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', - b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', - b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', - ], - (Ecu.abs, 0x740, None): [ - b'476605SH1D', - b'476605SK2A', - b'476605SD2E', - ], - (Ecu.eps, 0x742, None): [ - b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', - b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', - b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U25SH3A', - b'284U25SK2D', - b'284U25SF0C', - ], - }, - CAR.XTRAIL: { - (Ecu.fwdCamera, 0x707, None): [ - b'284N86FR2A', - ], - (Ecu.abs, 0x740, None): [ - b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', - b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', - ], - (Ecu.eps, 0x742, None): [ - b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.combinationMeter, 0x743, None): [ - b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.engine, 0x7e0, None): [ - b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U26FR0E', - ], - }, -} - DBC = { CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 7a9f996fb2..df7447269c 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -124,8 +124,8 @@ class CarController: else: if self.frame % 10 == 0: - can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, - CC.longActive, hud_control.leadVisible)) + can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, + self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible)) can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, CS.madsEnabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, @@ -145,7 +145,8 @@ class CarController: can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) - can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake)) + can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake)) can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd, self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py new file mode 100644 index 0000000000..ad8ebe87cd --- /dev/null +++ b/selfdrive/car/subaru/fingerprints.py @@ -0,0 +1,547 @@ +from cereal import car +from openpilot.selfdrive.car.subaru.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.ASCENT: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 \x19\x02\x00', + b'\xa5 !\x02\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x05\xc0\xd0\x00', + b'\x85\xc0\xd0\x00', + b'\x95\xc0\xd0\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00d\xb9\x00\x00\x00\x00', + b'\x00\x00d\xb9\x1f@ \x10', + b'\x00\x00e@\x00\x00\x00\x00', + b'\x00\x00e@\x1f@ $', + b"\x00\x00e~\x1f@ '", + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbb,\xa0t\x07', + b'\xd1,\xa0q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\xfe\xf7\x00\x00', + b'\x01\xfe\xf7\x00\x00', + b'\x01\xfe\xf9\x00\x00', + b'\x01\xfe\xfa\x00\x00', + ], + }, + CAR.ASCENT_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 #\x03\x00', + ], + (Ecu.eps, 0x746, None): [ + b'%\xc0\xd0\x11', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x05!\x08\x1dK\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xe5,\xa0P\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\x04\xfe\xf3\x00\x00', + ], + }, + CAR.LEGACY: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x02\x01', + b'\xa1 \x02\x02', + b'\xa1 \x03\x03', + b'\xa1 \x04\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x9b\xc0\x11\x00', + b'\x9b\xc0\x11\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xde"a0\x07', + b'\xde,\xa0@\x07', + b'\xe2"aq\x07', + b'\xe2,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6\x05@\x00', + b'\xa5\xfe\xc7@\x00', + b'\xa7\xf6\x04@\x00', + b'\xa7\xfe\xc4@\x00', + ], + }, + CAR.IMPREZA: { + (Ecu.abs, 0x7b0, None): [ + b'z\x84\x19\x90\x00', + b'z\x94\x08\x90\x00', + b'z\x94\x08\x90\x01', + b'z\x94\x0c\x90\x00', + b'z\x94\x0c\x90\x01', + b'z\x94.\x90\x00', + b'z\x94?\x90\x00', + b'z\x9c\x19\x80\x01', + b'\xa2 \x185\x00', + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 \x19`\x00', + ], + (Ecu.eps, 0x746, None): [ + b'z\xc0\x00\x00', + b'z\xc0\x04\x00', + b'z\xc0\x08\x00', + b'z\xc0\n\x00', + b'z\xc0\x0c\x00', + b'\x8a\xc0\x00\x00', + b'\x8a\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xf4\x00\x00\x00\x00', + b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00d)\x00\x00\x00\x00', + b'\x00\x00d)\x1f@ \x07', + b'\x00\x00dd\x00\x00\x00\x00', + b'\x00\x00dd\x1f@ \x0e', + b'\x00\x00d\xb5\x1f@ \x0e', + b'\x00\x00d\xdc\x00\x00\x00\x00', + b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x02\x1f@ \x14', + b'\x00\x00e\x1c\x00\x00\x00\x00', + b'\x00\x00e\x1c\x1f@ \x14', + b'\x00\x00e+\x00\x00\x00\x00', + b'\x00\x00e+\x1f@ \x14', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xaa\x00Bu\x07', + b'\xaa\x01bt\x07', + b'\xaa!`u\x07', + b'\xaa!au\x07', + b'\xaa!av\x07', + b'\xaa!aw\x07', + b'\xaa!dq\x07', + b'\xaa!ds\x07', + b'\xaa!dt\x07', + b'\xaaafs\x07', + b'\xbe!as\x07', + b'\xbe!at\x07', + b'\xbeacr\x07', + b'\xc5!`r\x07', + b'\xc5!`s\x07', + b'\xc5!ap\x07', + b'\xc5!ar\x07', + b'\xc5!as\x07', + b'\xc5!dr\x07', + b'\xc5!ds\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe3\xd0\x081\x00', + b'\xe3\xd5\x161\x00', + b'\xe3\xe5F1\x00', + b'\xe3\xf5\x06\x00\x00', + b'\xe3\xf5\x07\x00\x00', + b'\xe3\xf5C\x00\x00', + b'\xe3\xf5F\x00\x00', + b'\xe3\xf5G\x00\x00', + b'\xe4\xe5\x061\x00', + b'\xe4\xf5\x02\x00\x00', + b'\xe4\xf5\x07\x00\x00', + b'\xe5\xf5\x04\x00\x00', + b'\xe5\xf5$\x00\x00', + b'\xe5\xf5B\x00\x00', + ], + }, + CAR.IMPREZA_2020: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 `\x00', + b'\xa2 !3\x00', + b'\xa2 !`\x00', + b'\xa2 !i\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc0\x04\x00', + b'\n\xc0\x04\x01', + b'\x9a\xc0\x00\x00', + b'\x9a\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eb\x1f@ "', + b'\x00\x00eq\x00\x00\x00\x00', + b'\x00\x00eq\x1f@ "', + b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\x8f\x1f@ )', + b'\x00\x00e\x92\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xca!`0\x07', + b'\xca!`p\x07', + b'\xca!ap\x07', + b'\xca!f@\x07', + b'\xca!fp\x07', + b'\xcc!`p\x07', + b'\xcc!fp\x07', + b'\xcc"f0\x07', + b'\xe6!`@\x07', + b'\xe6!fp\x07', + b'\xe6"f0\x07', + b'\xe6"fp\x07', + b'\xf3"f@\x07', + b'\xf3"fp\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe6\xf5\x04\x00\x00', + b'\xe6\xf5$\x00\x00', + b'\xe6\xf5D0\x00', + b'\xe7\xf5\x04\x00\x00', + b'\xe7\xf5D0\x00', + b'\xe7\xf6B0\x00', + b'\xe9\xf5"\x00\x00', + b'\xe9\xf5B0\x00', + b'\xe9\xf6B0\x00', + b'\xe9\xf6F0\x00', + ], + }, + CAR.CROSSTREK_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x19e\x01', + b'\xa2 !e\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc2\x01\x00', + b'\x9a\xc2\x01\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00el\x1f@ #', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd7!`@\x07', + b'\xd7!`p\x07', + b'\xf4!`0\x07', + ], + }, + CAR.FORESTER: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x18\x14\x00', + b'\xa3 \x18&\x00', + b'\xa3 \x19\x14\x00', + b'\xa3 \x19&\x00', + b'\xa3 \x14\x00', + b'\xa3 \x14\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc0\x00\x00', + b'\x8d\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e!\x00\x00\x00\x00', + b'\x00\x00e!\x1f@ \x11', + b'\x00\x00e^\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e`\x1f@ ', + b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e\x97\x1f@ 0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb6"`A\x07', + b'\xb6\xa2`A\x07', + b'\xcb"`@\x07', + b'\xcb"`p\x07', + b'\xcf"`0\x07', + b'\xcf"`p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', + b'\x1a\xf6B0\x00', + b'\x1a\xf6B`\x00', + b'\x1a\xf6F`\x00', + b'\x1a\xf6b0\x00', + b'\x1a\xf6b`\x00', + ], + }, + CAR.FORESTER_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x19T\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc2\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eY\x1f@ !', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd2\xa1`r\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1b\xa7@a\x00', + ], + }, + CAR.FORESTER_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'm\x97\x14@', + b'}\x97\x14@', + ], + (Ecu.eps, 0x746, None): [ + b'm\xc0\x10\x00', + b'}\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xe9\x00\x00\x00\x00', + b'\x00\x00c\xe9\x1f@ \x03', + b'\x00\x00d5\x1f@ \t', + b'\x00\x00d\xd3\x1f@ \t', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa7"@p\x07', + b'\xa7)\xa0q\x07', + b'\xba"@@\x07', + b'\xba"@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xf6F`\x00', + b'\xda\xf2`\x80\x00', + b'\xda\xfd\xe0\x80\x00', + b'\xdc\xf2@`\x00', + b'\xdc\xf2``\x00', + b'\xdc\xf2`\x80\x00', + b'\xdc\xf2`\x81\x00', + ], + }, + CAR.LEGACY_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\x97D\x00', + b'[\xba\xc4\x03', + b'k\x97D\x00', + b'k\x9aD\x00', + b'{\x97D\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x01', + b'[\xb0\x00\x01', + b'k\xb0\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@q\x07', + b'\xa0+@p\x07', + b'\xab*@r\x07', + b'\xab+@p\x07', + b'\xb4"@0\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2\x00`\x00', + b'\xbe\xf2\x00p\x00', + b'\xbe\xfb\xc0p\x00', + b'\xbf\xf2\x00\x80\x00', + b'\xbf\xfb\xc0\x80\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\xba\xac\x03', + b'[\xf7\xac\x00', + b'[\xf7\xac\x03', + b'[\xf7\xbc\x03', + b'k\x97\xac\x00', + b'k\x9a\xac\x00', + b'{\x97\xac\x00', + b'{\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x00', + b'K\xb0\x00\x02', + b'[\xb0\x00\x00', + b'k\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x90\x1f@\x10\x0e', + b'\x00\x00c\x94\x00\x00\x00\x00', + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xd1\x1f@\x10\x17', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@\x80\x07', + b'\xa0*@q\x07', + b'\xa0*@u\x07', + b'\xa0+@@\x07', + b'\xa0bAq\x07', + b'\xab"@@\x07', + b'\xab"@s\x07', + b'\xab*@@\x07', + b'\xab+@@\x07', + b'\xb4"@0\x07', + b'\xb4"@p\x07', + b'\xb4"@r\x07', + b'\xb4+@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2@`\x00', + b'\xbd\xf2@\x81\x00', + b'\xbd\xfb\xe0\x80\x00', + b'\xbe\xf2@p\x00', + b'\xbe\xf2@\x80\x00', + b'\xbe\xfb\xe0p\x00', + b'\xbf\xe2@\x80\x00', + b'\xbf\xf2@\x80\x00', + b'\xbf\xfb\xe0b\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL_2018: { + (Ecu.abs, 0x7b0, None): [ + b'\x8b\x97\xac\x00', + b'\x8b\x97\xbc\x00', + b'\x8b\x99\xac\x00', + b'\x8b\x9a\xac\x00', + b'\x9b\x97\xac\x00', + b'\x9b\x97\xbe\x10', + b'\x9b\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'{\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00df\x1f@ \n', + b'\x00\x00d\x95\x00\x00\x00\x00', + b'\x00\x00d\x95\x1f@ \x0f', + b'\x00\x00d\xfe\x00\x00\x00\x00', + b'\x00\x00d\xfe\x1f@ \x15', + b'\x00\x00e\x19\x1f@ \x15', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb5"@P\x07', + b'\xb5"@p\x07', + b'\xb5+@@\x07', + b'\xb5b@1\x07', + b'\xb5q\xe0@\x07', + b'\xc4"@0\x07', + b'\xc4+@0\x07', + b'\xc4b@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbb\xf2@`\x00', + b'\xbb\xfb\xe0`\x00', + b'\xbc\xaf\xe0`\x00', + b'\xbc\xe2@\x80\x00', + b'\xbc\xf2@\x80\x00', + b'\xbc\xf2@\x81\x00', + b'\xbc\xfb\xe0`\x00', + b'\xbc\xfb\xe0\x80\x00', + ], + }, + CAR.OUTBACK: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x06\x00', + b'\xa1 \x06\x01', + b'\xa1 \x06\x02', + b'\xa1 \x07\x00', + b'\xa1 \x07\x02', + b'\xa1 \x07\x03', + b'\xa1 \x08\x00', + b'\xa1 \x08\x01', + b'\xa1 \x08\x02', + b'\xa1 "\t\x00', + b'\xa1 "\t\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x1b\xc0\x10\x00', + b'\x9b\xc0\x10\x00', + b'\x9b\xc0\x10\x02', + b'\x9b\xc0 \x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', + b'\x00\x00eJ\x00\x1f@ \x19\x00', + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + b'\x00\x00e\x9a\x00\x1f@ 1\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbc"`@\x07', + b'\xbc"`q\x07', + b'\xbc,\xa0q\x07', + b'\xbc,\xa0u\x07', + b'\xde"`0\x07', + b'\xde,\xa0@\x07', + b'\xe2"`0\x07', + b'\xe2"`p\x07', + b'\xe2"`q\x07', + b'\xe3,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6D@\x00', + b'\xa5\xfe\xf6@\x00', + b'\xa5\xfe\xf7@\x00', + b'\xa5\xfe\xf8@\x00', + b'\xa7\x8e\xf40\x00', + b'\xa7\xf6D@\x00', + b'\xa7\xfe\xf4@\x00', + ], + }, + CAR.FORESTER_2022: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 !v\x00', + b'\xa3 !x\x00', + b'\xa3 "v\x00', + b'\xa3 "x\x00', + ], + (Ecu.eps, 0x746, None): [ + b'-\xc0\x040', + b'-\xc0%0', + b'=\xc0%\x02', + b'=\xc04\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x04!\x01\x1eD\x07!\x00\x04,', + b'\x04!\x08\x01.\x07!\x08\x022', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd5"`0\x07', + b'\xd5"a0\x07', + b'\xf1"`q\x07', + b'\xf1"aq\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1d\x86B0\x00', + b'\x1d\xf6B0\x00', + b'\x1e\x86B0\x00', + b'\x1e\xf6D0\x00', + ], + }, + CAR.OUTBACK_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 #\x14\x00', + b'\xa1 #\x17\x00', + ], + (Ecu.eps, 0x746, None): [ + b'+\xc0\x10\x11\x00', + b'+\xc0\x12\x11\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\t!\x08\x046\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xed,\xa0q\x07', + b'\xed,\xa2q\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\xa8\x8e\xf41\x00', + b'\xa8\xfe\xf41\x00', + ], + }, +} diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index eb29e558b3..069338bb4b 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -134,11 +134,11 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) + ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl: - ret.flags |= SubaruFlags.DISABLE_EYESIGHT + ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: ret.longitudinalTuning.kpBP = [0., 5., 35.] diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 834d14e5fb..a033903d18 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -46,9 +46,9 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long values["Cruise_Soft_Disable"] = 0 + values["Cruise_Fault"] = 0 - if brake_cmd: - values["Cruise_Brake_Active"] = 1 + values["Cruise_Brake_Active"] = brake_cmd if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 @@ -157,14 +157,15 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l values["COUNTER"] = frame % 0x10 - if enabled and long_active: + if long_enabled: values["Cruise_State"] = 0 - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = enabled values["Cruise_Disengaged"] = 0 values["Car_Follow"] = int(lead_visible) - if long_enabled: values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + values["LDW_Off"] = 0 + values["Cruise_Fault"] = 0 # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if values["LKAS_State_Msg"] in (2, 3): @@ -172,7 +173,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l return packer.make_can_msg("ES_DashStatus", CanBus.main, values) -def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): +def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value): values = {s: es_brake_msg[s] for s in [ "CHECKSUM", "Signal1", @@ -187,14 +188,14 @@ def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): values["COUNTER"] = frame % 0x10 - if enabled: - values["Cruise_Activated"] = 1 + if long_enabled: + values["Cruise_Brake_Fault"] = 0 + values["Cruise_Activated"] = long_active - values["Brake_Pressure"] = brake_value + values["Brake_Pressure"] = brake_value - if brake_value > 0: - values["Cruise_Brake_Active"] = 1 - values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0 + values["Cruise_Brake_Active"] = brake_value > 0 + values["Cruise_Brake_Lights"] = brake_value >= 70 return packer.make_can_msg("ES_Brake", CanBus.main, values) @@ -204,7 +205,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr "Signal1", "Cruise_Fault", "Cruise_RPM", - "Signal2", "Cruise_Activated", "Brake_Lights", "Cruise_Hold", @@ -215,9 +215,9 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr if long_enabled: values["Cruise_RPM"] = cruise_rpm + values["Cruise_Fault"] = 0 - if long_active: - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = long_active return packer.make_can_msg("ES_Status", CanBus.main, values) diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py new file mode 100644 index 0000000000..c8cdf66065 --- /dev/null +++ b/selfdrive/car/subaru/tests/test_subaru.py @@ -0,0 +1,20 @@ +from cereal import car +import unittest +from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS + +Ecu = car.CarParams.Ecu + +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + + +class TestSubaruFingerprint(unittest.TestCase): + def test_fw_version_format(self): + for platform, fws_per_ecu in FW_VERSIONS.items(): + for (ecu, _, _), fws in fws_per_ecu.items(): + fw_size = len(fws[0]) + for fw in fws: + self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}") + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index e42e3e7468..16f81652cb 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -100,6 +100,9 @@ class Footnote(Enum): GLOBAL = CarFootnote( "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.", Column.PACKAGE) + EXP_LONG = CarFootnote( + "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.", + Column.LONGITUDINAL) @dataclass @@ -111,6 +114,9 @@ class SubaruCarInfo(CarInfo): def init_make(self, CP: car.CarParams): self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) + if CP.experimentalLongitudinalAvailable: + self.footnotes.append(Footnote.EXP_LONG) + CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), @@ -133,11 +139,20 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), - CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])), CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } +LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} +GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} +PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} +HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} + +# Cars that temporarily fault when steering angle rate is greater than some threshold. +# Appears to be all torque-based cars produced around 2019 - present +STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} + SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ @@ -148,573 +163,35 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], ), # Some Eyesight modules fail on TESTER_PRESENT_REQUEST # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars Request( [SUBARU_VERSION_REQUEST], [SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera], + ), + # Non-OBD requests + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + bus=1, + obd_multiplexing=False, ), ], -) - -FW_VERSIONS = { - CAR.ASCENT: { - (Ecu.abs, 0x7b0, None): [ - b'\xa5 \x19\x02\x00', - b'\xa5 !\002\000', - b'\xf1\x82\xa5 \x19\x02\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x85\xc0\xd0\x00', - b'\005\xc0\xd0\000', - b'\x95\xc0\xd0\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00d\xb9\x1f@ \x10', - b'\000\000e~\037@ \'', - b'\x00\x00e@\x1f@ $', - b'\x00\x00d\xb9\x00\x00\x00\x00', - b'\x00\x00e@\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xbb,\xa0t\a', - b'\xf1\x82\xbb,\xa0t\x87', - b'\xf1\x82\xbb,\xa0t\a', - b'\xf1\x82\xd9,\xa0@\a', - b'\xf1\x82\xd1,\xa0q\x07', - b'\xd1,\xa0q\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x00\xfe\xf7\x00\x00', - b'\001\xfe\xf9\000\000', - b'\x01\xfe\xf7\x00\x00', - b'\x01\xfe\xfa\x00\x00', - ], - }, - CAR.ASCENT_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\xa5 #\x03\x00', - ], - (Ecu.eps, 0x746, None): [ - b'%\xc0\xd0\x11', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x05!\x08\x1dK\x05!\x08\x01/', - ], - (Ecu.engine, 0x7a2, None): [ - b'\xe5,\xa0P\x07', - ], - (Ecu.transmission, 0x7a3, None): [ - b'\x04\xfe\xf3\x00\x00', - ], - }, - CAR.LEGACY: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1\\ x04\x01', - b'\xa1 \x03\x03', - b'\xa1 \x02\x01', - b'\xa1 \x02\x02', - ], - (Ecu.eps, 0x746, None): [ - b'\x9b\xc0\x11\x00', - b'\x9b\xc0\x11\x02', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00e\x80\x00\x1f@ \x19\x00', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xde\"a0\x07', - b'\xe2"aq\x07', - b'\xde,\xa0@\x07', - b'\xe2,\xa0@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xa5\xf6\x05@\x00', - b'\xa7\xf6\x04@\x00', - b'\xa5\xfe\xc7@\x00', - b'\xa7\xfe\xc4@\x00', - ], - }, - CAR.IMPREZA: { - (Ecu.abs, 0x7b0, None): [ - b'\x7a\x94\x3f\x90\x00', - b'\xa2 \x185\x00', - b'\xa2 \x193\x00', - b'\xa2 \x194\x00', - b'z\x94.\x90\x00', - b'z\x94\b\x90\x01', - b'\xa2 \x19`\x00', - b'z\x94\f\x90\001', - b'z\x9c\x19\x80\x01', - b'z\x94\x08\x90\x00', - b'z\x84\x19\x90\x00', - b'\xf1\x00\xb2\x06\x04', - b'z\x94\x0c\x90\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x7a\xc0\x0c\x00', - b'z\xc0\x08\x00', - b'\x8a\xc0\x00\x00', - b'z\xc0\x04\x00', - b'z\xc0\x00\x00', - b'\x8a\xc0\x10\x00', - b'z\xc0\n\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', - b'\x00\x00d\xdc\x1f@ \x0e', - b'\x00\x00e\x1c\x1f@ \x14', - b'\x00\x00d)\x1f@ \a', - b'\x00\x00e+\x1f@ \x14', - b'\000\000e+\000\000\000\000', - b'\000\000dd\037@ \016', - b'\000\000e\002\037@ \024', - b'\x00\x00d)\x00\x00\x00\x00', - b'\x00\x00c\xf4\x00\x00\x00\x00', - b'\x00\x00d\xdc\x00\x00\x00\x00', - b'\x00\x00dd\x00\x00\x00\x00', - b'\x00\x00c\xf4\x1f@ \x07', - b'\x00\x00e\x1c\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xaa\x61\x66\x73\x07', - b'\xbeacr\a', - b'\xc5!`r\a', - b'\xaa!ds\a', - b'\xaa!`u\a', - b'\xaa!dq\a', - b'\xaa!dt\a', - b'\xc5!ar\a', - b'\xbe!as\a', - b'\xc5!as\x07', - b'\xc5!ds\a', - b'\xc5!`s\a', - b'\xaa!au\a', - b'\xbe!at\a', - b'\xaa\x00Bu\x07', - b'\xc5!dr\x07', - b'\xaa!aw\x07', - b'\xaa!av\x07', - b'\xaa\x01bt\x07', - b'\xc5!ap\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xe3\xe5\x46\x31\x00', - b'\xe4\xe5\x061\x00', - b'\xe5\xf5\x04\x00\x00', - b'\xe3\xf5G\x00\x00', - b'\xe3\xf5\a\x00\x00', - b'\xe3\xf5C\x00\x00', - b'\xe5\xf5B\x00\x00', - b'\xe5\xf5$\000\000', - b'\xe4\xf5\a\000\000', - b'\xe3\xf5F\000\000', - b'\xe4\xf5\002\000\000', - b'\xe3\xd0\x081\x00', - b'\xe3\xf5\x06\x00\x00', - b'\xe3\xd5\x161\x00', - ], - }, - CAR.IMPREZA_2020: { - (Ecu.abs, 0x7b0, None): [ - b'\xa2 \0314\000', - b'\xa2 \0313\000', - b'\xa2 !i\000', - b'\xa2 !`\000', - b'\xf1\x00\xb2\x06\x04', - b'\xa2 `\x00', - b'\xa2 !3\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x9a\xc0\000\000', - b'\n\xc0\004\000', - b'\x9a\xc0\x04\x00', - b'\n\xc0\x04\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\000\000eb\037@ \"', - b'\x00\x00e\x8f\x1f@ )', - b'\x00\x00eq\x1f@ "', - b'\x00\x00eq\x00\x00\x00\x00', - b'\x00\x00e\x8f\x00\x00\x00\x00', - b'\x00\x00e\x92\x00\x00\x00\x00', - b'\x00\x00e\xa4\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xca!ap\a', - b'\xca!`p\a', - b'\xca!`0\a', - b'\xcc\"f0\a', - b'\xcc!fp\a', - b'\xcc!`p\x07', - b'\xca!f@\x07', - b'\xca!fp\x07', - b'\xf3"f@\x07', - b'\xe6!fp\x07', - b'\xf3"fp\x07', - b'\xe6"f0\x07', - b'\xe6"fp\x07', - b'\xe6!`@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xe6\xf5\004\000\000', - b'\xe6\xf5$\000\000', - b'\xe7\xf5\x04\x00\x00', - b'\xe7\xf6B0\000', - b'\xe7\xf5D0\000', - b'\xf1\x00\xd7\x10@', - b'\xe6\xf5D0\x00', - b'\xe9\xf6F0\x00', - b'\xe9\xf5B0\x00', - b'\xe9\xf6B0\x00', - b'\xe9\xf5"\x00\x00', - ], - }, - CAR.CROSSTREK_HYBRID: { - (Ecu.abs, 0x7b0, None): [ - b'\xa2 \x19e\x01', - b'\xa2 !e\x01', - ], - (Ecu.eps, 0x746, None): [ - b'\x9a\xc2\x01\x00', - b'\n\xc2\x01\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00el\x1f@ #', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd7!`@\x07', - b'\xd7!`p\a', - b'\xf4!`0\x07', - ], - }, - CAR.FORESTER: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 \x18\x14\x00', - b'\xa3 \024\000', - b'\xa3 \031\024\000', - b'\xa3 \x14\x01', - b'\xf1\x00\xbb\r\x05', - b'\xa3 \x18&\x00', - b'\xa3 \x19&\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x8d\xc0\x04\x00', - b'\x8d\xc0\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00e!\x1f@ \x11', - b'\x00\x00e\x97\x1f@ 0', - b'\000\000e`\037@ ', - b'\xf1\x00\xac\x02\x00', - b'\x00\x00e!\x00\x00\x00\x00', - b'\x00\x00e\x97\x00\x00\x00\x00', - b'\x00\x00e^\x1f@ !', - b'\x00\x00e^\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb6"`A\x07', - b'\xcf"`0\x07', - b'\xcb\"`@\a', - b'\xcb\"`p\a', - b'\xf1\x00\xa2\x10\n', - b'\xcf"`p\x07', - b'\xb6\xa2`A\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\032\xf6B0\000', - b'\x1a\xf6F`\x00', - b'\032\xf6b`\000', - b'\x1a\xf6B`\x00', - b'\x1a\xf6b0\x00', - b'\x1a\xe6B1\x00', - b'\x1a\xe6F1\x00', - ], - }, - CAR.FORESTER_HYBRID: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 \x19T\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x8d\xc2\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00eY\x1f@ !', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd2\xa1`r\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x1b\xa7@a\x00', - ], - }, - CAR.FORESTER_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'\x7d\x97\x14\x40', - b'\xf1\x00\xbb\x0c\x04', - b'm\x97\x14@', - ], - (Ecu.eps, 0x746, None): [ - b'}\xc0\x10\x00', - b'm\xc0\x10\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00\x64\x35\x1f\x40\x20\x09', - b'\x00\x00c\xe9\x1f@ \x03', - b'\x00\x00d\xd3\x1f@ \t', - b'\x00\x00c\xe9\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xba"@p\a', - b'\xa7)\xa0q\a', - b'\xf1\x82\xa7)\xa0q\a', - b'\xba"@@\a', - b'\xa7"@p\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xdc\xf2\x60\x60\x00', - b'\xdc\xf2@`\x00', - b'\xda\xfd\xe0\x80\x00', - b'\xdc\xf2`\x81\000', - b'\xdc\xf2`\x80\x00', - b'\x1a\xf6F`\x00', - b'\xda\xf2`\x80\x00', - ], - }, - CAR.LEGACY_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'k\x97D\x00', - b'[\xba\xc4\x03', - b'{\x97D\x00', - b'[\x97D\000', - b'k\x9aD\x00', - ], - (Ecu.eps, 0x746, None): [ - b'[\xb0\x00\x01', - b'K\xb0\x00\x01', - b'k\xb0\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00c\xb7\x1f@\x10\x16', - b'\x00\x00c\x94\x1f@\x10\x08', - b'\x00\x00c\xec\x1f@ \x04', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xab*@r\a', - b'\xa0+@p\x07', - b'\xb4"@0\x07', - b'\xa0"@q\a', - b'\xab+@p\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbe\xf2\x00p\x00', - b'\xbf\xfb\xc0\x80\x00', - b'\xbd\xf2\x00`\x00', - b'\xbf\xf2\000\x80\000', - b'\xbe\xfb\xc0p\x00', - ], - }, - CAR.OUTBACK_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'{\x9a\xac\x00', - b'k\x97\xac\x00', - b'\x5b\xf7\xbc\x03', - b'[\xf7\xac\x03', - b'{\x97\xac\x00', - b'k\x9a\xac\000', - b'[\xba\xac\x03', - b'[\xf7\xac\000', - ], - (Ecu.eps, 0x746, None): [ - b'k\xb0\x00\x00', - b'[\xb0\x00\x00', - b'\x4b\xb0\x00\x02', - b'K\xb0\x00\x00', - b'{\xb0\x00\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00c\xec\x1f@ \x04', - b'\x00\x00c\xd1\x1f@\x10\x17', - b'\xf1\x00\xf0\xe0\x0e', - b'\x00\x00c\x94\x00\x00\x00\x00', - b'\x00\x00c\x94\x1f@\x10\b', - b'\x00\x00c\xb7\x1f@\x10\x16', - b'\000\000c\x90\037@\020\016', - b'\x00\x00c\xec\x37@\x04', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb4+@p\a', - b'\xab\"@@\a', - b'\xa0\x62\x41\x71\x07', - b'\xa0*@q\a', - b'\xab*@@\a', - b'\xb4"@0\a', - b'\xb4"@p\a', - b'\xab"@s\a', - b'\xab+@@\a', - b'\xb4"@r\a', - b'\xa0+@@\x07', - b'\xa0\"@\x80\a', - b'\xa0*@u\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbd\xfb\xe0\x80\x00', - b'\xbe\xf2@\x80\x00', - b'\xbf\xe2\x40\x80\x00', - b'\xbf\xf2@\x80\x00', - b'\xbe\xf2@p\x00', - b'\xbd\xf2@`\x00', - b'\xbd\xf2@\x81\000', - b'\xbe\xfb\xe0p\000', - b'\xbf\xfb\xe0b\x00', - ], - }, - CAR.OUTBACK_PREGLOBAL_2018: { - (Ecu.abs, 0x7b0, None): [ - b'\x8b\x97\xac\x00', - b'\x8b\x9a\xac\x00', - b'\x9b\x97\xac\x00', - b'\x8b\x97\xbc\x00', - b'\x8b\x99\xac\x00', - b'\x9b\x9a\xac\000', - b'\x9b\x97\xbe\x10', - ], - (Ecu.eps, 0x746, None): [ - b'{\xb0\x00\x00', - b'{\xb0\x00\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00df\x1f@ \n', - b'\x00\x00d\xfe\x1f@ \x15', - b'\x00\x00d\x95\x00\x00\x00\x00', - b'\x00\x00d\x95\x1f@ \x0f', - b'\x00\x00d\xfe\x00\x00\x00\x00', - b'\x00\x00e\x19\x1f@ \x15', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb5"@p\a', - b'\xb5+@@\a', - b'\xb5"@P\a', - b'\xc4"@0\a', - b'\xb5b@1\x07', - b'\xb5q\xe0@\a', - b'\xc4+@0\a', - b'\xc4b@p\a', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbc\xf2@\x81\x00', - b'\xbc\xfb\xe0\x80\x00', - b'\xbc\xf2@\x80\x00', - b'\xbb\xf2@`\x00', - b'\xbc\xe2@\x80\x00', - b'\xbc\xfb\xe0`\x00', - b'\xbc\xaf\xe0`\x00', - b'\xbb\xfb\xe0`\000', - ], - }, - CAR.OUTBACK: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1 \x06\x01', - b'\xa1 \a\x00', - b'\xa1 \b\001', - b'\xa1 \x06\x00', - b'\xa1 "\t\x01', - b'\xa1 \x08\x02', - b'\xa1 \x06\x02', - b'\xa1 \x07\x02', - b'\xa1 \x08\x00', - b'\xa1 "\t\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x9b\xc0\x10\x00', - b'\x9b\xc0\x20\x00', - b'\x1b\xc0\x10\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00eJ\x00\x1f@ \x19\x00', - b'\000\000e\x80\000\037@ \031\000', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', - b'\x00\x00e\x9a\x00\x1f@ 1\x00', - b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xbc,\xa0q\x07', - b'\xbc\"`@\a', - b'\xde"`0\a', - b'\xf1\x82\xbc,\xa0q\a', - b'\xf1\x82\xe3,\xa0@\x07', - b'\xe2"`0\x07', - b'\xe2"`p\x07', - b'\xf1\x82\xe2,\xa0@\x07', - b'\xbc"`q\x07', - b'\xe3,\xa0@\x07', - b'\xbc,\xa0u\x07', - b'\xde,\xa0@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xa5\xfe\xf7@\x00', - b'\xa5\xf6D@\x00', - b'\xa5\xfe\xf6@\x00', - b'\xa7\x8e\xf40\x00', - b'\xf1\x82\xa7\xf6D@\x00', - b'\xa7\xf6D@\x00', - b'\xa7\xfe\xf4@\x00', - b'\xa5\xfe\xf8@\x00', - ], - }, - CAR.FORESTER_2022: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 !x\x00', - b'\xa3 !v\x00', - b'\xa3 "v\x00', - b'\xa3 "x\x00', - ], - (Ecu.eps, 0x746, None): [ - b'-\xc0%0', - b'-\xc0\x040', - b'=\xc0%\x02', - b'=\xc04\x02', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x04!\x01\x1eD\x07!\x00\x04,' - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd5"a0\x07', - b'\xd5"`0\x07', - b'\xf1"aq\x07', - b'\xf1"`q\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x1d\x86B0\x00', - b'\x1d\xf6B0\x00', - b'\x1e\x86B0\x00', - b'\x1e\xf6D0\x00', - ], - }, - CAR.OUTBACK_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1 #\x14\x00', - b'\xa1 #\x17\x00', - ], - (Ecu.eps, 0x746, None): [ - b'+\xc0\x10\x11\x00', - b'+\xc0\x12\x11\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\t!\x08\x046\x05!\x08\x01/', - ], - (Ecu.engine, 0x7a2, None): [ - b'\xed,\xa0q\x07', - b'\xed,\xa2q\x07', - ], - (Ecu.transmission, 0x7a3, None): [ - b'\xa8\x8e\xf41\x00', - b'\xa8\xfe\xf41\x00', - ] + # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists + non_essential_ecus={ + Ecu.eps: list(GLOBAL_GEN2), } -} +) DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), @@ -733,12 +210,3 @@ DBC = { CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } - -LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} -GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} -PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} -HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} - -# Cars that temporarily fault when steering angle rate is greater than some threshold. -# Appears to be all torque-based cars produced around 2019 - present -STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json index 525670be0a..c8090c8b3b 100644 --- a/selfdrive/car/sunnypilot_carname.json +++ b/selfdrive/car/sunnypilot_carname.json @@ -20,12 +20,13 @@ "Chevrolet Volt 2017-18": "CHEVROLET VOLT PREMIER 2017", "Chrysler Pacifica 2017-18": "CHRYSLER PACIFICA 2018", "Chrysler Pacifica 2019-20": "CHRYSLER PACIFICA 2020", - "Chrysler Pacifica 2021": "CHRYSLER PACIFICA 2020", - "Chrysler Pacifica Hybrid 2017-18": "CHRYSLER PACIFICA HYBRID 2017", + "Chrysler Pacifica 2021-23": "CHRYSLER PACIFICA 2020", + "Chrysler Pacifica Hybrid 2017": "CHRYSLER PACIFICA HYBRID 2017", + "Chrysler Pacifica Hybrid 2018": "CHRYSLER PACIFICA HYBRID 2018", "Chrysler Pacifica Hybrid 2019-23": "CHRYSLER PACIFICA HYBRID 2019", "Ford Bronco Sport 2021-22": "FORD BRONCO SPORT 1ST GEN", "Ford Escape 2020-22": "FORD ESCAPE 4TH GEN", - "Ford Explorer 2020-22": "FORD EXPLORER 6TH GEN", + "Ford Explorer 2020-23": "FORD EXPLORER 6TH GEN", "Ford Focus 2018": "FORD FOCUS 4TH GEN", "Ford Kuga 2020-22": "FORD ESCAPE 4TH GEN", "Ford Maverick 2022": "FORD MAVERICK 1ST GEN", @@ -54,7 +55,7 @@ "Honda Clarity 2018-22": "HONDA CLARITY 2018", "Honda CR-V 2015-16": "HONDA CR-V 2016", "Honda CR-V 2017-22": "HONDA CR-V 2017", - "Honda CR-V Hybrid 2017-19": "HONDA CR-V HYBRID 2019", + "Honda CR-V Hybrid 2017-20": "HONDA CR-V HYBRID 2019", "Honda e 2020": "HONDA E 2020", "Honda Fit 2018-20": "HONDA FIT 2018", "Honda Freed 2020": "HONDA FREED 2020", @@ -67,6 +68,7 @@ "Honda Pilot 2016-22": "HONDA PILOT 2017", "Honda Ridgeline 2017-23": "HONDA RIDGELINE 2017", "Hyundai Azera 2022": "HYUNDAI AZERA 6TH GEN", + "Hyundai Azera Hybrid 2019": "HYUNDAI AZERA HYBRID 6TH GEN", "Hyundai Azera Hybrid 2020": "HYUNDAI AZERA HYBRID 6TH GEN", "Hyundai Bayon Non-SCC 2021": "HYUNDAI BAYON 1ST GEN NON-SCC", "Hyundai Custin 2023": "HYUNDAI CUSTIN 1ST GEN", @@ -103,15 +105,16 @@ "Hyundai Sonata 2018-19": "HYUNDAI SONATA 2019", "Hyundai Sonata 2020-23": "HYUNDAI SONATA 2020", "Hyundai Sonata Hybrid 2020-23": "HYUNDAI SONATA HYBRID 2021", + "Hyundai Staria 2023": "HYUNDAI STARIA 4TH GEN", "Hyundai Tucson 2021": "HYUNDAI TUCSON 2019", "Hyundai Tucson 2022": "HYUNDAI TUCSON 4TH GEN", "Hyundai Tucson 2023": "HYUNDAI TUCSON 4TH GEN", "Hyundai Tucson Diesel 2019": "HYUNDAI TUCSON 2019", - "Hyundai Tucson Hybrid 2022-24": "HYUNDAI TUCSON HYBRID 4TH GEN", + "Hyundai Tucson Hybrid 2022-24": "HYUNDAI TUCSON 4TH GEN", "Hyundai Veloster 2019-20": "HYUNDAI VELOSTER 2019", "Jeep Grand Cherokee 2016-18": "JEEP GRAND CHEROKEE V6 2018", "Jeep Grand Cherokee 2019-21": "JEEP GRAND CHEROKEE 2019", - "Kia Carnival 2023-24": "KIA CARNIVAL 4TH GEN", + "Kia Carnival 2022-24": "KIA CARNIVAL 4TH GEN", "Kia Carnival (China only) 2023": "KIA CARNIVAL 4TH GEN", "Kia Ceed 2019": "KIA CEED INTRO ED 2019", "Kia EV6 (Southeast Asia only) 2022-23": "KIA EV6 2022", @@ -129,10 +132,12 @@ "Kia Niro EV 2021": "KIA NIRO EV 2020", "Kia Niro EV 2022": "KIA NIRO EV 2020", "Kia Niro EV 2023": "KIA NIRO EV 2ND GEN", - "Kia Niro Hybrid 2021-22": "KIA NIRO HYBRID 2021", + "Kia Niro Hybrid 2021": "KIA NIRO HYBRID 2021", + "Kia Niro Hybrid 2022": "KIA NIRO HYBRID 2021", "Kia Niro Hybrid 2023": "KIA NIRO HYBRID 2ND GEN", "Kia Niro Plug-in Hybrid 2018-19": "KIA NIRO HYBRID 2019", "Kia Niro Plug-in Hybrid 2020": "KIA NIRO HYBRID 2019", + "Kia Niro Plug-in Hybrid 2022": "KIA NIRO PLUG-IN HYBRID 2022", "Kia Optima 2017": "KIA OPTIMA 4TH GEN", "Kia Optima 2019-20": "KIA OPTIMA 4TH GEN FACELIFT", "Kia Optima Hybrid 2019": "KIA OPTIMA HYBRID 4TH GEN FACELIFT", @@ -142,17 +147,18 @@ "Kia Sorento 2019": "KIA SORENTO GT LINE 2018", "Kia Sorento 2021-23": "KIA SORENTO 4TH GEN", "Kia Sorento Hybrid 2021-23": "KIA SORENTO HYBRID 4TH GEN", - "Kia Sorento Plug-in Hybrid 2022-23": "KIA SORENTO PLUG-IN HYBRID 4TH GEN", + "Kia Sorento Plug-in Hybrid 2022-23": "KIA SORENTO HYBRID 4TH GEN", "Kia Sportage 2023": "KIA SPORTAGE 5TH GEN", - "Kia Sportage Hybrid 2023": "KIA SPORTAGE HYBRID 5TH GEN", + "Kia Sportage Hybrid 2023": "KIA SPORTAGE 5TH GEN", "Kia Stinger 2018-20": "KIA STINGER GT2 2018", - "Kia Stinger 2022": "KIA STINGER 2022", + "Kia Stinger 2022-23": "KIA STINGER 2022", "Kia Telluride 2020-22": "HYUNDAI PALISADE 2020", "Lexus CT Hybrid 2017-18": "LEXUS CT HYBRID 2018", "Lexus ES 2017-18": "LEXUS ES 2018", "Lexus ES 2019-24": "LEXUS ES 2019", - "Lexus ES Hybrid 2017-18": "LEXUS ES HYBRID 2018", - "Lexus ES Hybrid 2019-23": "LEXUS ES 2019", + "Lexus ES Hybrid 2017-18": "LEXUS ES 2018", + "Lexus ES Hybrid 2019-24": "LEXUS ES 2019", + "Lexus GS F 2016": "LEXUS GS F 2016", "Lexus IS 2017-19": "LEXUS IS 2018", "Lexus IS 2022-23": "LEXUS IS 2023", "Lexus NX 2018-19": "LEXUS NX 2018", @@ -163,8 +169,8 @@ "Lexus RX 2016": "LEXUS RX 2016", "Lexus RX 2017-19": "LEXUS RX 2016", "Lexus RX 2020-22": "LEXUS RX 2020", - "Lexus RX Hybrid 2016": "LEXUS RX HYBRID 2017", - "Lexus RX Hybrid 2017-19": "LEXUS RX HYBRID 2017", + "Lexus RX Hybrid 2016": "LEXUS RX 2016", + "Lexus RX Hybrid 2017-19": "LEXUS RX 2016", "Lexus RX Hybrid 2020-22": "LEXUS RX 2020", "Lexus UX Hybrid 2019-23": "TOYOTA COROLLA TSS2 2019", "Lincoln Aviator 2020-21": "FORD EXPLORER 6TH GEN", @@ -176,8 +182,8 @@ "Nissan Leaf 2018-23": "NISSAN LEAF 2018", "Nissan Rogue 2018-20": "NISSAN ROGUE 2019", "Nissan X-Trail 2017": "NISSAN X-TRAIL 2017", - "Ram 1500 2019-23": "RAM 1500 5TH GEN", - "Ram 2500 2020-22": "RAM HD 5TH GEN", + "Ram 1500 2019-24": "RAM 1500 5TH GEN", + "Ram 2500 2020-24": "RAM HD 5TH GEN", "Ram 3500 2019-22": "RAM HD 5TH GEN", "SEAT Ateca 2018": "SEAT ATECA 1ST GEN", "SEAT Leon 2014-20": "SEAT LEON 3RD GEN", @@ -196,7 +202,7 @@ "Subaru XV 2018-19": "SUBARU IMPREZA LIMITED 2019", "Subaru XV 2020-21": "SUBARU IMPREZA SPORT 2020", "Škoda Fabia 2022-23": "SKODA FABIA 4TH GEN", - "Škoda Kamiq 2021": "SKODA KAMIQ 1ST GEN", + "Škoda Kamiq 2021-23": "SKODA KAMIQ 1ST GEN", "Škoda Karoq 2019-23": "SKODA KAROQ 1ST GEN", "Škoda Kodiaq 2017-23": "SKODA KODIAQ 1ST GEN", "Škoda Octavia 2015-19": "SKODA OCTAVIA 3RD GEN", @@ -216,7 +222,7 @@ "Toyota C-HR Hybrid 2017-20": "TOYOTA C-HR 2018", "Toyota C-HR Hybrid 2021-22": "TOYOTA C-HR 2021", "Toyota Camry 2018-20": "TOYOTA CAMRY 2018", - "Toyota Camry 2021-23": "TOYOTA CAMRY 2021", + "Toyota Camry 2021-24": "TOYOTA CAMRY 2021", "Toyota Camry Hybrid 2018-20": "TOYOTA CAMRY 2018", "Toyota Camry Hybrid 2021-24": "TOYOTA CAMRY 2021", "Toyota Corolla 2017-19": "TOYOTA COROLLA 2017", @@ -228,7 +234,7 @@ "Toyota Corolla Hybrid (Non-US only) 2020-23": "TOYOTA COROLLA TSS2 2019", "Toyota Highlander 2017-19": "TOYOTA HIGHLANDER 2017", "Toyota Highlander 2020-23": "TOYOTA HIGHLANDER 2020", - "Toyota Highlander Hybrid 2017-19": "TOYOTA HIGHLANDER HYBRID 2018", + "Toyota Highlander Hybrid 2017-19": "TOYOTA HIGHLANDER 2017", "Toyota Highlander Hybrid 2020-23": "TOYOTA HIGHLANDER 2020", "Toyota Mirai 2021": "TOYOTA MIRAI 2021", "Toyota Prius 2016": "TOYOTA PRIUS 2017", @@ -241,10 +247,12 @@ "Toyota RAV4 2017-18": "TOYOTA RAV4 2017", "Toyota RAV4 2019-21": "TOYOTA RAV4 2019", "Toyota RAV4 2022": "TOYOTA RAV4 2022", + "Toyota RAV4 2023-24": "TOYOTA RAV4 2023", "Toyota RAV4 Hybrid 2016": "TOYOTA RAV4 HYBRID 2017", "Toyota RAV4 Hybrid 2017-18": "TOYOTA RAV4 HYBRID 2017", "Toyota RAV4 Hybrid 2019-21": "TOYOTA RAV4 2019", "Toyota RAV4 Hybrid 2022": "TOYOTA RAV4 2022", + "Toyota RAV4 Hybrid 2023-24": "TOYOTA RAV4 2023", "Toyota Sienna 2018-20": "TOYOTA SIENNA 2018", "Volkswagen Arteon 2018-23": "VOLKSWAGEN ARTEON 1ST GEN", "Volkswagen Arteon eHybrid 2020-23": "VOLKSWAGEN ARTEON 1ST GEN", @@ -273,12 +281,12 @@ "Volkswagen Polo 2018-23": "VOLKSWAGEN POLO 6TH GEN", "Volkswagen Polo GTI 2018-23": "VOLKSWAGEN POLO 6TH GEN", "Volkswagen T-Cross 2021": "VOLKSWAGEN T-CROSS 1ST GEN", - "Volkswagen T-Roc 2021": "VOLKSWAGEN T-ROC 1ST GEN", + "Volkswagen T-Roc 2018-22": "VOLKSWAGEN T-ROC 1ST GEN", "Volkswagen Taos 2022-23": "VOLKSWAGEN TAOS 1ST GEN", "Volkswagen Teramont 2018-22": "VOLKSWAGEN ATLAS 1ST GEN", "Volkswagen Teramont Cross Sport 2021-22": "VOLKSWAGEN ATLAS 1ST GEN", "Volkswagen Teramont X 2021-22": "VOLKSWAGEN ATLAS 1ST GEN", - "Volkswagen Tiguan 2018-23": "VOLKSWAGEN TIGUAN 2ND GEN", + "Volkswagen Tiguan 2018-24": "VOLKSWAGEN TIGUAN 2ND GEN", "Volkswagen Tiguan eHybrid 2021-23": "VOLKSWAGEN TIGUAN 2ND GEN", "Volkswagen Touran 2016-23": "VOLKSWAGEN TOURAN 2ND GEN" } diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py new file mode 100644 index 0000000000..772ca59efa --- /dev/null +++ b/selfdrive/car/tesla/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.tesla.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.AP1_MODELS: [{ + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 + }], +} + +FW_VERSIONS = { + CAR.AP2_MODELS: { + (Ecu.adas, 0x649, None): [ + b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', + ], + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', + ], + (Ecu.eps, 0x730, None): [ + b'\x10#\x01', + ], + }, +} diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 548809af1b..12877f1344 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from collections import namedtuple from enum import StrEnum from typing import Dict, List, Union @@ -23,13 +22,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"), } -FINGERPRINTS = { - CAR.AP1_MODELS: [ - { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 - }, - ], -} DBC = { CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), @@ -55,22 +47,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ] ) -FW_VERSIONS = { - CAR.AP2_MODELS: { - (Ecu.adas, 0x649, None): [ - b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', - ], - (Ecu.electricBrakeBooster, 0x64d, None): [ - b'1037123-00-A', - ], - (Ecu.fwdRadar, 0x671, None): [ - b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', - ], - (Ecu.eps, 0x730, None): [ - b'\x10#\x01', - ], - }, -} class CANBUS: # Lateral harness diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8cf5f3debd..8db950ced0 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -24,7 +24,6 @@ non_tested_cars = [ HYUNDAI.GENESIS_G90, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter - TOYOTA.RAV4_TSS2_2023, SUBARU.FORESTER_HYBRID, ] @@ -38,8 +37,8 @@ class CarTestRoute(NamedTuple): routes = [ CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), - CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE), - CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019), + CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE), + CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019), CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID), CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018), CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), @@ -53,6 +52,8 @@ routes = [ CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4), CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1), + CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1), + CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), @@ -115,16 +116,16 @@ routes = [ CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H), CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), - CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), + CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN), CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023 - CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), + CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_4TH_GEN), # hybrid CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5), CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14), - CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN), + CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN), # plug-in hybrid CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2 @@ -154,10 +155,13 @@ routes = [ CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), + CarTestRoute("23349923ba5c4e3b|2023-12-02--08-51-54", HYUNDAI.KIA_NIRO_PHEV_2022), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), + CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal + CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # hybrid CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30), CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), @@ -185,16 +189,18 @@ routes = [ CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), + CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.RAV4_TSS2_2023), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), + CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), - CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), + CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), - CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), + CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2), # hybrid CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), @@ -204,7 +210,7 @@ routes = [ CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), - CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), + CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER), # hybrid CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), @@ -250,7 +256,7 @@ routes = [ CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), - # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal + CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 6777aeb738..064f2e5651 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -5,14 +5,13 @@ import time import unittest from collections import defaultdict from parameterized import parameterized -import threading +from unittest import mock from cereal import car -from openpilot.common.params import Params from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ - match_fw_to_car, get_fw_versions, get_present_ecus + match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus from openpilot.selfdrive.car.vin import get_vin CarFw = car.CarParams.CarFw @@ -64,7 +63,7 @@ class TestFwFingerprint(unittest.TestCase): "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False) - brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), VERSIONS[brand]) # If both have matches, they must agree if len(matches) == 1 and len(brand_matches) == 1: @@ -148,6 +147,12 @@ class TestFwFingerprint(unittest.TestCase): with self.subTest(): self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") + # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval + for brand, config in FW_QUERY_CONFIGS.items(): + self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0) + self.assertEqual(config.get_all_ecus({}), set(config.extra_ecus)) + self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0) + def test_fw_request_ecu_whitelist(self): for brand, config in FW_QUERY_CONFIGS.items(): with self.subTest(brand=brand): @@ -173,32 +178,47 @@ class TestFwFingerprint(unittest.TestCase): self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing, f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}") + def test_brand_ecu_matches(self): + empty_response = {brand: set() for brand in FW_QUERY_CONFIGS} + self.assertEqual(get_brand_ecu_matches(set()), empty_response) + + # we ignore bus + expected_response = empty_response | {'toyota': {(0x750, 0xf)}} + self.assertEqual(get_brand_ecu_matches({(0x758, 0xf, 99)}), expected_response) + class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.12 + TOL: float = 0.05 - @staticmethod - def _run_thread(thread: threading.Thread) -> float: - params = Params() - params.put_bool("ObdMultiplexingEnabled", True) - thread.start() - t = time.perf_counter() - while thread.is_alive(): - time.sleep(0.02) - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - return time.perf_counter() - t + # for patched functions + current_obd_multiplexing: bool + total_time: float + + def fake_set_obd_multiplexing(self, _, obd_multiplexing): + """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change""" + if obd_multiplexing != self.current_obd_multiplexing: + self.current_obd_multiplexing = obd_multiplexing + self.total_time += 0.1 / 2 + + def fake_get_data(self, timeout): + self.total_time += timeout + return {} def _benchmark_brand(self, brand, num_pandas): fake_socket = FakeSocket() - brand_time = 0 - for _ in range(self.N): - thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), - kwargs=dict(num_pandas=num_pandas)) - brand_time += self._run_thread(thread) + self.total_time = 0 + with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), + mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on + self.current_obd_multiplexing = True - return brand_time / self.N + t = time.perf_counter() + get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) + self.total_time += time.perf_counter() - t + + return self.total_time / self.N def _assert_timing(self, avg_time, ref_time): self.assertLess(avg_time, ref_time + self.TOL) @@ -206,45 +226,53 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time - vin_ref_time = 1.0 - present_ecu_ref_time = 0.8 + vin_ref_times = {'worst': 1.5, 'best': 0.5} # best assumes we go through all queries to get a match + present_ecu_ref_time = 0.75 + + def fake_get_ecu_addrs(*_, timeout): + self.total_time += timeout + return set() fake_socket = FakeSocket() - present_ecu_time = 0.0 - for _ in range(self.N): - thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket), - kwargs=dict(num_pandas=2)) - present_ecu_time += self._run_thread(thread) - self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time) - print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds') + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), + mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)): + for _ in range(self.N): + self.current_obd_multiplexing = True + get_present_ecus(fake_socket, fake_socket, num_pandas=2) + self._assert_timing(self.total_time / self.N, present_ecu_ref_time) + print(f'get_present_ecus, query time={self.total_time / self.N} seconds') - vin_time = 0.0 - for _ in range(self.N): - thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1)) - vin_time += self._run_thread(thread) - self._assert_timing(vin_time / self.N, vin_ref_time) - print(f'get_vin, query time={vin_time / self.N} seconds') + for name, args in (('worst', {}), ('best', {'retry': 1})): + with self.subTest(name=name): + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + get_vin(fake_socket, fake_socket, (0, 1), **args) + self._assert_timing(self.total_time / self.N, vin_ref_times[name]) + print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') @pytest.mark.timeout(60) def test_fw_query_timing(self): - total_ref_time = 6.07 + total_ref_time = 6.8 brand_ref_times = { 1: { - 'body': 0.11, + 'gm': 0.5, + 'body': 0.1, 'chrysler': 0.3, - 'ford': 0.2, - 'honda': 0.52, - 'hyundai': 0.72, - 'mazda': 0.2, - 'nissan': 0.4, - 'subaru': 0.2, + 'ford': 0.1, + 'honda': 0.55, + 'hyundai': 0.65, + 'mazda': 0.1, + 'nissan': 0.8, + 'subaru': 0.45, 'tesla': 0.2, 'toyota': 1.6, 'volkswagen': 0.2, }, 2: { - 'ford': 0.3, - 'hyundai': 1.12, + 'ford': 0.2, + 'hyundai': 1.05, } } diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 1fc626972f..10e24ff4c5 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -95,8 +95,8 @@ if __name__ == "__main__": _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \ - m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + + f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") # exit with test result sys.exit(not result.result.wasSuccessful()) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b9622437a0..537214d14c 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -3,23 +3,27 @@ import capnp import os import importlib import pytest +import random import unittest from collections import defaultdict, Counter +import hypothesis.strategies as st +from hypothesis import Phase, given, settings from typing import List, Optional, Tuple from parameterized import parameterized_class -from cereal import log, car +from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH -from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.selfdrive.test.helpers import read_segment_list +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT +from openpilot.tools.lib.comma_car_segments import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -33,11 +37,8 @@ NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) - -ignore_addr_checks_valid = [ - GM.BUICK_REGAL, - HYUNDAI.GENESIS_G70_2020, -] +MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50")) +CI = os.environ.get("CI", None) is not None def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: @@ -50,31 +51,110 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: for i, c in enumerate(sorted(all_known_cars())): if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) + test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,)))) else: - with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: - seg_list = f.read().splitlines() - - cnt = INTERNAL_SEG_CNT or len(seg_list) - seg_list_iter = iter(seg_list[:cnt]) - - for platform in seg_list_iter: - platform = platform[2:] # get rid of comment - segment_name = SegmentName(next(seg_list_iter)) + segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) + segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) + for platform, segment in segment_list: + segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) return test_cases @pytest.mark.slow +@pytest.mark.shared_download_cache class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None test_route: Optional[CarTestRoute] = None - ci: bool = True + test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket can_msgs: List[capnp.lib.capnp._DynamicStructReader] + fingerprint: dict[int, dict[int, int]] elm_frame: Optional[int] + car_safety_mode_frame: Optional[int] + + @classmethod + def get_logreader(cls, seg): + if len(INTERNAL_SEG_LIST): + route_name = RouteName(cls.test_route.route) + return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") + else: + return LogReader(get_url(cls.test_route.route, seg)) + + @classmethod + def get_testing_data_from_logreader(cls, lr): + car_fw = [] + can_msgs = [] + cls.elm_frame = None + cls.car_safety_mode_frame = None + cls.fingerprint = gen_empty_fingerprint() + experimental_long = False + for msg in lr: + if msg.which() == "can": + can_msgs.append(msg) + if len(can_msgs) <= FRAME_FINGERPRINT: + for m in msg.can: + if m.src < 64: + cls.fingerprint[m.src][m.address] = len(m.dat) + + elif msg.which() == "carParams": + car_fw = msg.carParams.carFw + if msg.carParams.openpilotLongitudinalControl: + experimental_long = True + if cls.car_model is None and not cls.ci: + cls.car_model = msg.carParams.carFingerprint + + # Log which can frame the panda safety mode left ELM327, for CAN validity checks + elif msg.which() == 'pandaStates': + for ps in msg.pandaStates: + if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and ps.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) + + elif msg.which() == 'pandaStateDEPRECATED': + if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) + + if len(can_msgs) > int(50 / DT_CTRL): + return car_fw, can_msgs, experimental_long + + raise Exception("no can data found") + + @classmethod + def get_testing_data(cls): + test_segs = (2, 1, 0) + if cls.test_route.segment is not None: + test_segs = (cls.test_route.segment,) + + # Try the primary method first (CI or internal) + for seg in test_segs: + try: + lr = cls.get_logreader(seg) + return cls.get_testing_data_from_logreader(lr) + except Exception: + pass + + # Route is not in CI bucket, assume either user has access (private), or it is public + # test_route_on_ci_bucket will fail when running in CI + if not len(INTERNAL_SEG_LIST): + cls.test_route_on_bucket = False + + for seg in test_segs: + try: + lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) + return cls.get_testing_data_from_logreader(lr) + except Exception: + pass + + raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") + @classmethod def setUpClass(cls): @@ -91,75 +171,20 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.car_model}") - test_segs = (2, 1, 0) - if cls.test_route.segment is not None: - test_segs = (cls.test_route.segment,) - - for seg in test_segs: - try: - if len(INTERNAL_SEG_LIST): - route_name = RouteName(cls.test_route.route) - lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") - elif cls.ci: - lr = LogReader(get_url(cls.test_route.route, seg)) - else: - lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) - except Exception: - continue - - car_fw = [] - can_msgs = [] - cls.elm_frame = None - fingerprint = defaultdict(dict) - experimental_long = False - enabled_toggle = True - dashcam_only = False - for msg in lr: - if msg.which() == "can": - can_msgs.append(msg) - if len(can_msgs) <= FRAME_FINGERPRINT: - for m in msg.can: - if m.src < 64: - fingerprint[m.src][m.address] = len(m.dat) - - elif msg.which() == "carParams": - car_fw = msg.carParams.carFw - dashcam_only = msg.carParams.dashcamOnly - if msg.carParams.openpilotLongitudinalControl: - experimental_long = True - if cls.car_model is None and not cls.ci: - cls.car_model = msg.carParams.carFingerprint - - elif msg.which() == 'initData': - for param in msg.initData.params.entries: - if param.key == 'OpenpilotEnabledToggle': - enabled_toggle = param.value.strip(b'\x00') == b'1' - - # Log which can frame the panda safety mode left ELM327, for CAN validity checks - if msg.which() == 'pandaStates': - for ps in msg.pandaStates: - if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - - elif msg.which() == 'pandaStateDEPRECATED': - if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - - if len(can_msgs) > int(50 / DT_CTRL): - break - else: - raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") + car_fw, can_msgs, experimental_long = cls.get_testing_data() # if relay is expected to be open in the route - cls.openpilot_enabled = enabled_toggle and not dashcam_only + cls.openpilot_enabled = cls.car_safety_mode_frame is not None cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] - cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False) + cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.car_model + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + @classmethod def tearDownClass(cls): del cls.can_msgs @@ -228,7 +253,7 @@ class TestCarModelBase(unittest.TestCase): error_cnt += car.RadarData.Error.canError in rr.errors self.assertEqual(error_cnt, 0) - def test_panda_safety_rx_valid(self): + def test_panda_safety_rx_checks(self): if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") @@ -250,20 +275,24 @@ class TestCarModelBase(unittest.TestCase): failed_addrs[hex(msg.address)] += 1 # ensure all msgs defined in the addr checks are valid - if self.car_model not in ignore_addr_checks_valid: - self.safety.safety_tick_current_rx_checks() - if t > 1e6: - self.assertTrue(self.safety.addr_checks_valid()) + self.safety.safety_tick_current_safety_config() + if t > 1e6: + self.assertTrue(self.safety.safety_config_valid()) - # No need to check relay malfunction on disabled routes (relay closed), - # or before fingerprinting is done (1s of tolerance to exit silent mode) - if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): - self.assertFalse(self.safety.get_relay_malfunction()) - else: - self.safety.set_relay_malfunction(False) + # Don't check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (elm327 and noOutput) + if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") + # ensure RX checks go invalid after small time with no traffic + self.safety.set_timer(int(t + (2*1e6))) + self.safety.safety_tick_current_safety_config() + self.assertFalse(self.safety.safety_config_valid()) + def test_panda_safety_tx_cases(self, data=None): """Asserts we can tx common messages""" if self.CP.notCar: @@ -300,6 +329,73 @@ class TestCarModelBase(unittest.TestCase): CC = car.CarControl.new_message(cruiseControl={'resume': True}) test_car_controller(CC) + # Skip stdout/stderr capture with pytest, causes elevated memory usage + @pytest.mark.nocapture + @settings(max_examples=MAX_EXAMPLES, deadline=None, + phases=(Phase.reuse, Phase.generate, Phase.shrink)) + @given(data=st.data()) + def test_panda_safety_carstate_fuzzy(self, data): + """ + For each example, pick a random CAN message on the bus and fuzz its data, + checking for panda state mismatches. + """ + + if self.CP.dashcamOnly: + self.skipTest("no need to check panda safety for dashcamOnly") + + valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()] + address, bus, size = data.draw(st.sampled_from(valid_addrs)) + + msg_strategy = st.binary(min_size=size, max_size=size) + msgs = data.draw(st.lists(msg_strategy, min_size=20)) + + CC = car.CarControl.new_message() + + for dat in msgs: + # due to panda updating state selectively, only edges are expected to match + # TODO: warm up CarState with real CAN messages to check edge of both sources + # (eg. toyota's gasPressed is the inverse of a signal being set) + prev_panda_gas = self.safety.get_gas_pressed_prev() + prev_panda_brake = self.safety.get_brake_pressed_prev() + prev_panda_regen_braking = self.safety.get_regen_braking_prev() + prev_panda_vehicle_moving = self.safety.get_vehicle_moving() + prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() + prev_panda_acc_main_on = self.safety.get_acc_main_on() + + to_send = libpanda_py.make_CANPacket(address, bus, dat) + self.safety.safety_rx_hook(to_send) + + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=address, dat=dat, src=bus)] + + CS = self.CI.update(CC, (can.to_bytes(),)) + + if self.safety.get_gas_pressed_prev() != prev_panda_gas: + self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) + + if self.safety.get_brake_pressed_prev() != prev_panda_brake: + # TODO: remove this exception once this mismatch is resolved + brake_pressed = CS.brakePressed + if CS.brakePressed and not self.safety.get_brake_pressed_prev(): + if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05: + brake_pressed = False + + self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) + + if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: + self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) + + if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: + self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) + + if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH): + if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: + self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) + + if self.CP.carName == "honda": + if self.safety.get_acc_main_on() != prev_panda_acc_main_on: + self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) + def test_panda_safety_carstate(self): """ Assert that panda safety matches openpilot's carState @@ -383,8 +479,14 @@ class TestCarModelBase(unittest.TestCase): failed_checks = {k: v for k, v in checks.items() if v > 0} self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") + @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI") + def test_route_on_ci_bucket(self): + self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " + + "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.") + @parameterized_class(('car_model', 'test_route'), get_test_cases()) +@pytest.mark.xdist_group_class_property('test_route') class TestCarModel(TestCarModelBase): pass diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt index 27a2104cf7..ca089bbdde 100644 --- a/selfdrive/car/tests/test_models_segs.txt +++ b/selfdrive/car/tests/test_models_segs.txt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887 -size 125301 +oid sha256:cadad21e1230729c70cffb4c46dd0a5dda4eec1a262b1bcd9f1b6b98265c20b5 +size 125104 diff --git a/selfdrive/car/torque_data/neural_ff_weights.json b/selfdrive/car/torque_data/neural_ff_weights.json new file mode 100644 index 0000000000..c526f07fa2 --- /dev/null +++ b/selfdrive/car/torque_data/neural_ff_weights.json @@ -0,0 +1 @@ +{"CHEVROLET BOLT EUV 2022": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 0.04300367832183838, -0.13856294751167297, -0.058136988431215286], [-0.006249868310987949, 0.08809533715248108, -0.040690965950489044, 0.02359287068247795, -0.00766348373144865, 0.24816390872001648, -0.17360293865203857, -0.03676899895071983, -0.17564819753170013, 0.18998438119888306, -0.050583917647600174, -0.006488069426268339, 0.10649101436138153, -0.024557121098041534, -0.103276826441288, 0.18448011577129364]], "b_1": [0.2935388386249542, 0.10967712104320526, -0.014007942751049995, 0.211833655834198, 0.33605605363845825, 0.37722209095954895, -0.16615016758441925, 0.3134673535823822, 0.06695777177810669, 0.3425212800502777, 0.3769673705101013, 0.23186539113521576, 0.5770409107208252, -0.05929069593548775, 0.01839117519557476, 0.03828774020075798], "w_2": [[-0.06261160969734192, 0.010185074992477894, -0.06083013117313385, -0.04531499370932579, -0.08979734033346176, 0.3432150185108185, -0.019801849499344826, 0.3010321259498596], [0.19698476791381836, -0.009238275699317455, 0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml new file mode 100644 index 0000000000..a24fa624c5 --- /dev/null +++ b/selfdrive/car/torque_data/override.toml @@ -0,0 +1,77 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +### angle control +# Nissan appears to have torque +"NISSAN X-TRAIL 2017" = [nan, 1.5, nan] +"NISSAN ALTIMA 2020" = [nan, 1.5, nan] +"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan] +"NISSAN LEAF 2018" = [nan, 1.5, nan] +"NISSAN ROGUE 2019" = [nan, 1.5, nan] + +# New subarus angle based controllers +"SUBARU FORESTER 2022" = [nan, 3.0, nan] +"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan] +"SUBARU ASCENT 2023" = [nan, 3.0, nan] + +# Toyota LTA also has torque +"TOYOTA RAV4 2023" = [nan, 3.0, nan] + +# Tesla has high torque +"TESLA AP1 MODEL S" = [nan, 2.5, nan] +"TESLA AP2 MODEL S" = [nan, 2.5, nan] + +# Guess +"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan] +"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan] +"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan] +"FORD F-150 14TH GEN" = [nan, 1.5, nan] +"FORD FOCUS 4TH GEN" = [nan, 1.5, nan] +"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan] +"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan] +"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan] +### + +# No steering wheel +"COMMA BODY" = [nan, 1000, nan] + +# Totally new cars +"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05] +"RAM HD 5TH GEN" = [1.4, 1.4, 0.05] +"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2] +"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] +"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2] +"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05] +"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] +"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16] +"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05] +"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1] +"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1] +"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1] +"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1] +"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1] +"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1] +"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1] +"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1] +"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12] +"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14] +"GENESIS GV80 2023" = [2.5, 2.5, 0.1] +"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15] +"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2] +"LEXUS IS 2023" = [2.0, 2.0, 0.1] +"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1] +"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1] +"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1] +"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1] +"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1] +"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1] +"LEXUS GS F 2016" = [2.5, 2.5, 0.08] +"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15] + +# Dashcam or fallback configured as ideal car +"mock" = [10.0, 10, 0.0] + +# Manually checked +"HONDA CIVIC 2022" = [2.5, 1.2, 0.15] +"HONDA HR-V 2023" = [2.5, 1.2, 0.2] + +"HONDA ACCORD 4CYL 9TH GEN" = [1.7, 0.35, 0.21] +"HYUNDAI BAYON 1ST GEN NON-SCC" = [2.5, 2.5, 0.1] diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index f2c703c626..e69de29bb2 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -1,76 +0,0 @@ -legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] -### angle control -# Nissan appears to have torque -NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] -NISSAN ALTIMA 2020: [.nan, 1.5, .nan] -NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] -NISSAN LEAF 2018: [.nan, 1.5, .nan] -NISSAN ROGUE 2019: [.nan, 1.5, .nan] - -# New subarus angle based controllers -SUBARU FORESTER 2022: [.nan, 3.0, .nan] -SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] -SUBARU ASCENT 2023: [.nan, 3.0, .nan] - -# Toyota LTA also has torque -TOYOTA RAV4 2023: [.nan, 3.0, .nan] - -# Tesla has high torque -TESLA AP1 MODEL S: [.nan, 2.5, .nan] -TESLA AP2 MODEL S: [.nan, 2.5, .nan] - -# Guess -FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan] -FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] -FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] -FORD F-150 14TH GEN: [.nan, 1.5, .nan] -FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] -FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] -### - -# No steering wheel -COMMA BODY: [.nan, 1000, .nan] - -# Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.05] -RAM HD 5TH GEN: [1.4, 1.4, 0.05] -SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2] -CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] -CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2] -CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] -CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] -CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16] -CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] -VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] -VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] -HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1] -KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1] -KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1] -GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] -KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] -GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] -KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] -KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] -KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] -GENESIS GV80 2023: [2.5, 2.5, 0.1] -KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15] -GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] -LEXUS IS 2023: [2.0, 2.0, 0.1] -KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] -HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] -HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] -HONDA ACCORD 4CYL 9TH GEN: [1.7, 0.35, 0.21] -HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] -HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1] -KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] -HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1] - -# Dashcam or fallback configured as ideal car -mock: [10.0, 10, 0.0] - -# Manually checked -HONDA CIVIC 2022: [2.5, 1.2, 0.15] -HONDA HR-V 2023: [2.5, 1.2, 0.2] - -# HKG Non-SCC -HYUNDAI BAYON 1ST GEN NON-SCC: [2.5, 2.5, 0.1] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml new file mode 100644 index 0000000000..d703b0d10a --- /dev/null +++ b/selfdrive/car/torque_data/params.toml @@ -0,0 +1,87 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028] +"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] +"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085] +"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237] +"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818] +"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520] +"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] +"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] +"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA CLARITY 2018" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819] +"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171] +"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019] +"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276] +"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] +"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482] +"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548] +"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651] +"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] +"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963] +"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] +"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +"HYUNDAI TUCSON 4TH GEN" = [2.960174, 2.860284, 0.108745] +"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048] +"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003] +"KIA EV6 2022" = [3.2, 2.093457, 0.05] +"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] +"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533] +"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] +"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] +"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] +"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753] +"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436] +"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] +"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] +"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] +"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515] +"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968] +"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] +"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] +"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986] +"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174] +"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736] +"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456] +"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712] +"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 9386bc3bef..e69de29bb2 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -1,89 +0,0 @@ -ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028] -ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844] -ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] -AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] -AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] -CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] -CHRYSLER PACIFICA 2018: [2.07140, 1.3366521181047952, 0.13776367250652022] -CHRYSLER PACIFICA 2020: [1.86206, 1.509076559398423, 0.14328246159386085] -CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237] -CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818] -CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520] -GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221] -HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] -HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] -HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094] -HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] -HONDA CLARITY 2018: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] -HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] -HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528] -HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083] -HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281] -HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] -HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] -HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] -HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] -HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] -HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819] -HYUNDAI GENESIS 2015-2016: [2.7807965280270794, 2.325, 0.0984484465421171] -HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] -HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] -HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] -HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548] -HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] -HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] -HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] -HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] -HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] -HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] -HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] -HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272] -JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048] -JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003] -KIA EV6 2022: [3.2, 2.093457, 0.05] -KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] -KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] -KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] -KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202] -LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533] -LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] -LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] -LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] -LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557] -LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] -MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] -SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] -SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] -SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] -SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627] -TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] -TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] -TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] -TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] -TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] -TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753] -TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436] -TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] -TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432] -TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] -TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] -TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] -TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] -TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515] -TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] -TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] -TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817] -TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] -TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986] -TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] -TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174] -TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] -TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456] -VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] -VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] -VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] -VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712] -VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] -VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] -legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml new file mode 100644 index 0000000000..7d091bff1d --- /dev/null +++ b/selfdrive/car/torque_data/substitute.toml @@ -0,0 +1,90 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"MAZDA 3" = "MAZDA CX-9 2021" +"MAZDA 6" = "MAZDA CX-9 2021" +"MAZDA CX-5" = "MAZDA CX-9 2021" +"MAZDA CX-5 2022" = "MAZDA CX-9 2021" +"MAZDA CX-9" = "MAZDA CX-9 2021" + +"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018" +"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017" +"LEXUS IS 2018" = "LEXUS NX 2018" +"LEXUS CT HYBRID 2018" = "LEXUS NX 2018" +"LEXUS ES 2018" = "TOYOTA CAMRY 2018" +"LEXUS RC 2020" = "LEXUS NX 2020" + +"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020" +"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" +"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020" +"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" +"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020" +"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020" +"KIA SELTOS 2021" = "HYUNDAI SONATA 2020" +"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020" +"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020" +"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020" +"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019" +"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019" +"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019" +"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020" +"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019" +"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022" +"KIA K5 HYBRID 2020" = "KIA K5 2021" +"KIA STINGER 2022" = "KIA STINGER GT2 2018" +"GENESIS G90 2017" = "GENESIS G70 2018" +"GENESIS G80 2017" = "GENESIS G70 2018" +"GENESIS G70 2020" = "HYUNDAI SONATA 2020" + +"HONDA FREED 2020" = "HONDA ODYSSEY 2018" +"HONDA CR-V EU 2016" = "HONDA CR-V 2016" +"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019" +"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019" +"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018" + +"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017" +"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017" +"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017" +"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017" +"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017" +"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017" + +"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN" +"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN" +"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN" + +"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" +"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" +"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN" + +# Old subarus don't have much data guessing it's like low torque impreza" +"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019" + +"KIA FORTE 2019 NON-SCC" = "HYUNDAI SONATA 2020" +"KIA FORTE LXS 2021 NON-SCC" = "HYUNDAI SONATA 2020" +"KIA SELTOS 2023 NON-SCC" = "HYUNDAI SONATA 2020" +"HYUNDAI KONA 2019 NON-SCC" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI ELANTRA SE 2022 NON-SCC" = "HYUNDAI ELANTRA 2021" +"GENESIS G70 2021 NON-SCC" = "HYUNDAI SONATA 2020" +"SKODA SUPERB 3RD GEN CC ONLY" = "SKODA SUPERB 3RD GEN" diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml deleted file mode 100644 index 96e8114942..0000000000 --- a/selfdrive/car/torque_data/substitute.yaml +++ /dev/null @@ -1,89 +0,0 @@ -MAZDA 3: MAZDA CX-9 2021 -MAZDA 6: MAZDA CX-9 2021 -MAZDA CX-5: MAZDA CX-9 2021 -MAZDA CX-5 2022: MAZDA CX-9 2021 -MAZDA CX-9: MAZDA CX-9 2021 - -TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 -TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 -LEXUS IS 2018: LEXUS NX 2018 -LEXUS CT HYBRID 2018 : LEXUS NX 2018 -LEXUS ES 2018: TOYOTA CAMRY 2018 -LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018 -LEXUS RC 2020: LEXUS NX 2020 - -KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020 -KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020 -KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 -KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020 -KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 -KIA FORTE 2019 NON-SCC: HYUNDAI SONATA 2020 -KIA FORTE LXS 2021 NON-SCC: HYUNDAI SONATA 2020 -KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 -KIA SELTOS 2021: HYUNDAI SONATA 2020 -KIA SELTOS 2023 NON-SCC: HYUNDAI SONATA 2020 -KIA NIRO HYBRID 2019: KIA NIRO EV 2020 -KIA NIRO HYBRID 2021: KIA NIRO EV 2020 -HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 -HYUNDAI KONA 2019 NON-SCC: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 -HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 -HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 -HYUNDAI ELANTRA SE 2022 NON-SCC: HYUNDAI ELANTRA 2021 -HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 -HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN -HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 -KIA K5 HYBRID 2020: KIA K5 2021 -KIA STINGER 2022: KIA STINGER GT2 2018 -GENESIS G90 2017: GENESIS G70 2018 -GENESIS G80 2017: GENESIS G70 2018 -GENESIS G70 2020: HYUNDAI SONATA 2020 -GENESIS G70 2021 NON-SCC: HYUNDAI SONATA 2020 - -HONDA FREED 2020: HONDA ODYSSEY 2018 -HONDA CR-V EU 2016: HONDA CR-V 2016 -HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 -HONDA E 2020: HONDA CIVIC (BOSCH) 2019 -HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 - -BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 -BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 -CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 -CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 -CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 -HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 - -SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN -SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN -SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA SUPERB 3RD GEN CC ONLY: SKODA SUPERB 3RD GEN -VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN -AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN -SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN -SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN - -SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020 -SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020 -SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN - -# Old subarus don't have much data guessing it's like low torque impreza -SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019 -SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019 -SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019 -SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019 -SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index f94847be0e..a7637d11d2 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -22,8 +22,8 @@ MAX_USER_TORQUE = 500 # LTA limits # EPS ignores commands above this angle and causes PCS to fault -MAX_STEER_ANGLE = 94.9461 # deg -MAX_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes +MAX_LTA_ANGLE = 94.9461 # deg +MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes class CarController: @@ -50,7 +50,7 @@ class CarController: actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel - lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE + lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE and abs(CS.out.steeringAngleDeg) < MAX_USER_TORQUE # *** control msgs *** can_sends = [] @@ -76,31 +76,38 @@ class CarController: apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg # Angular rate limit based on speed - apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params) + apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgoRaw, self.params) if not lat_active: apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg - self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE) + self.last_angle = clip(apply_angle, -MAX_LTA_ANGLE, MAX_LTA_ANGLE) self.last_steer = apply_steer - # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; + # toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2; # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed # on consecutive messages - can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req)) + can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req and lat_active)) + + # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle + # cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above + # the threshold, to limit max lateral acceleration and for driver torque blending respectively. full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and - abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) - setme_x64 = 100 if lta_active and full_torque_condition else 0 - can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) + abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE) + + # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec + torque_wind_down = 100 if lta_active and full_torque_condition else 0 + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle, + lta_active, self.frame // 2, torque_wind_down)) # *** gas and brake *** if self.CP.enableGasInterceptor and CC.longActive: MAX_INTERCEPTOR_GAS = 0.5 # RAV4 has very sensitive gas pedal - if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH): + if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) elif self.CP.carFingerprint in (CAR.COROLLA,): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) @@ -173,7 +180,7 @@ class CarController: if self.frame % 20 == 0 or send_ui: can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.latActive, CS.lkas_hud, CS.madsEnabled)) + hud_control.rightLaneDepart, CC.latActive and lat_active, CS.lkas_hud, CS.madsEnabled)) if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 3928573cec..921cd36b68 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -100,7 +100,7 @@ class CarState(CarStateBase): ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars - ret.standstill = ret.vEgoRaw == 0 + ret.standstill = abs(ret.vEgoRaw) < 1e-3 if self.CP.carFingerprint != CAR.PRIUS_V: self.lta_status = cp_cam.vl["LKAS_HUD"]["SET_ME_X02"] diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py new file mode 100644 index 0000000000..fc24f0e72c --- /dev/null +++ b/selfdrive/car/toyota/fingerprints.py @@ -0,0 +1,1628 @@ +from cereal import car +from openpilot.selfdrive.car.toyota.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.AVALON: { + (Ecu.abs, 0x7b0, None): [ + b'F152607060\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510701300\x00\x00\x00\x00', + b'881510705100\x00\x00\x00\x00', + b'881510705200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41051\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0701100\x00\x00\x00\x00', + b'8646F0703000\x00\x00\x00\x00', + ], + }, + CAR.AVALON_2019: { + (Ecu.abs, 0x7b0, None): [ + b'F152607110\x00\x00\x00\x00\x00\x00', + b'F152607140\x00\x00\x00\x00\x00\x00', + b'F152607171\x00\x00\x00\x00\x00\x00', + b'F152607180\x00\x00\x00\x00\x00\x00', + b'F152641040\x00\x00\x00\x00\x00\x00', + b'F152641050\x00\x00\x00\x00\x00\x00', + b'F152641061\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510703200\x00\x00\x00\x00', + b'881510704200\x00\x00\x00\x00', + b'881514107100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B07010\x00\x00\x00\x00\x00\x00', + b'8965B41070\x00\x00\x00\x00\x00\x00', + b'8965B41080\x00\x00\x00\x00\x00\x00', + b'8965B41090\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630725100\x00\x00\x00\x00', + b'\x01896630725200\x00\x00\x00\x00', + b'\x01896630725300\x00\x00\x00\x00', + b'\x01896630735100\x00\x00\x00\x00', + b'\x01896630738000\x00\x00\x00\x00', + b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0702100\x00\x00\x00\x00', + ], + }, + CAR.AVALON_TSS2: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607250\x00\x00\x00\x00\x00\x00', + b'\x01F152607280\x00\x00\x00\x00\x00\x00', + b'F152641080\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41110\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x01896630742000\x00\x00\x00\x00', + b'\x01896630743000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.CAMRY: { + (Ecu.engine, 0x700, None): [ + b'\x018966306L3100\x00\x00\x00\x00', + b'\x018966306L4200\x00\x00\x00\x00', + b'\x018966306L5200\x00\x00\x00\x00', + b'\x018966306L9000\x00\x00\x00\x00', + b'\x018966306P8000\x00\x00\x00\x00', + b'\x018966306Q3100\x00\x00\x00\x00', + b'\x018966306Q4000\x00\x00\x00\x00', + b'\x018966306Q4100\x00\x00\x00\x00', + b'\x018966306Q4200\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966333N1100\x00\x00\x00\x00', + b'\x018966333N4300\x00\x00\x00\x00', + b'\x018966333P3100\x00\x00\x00\x00', + b'\x018966333P3200\x00\x00\x00\x00', + b'\x018966333P4200\x00\x00\x00\x00', + b'\x018966333P4300\x00\x00\x00\x00', + b'\x018966333P4400\x00\x00\x00\x00', + b'\x018966333P4500\x00\x00\x00\x00', + b'\x018966333P4700\x00\x00\x00\x00', + b'\x018966333P4900\x00\x00\x00\x00', + b'\x018966333Q6000\x00\x00\x00\x00', + b'\x018966333Q6200\x00\x00\x00\x00', + b'\x018966333Q6300\x00\x00\x00\x00', + b'\x018966333Q6500\x00\x00\x00\x00', + b'\x018966333Q9200\x00\x00\x00\x00', + b'\x018966333W6000\x00\x00\x00\x00', + b'\x018966333X0000\x00\x00\x00\x00', + b'\x018966333X4000\x00\x00\x00\x00', + b'\x01896633T16000\x00\x00\x00\x00', + b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0601400 ', + b'8821F0601500 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152606210\x00\x00\x00\x00\x00\x00', + b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606270\x00\x00\x00\x00\x00\x00', + b'F152606290\x00\x00\x00\x00\x00\x00', + b'F152606410\x00\x00\x00\x00\x00\x00', + b'F152633214\x00\x00\x00\x00\x00\x00', + b'F152633540\x00\x00\x00\x00\x00\x00', + b'F152633660\x00\x00\x00\x00\x00\x00', + b'F152633712\x00\x00\x00\x00\x00\x00', + b'F152633713\x00\x00\x00\x00\x00\x00', + b'F152633A10\x00\x00\x00\x00\x00\x00', + b'F152633A20\x00\x00\x00\x00\x00\x00', + b'F152633B51\x00\x00\x00\x00\x00\x00', + b'F152633B60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33540\x00\x00\x00\x00\x00\x00', + b'8965B33542\x00\x00\x00\x00\x00\x00', + b'8965B33550\x00\x00\x00\x00\x00\x00', + b'8965B33551\x00\x00\x00\x00\x00\x00', + b'8965B33580\x00\x00\x00\x00\x00\x00', + b'8965B33581\x00\x00\x00\x00\x00\x00', + b'8965B33611\x00\x00\x00\x00\x00\x00', + b'8965B33621\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0601400 ', + b'8821F0601500 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604100 ', + b'8821F0604200 ', + b'8821F0605200 ', + b'8821F0606200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609000 ', + b'8821F0609100 ', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0601200 ', + b'8646F0601300 ', + b'8646F0601400 ', + b'8646F0603400 ', + b'8646F0603500 ', + b'8646F0604100 ', + b'8646F0605000 ', + b'8646F0606000 ', + b'8646F0606100 ', + b'8646F0607000 ', + b'8646F0607100 ', + ], + }, + CAR.CAMRY_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', + b'8965B33650\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F152606370\x00\x00\x00\x00\x00\x00', + b'\x01F152606390\x00\x00\x00\x00\x00\x00', + b'\x01F152606400\x00\x00\x00\x00\x00\x00', + b'\x01F152606431\x00\x00\x00\x00\x00\x00', + b'F152633310\x00\x00\x00\x00\x00\x00', + b'F152633D00\x00\x00\x00\x00\x00\x00', + b'F152633D60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', + b'\x018966306R8000\x00\x00\x00\x00', + b'\x018966306T0000\x00\x00\x00\x00', + b'\x018966306T3100\x00\x00\x00\x00', + b'\x018966306T3200\x00\x00\x00\x00', + b'\x018966306T4000\x00\x00\x00\x00', + b'\x018966306T4100\x00\x00\x00\x00', + b'\x018966306V1000\x00\x00\x00\x00', + b'\x01896633T20000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, + CAR.CHR: { + (Ecu.engine, 0x700, None): [ + b'\x01896631017100\x00\x00\x00\x00', + b'\x01896631017200\x00\x00\x00\x00', + b'\x01896631021100\x00\x00\x00\x00', + 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b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260E031\x00\x00\x00\x00\x00\x00', + b'\x01F15260E041\x00\x00\x00\x00\x00\x00', + b'\x01F152648781\x00\x00\x00\x00\x00\x00', + b'\x01F152648801\x00\x00\x00\x00\x00\x00', + b'F152648493\x00\x00\x00\x00\x00\x00', + b'F152648811\x00\x00\x00\x00\x00\x00', + b'F152648831\x00\x00\x00\x00\x00\x00', + b'F152648891\x00\x00\x00\x00\x00\x00', + b'F152648C80\x00\x00\x00\x00\x00\x00', + b'F152648D00\x00\x00\x00\x00\x00\x00', + b'F152648D60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B48261\x00\x00\x00\x00\x00\x00', + b'8965B48271\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301100\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.PRIUS_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152647500\x00\x00\x00\x00\x00\x00', + b'F152647510\x00\x00\x00\x00\x00\x00', + b'F152647520\x00\x00\x00\x00\x00\x00', + b'F152647521\x00\x00\x00\x00\x00\x00', + b'F152647531\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B47070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + ], + }, + CAR.MIRAI: { + (Ecu.abs, 0x7d1, None): [ + b'\x01898A36203000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15266203200\x00\x00\x00\x00', + b'\x01F15266203500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.ALPHARD_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B58040\x00\x00\x00\x00\x00\x00', + b'8965B58052\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152658320\x00\x00\x00\x00\x00\x00', + b'F152658341\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 496996964c..bb5f153c82 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,7 +1,7 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from panda import Panda from panda.python import uds from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, ToyotaFlagsSP, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ @@ -35,12 +35,11 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE if candidate in ANGLE_CONTROL_CAR: - ret.dashcamOnly = True ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA # LTA control can be more delayed and winds up more often - ret.steerActuatorDelay = 0.25 + ret.steerActuatorDelay = 0.18 ret.steerLimitTimer = 0.8 else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) @@ -88,7 +87,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2): + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end @@ -110,7 +109,8 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): + # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU stop_and_go = True ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 @@ -153,9 +153,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG - elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2): - if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2): ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized ret.tireStiffnessFactor = 0.444 # not optimized yet @@ -174,6 +172,12 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + elif candidate == CAR.LEXUS_GS_F: + ret.wheelbase = 2.84988 + ret.steerRatio = 13.3 + ret.tireStiffnessFactor = 0.444 + ret.mass = 4034. * CV.LB_TO_KG + elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.wheelbase = 2.60 @@ -228,6 +232,9 @@ class CarInterface(CarInterfaceBase): and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] + if ret.enableGasInterceptor: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR + # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) @@ -320,7 +327,7 @@ class CarInterface(CarInterfaceBase): self.CS.gac_tr_cluster = 3 if self.CS.gac_tr != 2: self.CS.gac_tr = 2 - put_nonblocking("LongitudinalPersonality", "2") + self.param_s.put_nonblocking("LongitudinalPersonality", "2") else: gap_dist_button = bool(self.CS.gap_dist_button) if gap_dist_button: @@ -331,7 +338,7 @@ class CarInterface(CarInterfaceBase): follow_distance_converted = self.get_sp_gac_state(pre_calculated_distance, GAC_MIN, GAC_MAX, "+") gac_tr = self.get_sp_distance(follow_distance_converted, GAC_MAX, gac_dict=GAC_DICT) - 1 # always 1 lower if gac_tr != self.CS.gac_tr: - put_nonblocking("LongitudinalPersonality", str(gac_tr)) + self.param_s.put_nonblocking("LongitudinalPersonality", str(gac_tr)) self.CS.gac_tr = gac_tr else: self.gac_button_counter = 0 diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py index 636a013242..9ec7a14cd3 100755 --- a/selfdrive/car/toyota/tests/print_platform_codes.py +++ b/selfdrive/car/toyota/tests/print_platform_codes.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 from collections import defaultdict from cereal import car -from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index 2a82ca5ec0..d9d4fe087f 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -4,7 +4,8 @@ import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict -from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \ +from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, \ FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \ get_platform_codes @@ -17,6 +18,10 @@ class TestToyotaInterfaces(unittest.TestCase): self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) + def test_lta_platforms(self): + # At this time, only RAV4 2023 is expected to use LTA/angle control + self.assertEqual(ANGLE_CONTROL_CAR, {CAR.RAV4_TSS2_2023}) + def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, # like looking up certain signals only in this DBC @@ -45,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase): class TestToyotaFingerprint(unittest.TestCase): + def test_non_essential_ecus(self): + # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model.value): + engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine} + self.assertEqual(len(engine_ecus) > 1, + car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine], + f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list") + # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy # fingerprint in the absence of full FW matches: @settings(max_examples=100) @@ -134,12 +148,12 @@ class TestToyotaFingerprint(unittest.TestCase): "subAddress": 0 if sub_addr is None else sub_addr}) CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS) if len(matches) == 1: self.assertEqual(list(matches)[0], platform) else: # If a platform has multiple matches, add it and its matches - platforms_with_shared_codes |= {platform, *matches} + platforms_with_shared_codes |= {str(platform), *matches} self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index a4db91747c..cd7746f8ad 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -1,3 +1,8 @@ +from cereal import car + +SteerControlType = car.CarParams.SteerControlType + + def create_steer_command(packer, steer, steer_req): """Creates a CAN message for the Toyota Steer Command.""" @@ -9,15 +14,16 @@ def create_steer_command(packer, steer, steer_req): return packer.make_can_msg("STEERING_LKA", 0, values) -def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64): +def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down): """Creates a CAN message for the Toyota LTA Steer Command.""" values = { "COUNTER": frame + 128, - "SETME_X1": 1, - "SETME_X3": 3, + "SETME_X1": 1, # suspected LTA feature availability + # 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control + "SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3, "PERCENTAGE": 100, - "SETME_X64": setme_x64, + "TORQUE_WIND_DOWN": torque_wind_down, "ANGLE": 0, "STEER_ANGLE_CMD": steer_angle, "STEER_REQUEST": steer_req, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ddc5fcdc1c..33acb6963c 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -27,7 +27,8 @@ class CarControllerParams: # Assuming a steering ratio of 13.7: # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph, - # however the EPS has its own internal limits at all speeds which are less than that + # however the EPS has its own internal limits at all speeds which are less than that: + # Observed internal torque rate limit on TSS 2.5 Camry and RAV4 is ~1500 units/sec up and down when using LTA ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) @@ -65,7 +66,6 @@ class CAR(StrEnum): COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" HIGHLANDER = "TOYOTA HIGHLANDER 2017" HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" - HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" PRIUS = "TOYOTA PRIUS 2017" PRIUS_V = "TOYOTA PRIUS v 2017" PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" @@ -80,7 +80,6 @@ class CAR(StrEnum): # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" LEXUS_ES = "LEXUS ES 2018" - LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_IS = "LEXUS IS 2018" LEXUS_IS_TSS2 = "LEXUS IS 2023" @@ -88,8 +87,8 @@ class CAR(StrEnum): LEXUS_NX_TSS2 = "LEXUS NX 2020" LEXUS_RC = "LEXUS RC 2020" LEXUS_RX = "LEXUS RX 2016" - LEXUS_RXH = "LEXUS RX HYBRID 2017" LEXUS_RX_TSS2 = "LEXUS RX 2020" + LEXUS_GS_F = "LEXUS GS F 2016" class Footnote(Enum): @@ -127,7 +126,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), ], CAR.CAMRY_TSS2: [ - ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), ], CAR.CHR: [ @@ -149,12 +148,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], - CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + CAR.HIGHLANDER: [ + ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), + ], CAR.HIGHLANDER_TSS2: [ ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ], - CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.PRIUS: [ ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), @@ -182,22 +183,25 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ], CAR.RAV4_TSS2_2023: [ - ToyotaCarInfo("Toyota RAV4 2023"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), + ToyotaCarInfo("Toyota RAV4 2023-24"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + CAR.LEXUS_ES: [ + ToyotaCarInfo("Lexus ES 2017-18"), + ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + ], CAR.LEXUS_ES_TSS2: [ ToyotaCarInfo("Lexus ES 2019-24"), - ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), + CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"), CAR.LEXUS_NX: [ ToyotaCarInfo("Lexus NX 2018-19"), ToyotaCarInfo("Lexus NX Hybrid 2018-19"), @@ -210,8 +214,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), - ], - CAR.LEXUS_RXH: [ + # Hybrid platforms ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], @@ -223,33 +226,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ - (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), + (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), + (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), - (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), - (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), - (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), - (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), - (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, + (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), - (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), + (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), - (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), - (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'), + (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] @@ -297,10 +299,10 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]: return dict(codes) -def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: candidates = set() - for candidate, fws in FW_VERSIONS.items(): + for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within sub-version range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} @@ -350,13 +352,16 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]') # highest seen is 3 chunks, 16 bytes FW_CHUNK_LEN = 16 # List of ECUs that are most unique across openpilot platforms -# TODO: use hybrid ECU, splits similar ICE and hybrid variants # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes # when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2. # On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping. -# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception) +# Note that the platform codes & major versions do not describe features in plain text, only with +# matching against other seen FW versions in the database they can describe features. +# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code. +# For example the RAV4 2022's new radar architecture is shown for both with platform code. +# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination) # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages -PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps] +PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) # These platforms have at least one platform code for all ECUs shared with another platform. FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set() @@ -396,8 +401,8 @@ FW_QUERY_CONFIG = FwQueryConfig( # FIXME: On some models, abs can sometimes be missing Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], # On some models, the engine can show on two different addresses - Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC, - CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2], + Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, + CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], }, extra_ecus=[ # All known ECUs on a late-model Toyota vehicle not queried here: @@ -434,1618 +439,6 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) -FW_VERSIONS = { - CAR.AVALON: { - (Ecu.abs, 0x7b0, None): [ - b'F152607060\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510701300\x00\x00\x00\x00', - b'881510705100\x00\x00\x00\x00', - b'881510705200\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41051\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0701100\x00\x00\x00\x00', - b'8646F0703000\x00\x00\x00\x00', - ], - }, - CAR.AVALON_2019: { - (Ecu.abs, 0x7b0, None): [ - b'F152607140\x00\x00\x00\x00\x00\x00', - b'F152607171\x00\x00\x00\x00\x00\x00', - b'F152607110\x00\x00\x00\x00\x00\x00', - b'F152607180\x00\x00\x00\x00\x00\x00', - b'F152641040\x00\x00\x00\x00\x00\x00', - b'F152641061\x00\x00\x00\x00\x00\x00', - b'F152641050\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510703200\x00\x00\x00\x00', - b'881510704200\x00\x00\x00\x00', - b'881514107100\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41080\x00\x00\x00\x00\x00\x00', - b'8965B07010\x00\x00\x00\x00\x00\x00', - b'8965B41090\x00\x00\x00\x00\x00\x00', - b'8965B41070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896630725200\x00\x00\x00\x00', - b'\x01896630725300\x00\x00\x00\x00', - b'\x01896630735100\x00\x00\x00\x00', - b'\x01896630738000\x00\x00\x00\x00', - b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0702100\x00\x00\x00\x00', - ], - }, - CAR.AVALON_TSS2: { - (Ecu.abs, 0x7b0, None): [ - b'\x01F152607240\x00\x00\x00\x00\x00\x00', - b'\x01F152607250\x00\x00\x00\x00\x00\x00', - b'\x01F152607280\x00\x00\x00\x00\x00\x00', - b'F152641080\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41110\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896630742000\x00\x00\x00\x00', - b'\x01896630743000\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.CAMRY: { - (Ecu.engine, 0x700, None): [ - b'\x018966306L3100\x00\x00\x00\x00', - b'\x018966306L4200\x00\x00\x00\x00', - b'\x018966306L5200\x00\x00\x00\x00', - b'\x018966306P8000\x00\x00\x00\x00', - b'\x018966306Q3100\x00\x00\x00\x00', - b'\x018966306Q4000\x00\x00\x00\x00', - b'\x018966306Q4100\x00\x00\x00\x00', - b'\x018966306Q4200\x00\x00\x00\x00', - b'\x018966333Q9200\x00\x00\x00\x00', - b'\x018966333P3100\x00\x00\x00\x00', - b'\x018966333P3200\x00\x00\x00\x00', - b'\x018966333P4200\x00\x00\x00\x00', - b'\x018966333P4300\x00\x00\x00\x00', - b'\x018966333P4400\x00\x00\x00\x00', - b'\x018966333P4500\x00\x00\x00\x00', - b'\x018966333P4700\x00\x00\x00\x00', - b'\x018966333P4900\x00\x00\x00\x00', - b'\x018966333Q6000\x00\x00\x00\x00', - b'\x018966333Q6200\x00\x00\x00\x00', - b'\x018966333Q6300\x00\x00\x00\x00', - b'\x018966333Q6500\x00\x00\x00\x00', - b'\x018966333W6000\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - b'\x018966333N1100\x00\x00\x00\x00', - b'\x018966333N4300\x00\x00\x00\x00', - b'\x018966333X0000\x00\x00\x00\x00', - b'\x018966333X4000\x00\x00\x00\x00', - b'\x01896633T16000\x00\x00\x00\x00', - b'\x018966306L9000\x00\x00\x00\x00', - b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - 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b'\x01896630EB2100\x00\x00\x00\x00', - b'\x01896630EB2200\x00\x00\x00\x00', - b'\x01896630EC4000\x00\x00\x00\x00', - b'\x01896630ED9000\x00\x00\x00\x00', - b'\x01896630ED9100\x00\x00\x00\x00', - b'\x01896630EE1000\x00\x00\x00\x00', - b'\x01896630EE1100\x00\x00\x00\x00', - b'\x01896630EG3000\x00\x00\x00\x00', - b'\x01896630EG5000\x00\x00\x00\x00', - b'\x01896630E67000\x00\x00\x00\x00', - b'\x01896630EA1000\x00\x00\x00\x00', - b'\x01896630EE4000\x00\x00\x00\x00', - b'\x01896630EE4100\x00\x00\x00\x00', - b'\x01896630EE5000\x00\x00\x00\x00', - b'\x01896630EE6000\x00\x00\x00\x00', - b'\x01896630EE7000\x00\x00\x00\x00', - b'\x01896630EF8000\x00\x00\x00\x00', - b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301400\x00\x00\x00\x00', - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', - b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.LEXUS_IS: { - (Ecu.engine, 0x700, None): [ - b'\x018966353M7000\x00\x00\x00\x00', - b'\x018966353M7100\x00\x00\x00\x00', - b'\x018966353Q2000\x00\x00\x00\x00', - b'\x018966353Q2300\x00\x00\x00\x00', - b'\x018966353Q4000\x00\x00\x00\x00', - b'\x018966353R1100\x00\x00\x00\x00', - b'\x018966353R7100\x00\x00\x00\x00', - b'\x018966353R8100\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00', - 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b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', - b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', - 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b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', - b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00', - b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00', - b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00', - b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', - b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00', - b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B47021\x00\x00\x00\x00\x00\x00', - b'8965B47022\x00\x00\x00\x00\x00\x00', - b'8965B47023\x00\x00\x00\x00\x00\x00', - b'8965B47050\x00\x00\x00\x00\x00\x00', - b'8965B47060\x00\x00\x00\x00\x00\x00', # This is the EPS with good angle sensor - ], - (Ecu.abs, 0x7b0, None): [ - b'F152647290\x00\x00\x00\x00\x00\x00', - b'F152647300\x00\x00\x00\x00\x00\x00', - b'F152647310\x00\x00\x00\x00\x00\x00', - b'F152647414\x00\x00\x00\x00\x00\x00', - b'F152647415\x00\x00\x00\x00\x00\x00', - b'F152647416\x00\x00\x00\x00\x00\x00', - b'F152647417\x00\x00\x00\x00\x00\x00', - b'F152647470\x00\x00\x00\x00\x00\x00', - b'F152647490\x00\x00\x00\x00\x00\x00', - b'F152647682\x00\x00\x00\x00\x00\x00', - b'F152647683\x00\x00\x00\x00\x00\x00', - b'F152647684\x00\x00\x00\x00\x00\x00', - b'F152647862\x00\x00\x00\x00\x00\x00', - b'F152647863\x00\x00\x00\x00\x00\x00', - b'F152647864\x00\x00\x00\x00\x00\x00', - b'F152647865\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514702300\x00\x00\x00\x00', - b'881514702400\x00\x00\x00\x00', - b'881514703100\x00\x00\x00\x00', - b'881514704100\x00\x00\x00\x00', - b'881514706000\x00\x00\x00\x00', - b'881514706100\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4701300\x00\x00\x00\x00', - b'8646F4702001\x00\x00\x00\x00', - b'8646F4702100\x00\x00\x00\x00', - b'8646F4702200\x00\x00\x00\x00', - b'8646F4705000\x00\x00\x00\x00', - b'8646F4705200\x00\x00\x00\x00', - ], - }, - CAR.PRIUS_V: { - (Ecu.abs, 0x7b0, None): [ - b'F152647280\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514705100\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4703300\x00\x00\x00\x00', - ], - }, - CAR.RAV4: { - (Ecu.engine, 0x7e0, None): [ - b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', - 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], - (Ecu.dsu, 0x791, None): [ - b'881514201200\x00\x00\x00\x00', - b'881514201300\x00\x00\x00\x00', - b'881514201400\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4201100\x00\x00\x00\x00', - b'8646F4201200\x00\x00\x00\x00', - b'8646F4202001\x00\x00\x00\x00', - b'8646F4202100\x00\x00\x00\x00', - b'8646F4204000\x00\x00\x00\x00', - ], - }, - CAR.RAV4H: { - (Ecu.engine, 0x7e0, None): [ - b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B42102\x00\x00\x00\x00\x00\x00', - b'8965B42103\x00\x00\x00\x00\x00\x00', - b'8965B42112\x00\x00\x00\x00\x00\x00', - b'8965B42162\x00\x00\x00\x00\x00\x00', - b'8965B42163\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152642090\x00\x00\x00\x00\x00\x00', - b'F152642110\x00\x00\x00\x00\x00\x00', - b'F152642120\x00\x00\x00\x00\x00\x00', - b'F152642400\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514202200\x00\x00\x00\x00', - b'881514202300\x00\x00\x00\x00', - b'881514202400\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4201100\x00\x00\x00\x00', - b'8646F4201200\x00\x00\x00\x00', - b'8646F4202001\x00\x00\x00\x00', - b'8646F4202100\x00\x00\x00\x00', - b'8646F4204000\x00\x00\x00\x00', - ], - }, - CAR.RAV4_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x01896630R58000\x00\x00\x00\x00', - b'\x01896630R58100\x00\x00\x00\x00', - b'\x018966342E2000\x00\x00\x00\x00', - b'\x018966342M8000\x00\x00\x00\x00', - b'\x018966342S9000\x00\x00\x00\x00', - b'\x018966342T1000\x00\x00\x00\x00', - 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b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', - b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', - b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x01896634A15000\x00\x00\x00\x00', - b'\x018966342M5000\x00\x00\x00\x00', - b'\x018966342W8000\x00\x00\x00\x00', - b'\x018966342X5000\x00\x00\x00\x00', - b'\x018966342X6000\x00\x00\x00\x00', - b'\x01896634A25000\x00\x00\x00\x00', - b'\x018966342W5000\x00\x00\x00\x00', - b'\x018966342W7000\x00\x00\x00\x00', - b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', - b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', - 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b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152648361\x00\x00\x00\x00\x00\x00', - b'F152648501\x00\x00\x00\x00\x00\x00', - b'F152648502\x00\x00\x00\x00\x00\x00', - b'F152648504\x00\x00\x00\x00\x00\x00', - b'F152648740\x00\x00\x00\x00\x00\x00', - b'F152648A30\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514811300\x00\x00\x00\x00', - b'881514811500\x00\x00\x00\x00', - b'881514811700\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B0E011\x00\x00\x00\x00\x00\x00', - b'8965B0E012\x00\x00\x00\x00\x00\x00', - b'8965B48111\x00\x00\x00\x00\x00\x00', - b'8965B48112\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4701000\x00\x00\x00\x00', - b'8821F4701100\x00\x00\x00\x00', - b'8821F4701200\x00\x00\x00\x00', - b'8821F4701300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4801200\x00\x00\x00\x00', - b'8646F4802001\x00\x00\x00\x00', - b'8646F4802100\x00\x00\x00\x00', - b'8646F4802200\x00\x00\x00\x00', - b'8646F4809000\x00\x00\x00\x00', - ], - }, - CAR.LEXUS_RX_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x01896630EA9000\x00\x00\x00\x00', - b'\x01896630EB0000\x00\x00\x00\x00', - b'\x01896630EC9000\x00\x00\x00\x00', - b'\x01896630EC9100\x00\x00\x00\x00', - b'\x01896630ED0000\x00\x00\x00\x00', - b'\x01896630ED0100\x00\x00\x00\x00', - b'\x01896630ED6000\x00\x00\x00\x00', - b'\x018966348T8000\x00\x00\x00\x00', - b'\x018966348W5100\x00\x00\x00\x00', - b'\x018966348W9000\x00\x00\x00\x00', - b'\x01896634D12000\x00\x00\x00\x00', - b'\x01896634D12100\x00\x00\x00\x00', - b'\x01896634D43000\x00\x00\x00\x00', - b'\x01896634D44000\x00\x00\x00\x00', - b'\x018966348X0000\x00\x00\x00\x00', - b'\x01896630ED5000\x00\x00\x00\x00', - b'\x018966348R9200\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'\x01F15260E031\x00\x00\x00\x00\x00\x00', - b'\x01F15260E041\x00\x00\x00\x00\x00\x00', - b'\x01F152648781\x00\x00\x00\x00\x00\x00', - b'\x01F152648801\x00\x00\x00\x00\x00\x00', - b'F152648831\x00\x00\x00\x00\x00\x00', - b'F152648891\x00\x00\x00\x00\x00\x00', - b'F152648D00\x00\x00\x00\x00\x00\x00', - b'F152648D60\x00\x00\x00\x00\x00\x00', - b'F152648811\x00\x00\x00\x00\x00\x00', - b'F152648C80\x00\x00\x00\x00\x00\x00', - b'F152648493\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B48261\x00\x00\x00\x00\x00\x00', - b'8965B48271\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301100\x00\x00\x00\x00', - b'\x018821F3301300\x00\x00\x00\x00', - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', - b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, - CAR.PRIUS_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', - b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', - b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', - b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152647500\x00\x00\x00\x00\x00\x00', - b'F152647510\x00\x00\x00\x00\x00\x00', - b'F152647520\x00\x00\x00\x00\x00\x00', - b'F152647521\x00\x00\x00\x00\x00\x00', - b'F152647531\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B47070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', - b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', - ], - }, - CAR.MIRAI: { - (Ecu.abs, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], - (Ecu.abs, 0x7B0, None): [ # a second ABS ECU - b'\x01F15266203200\x00\x00\x00\x00', - b'\x01F15266203500\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',], - (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',], - (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',], - }, - CAR.ALPHARD_TSS2: { - (Ecu.engine, 0x7e0, None): [ - b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B58040\x00\x00\x00\x00\x00\x00', - b'8965B58052\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152658341\x00\x00\x00\x00\x00\x00' - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301200\x00\x00\x00\x00', - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', - b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, -} STEER_THRESHOLD = 100 @@ -2057,7 +450,6 @@ DBC = { CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), @@ -2065,7 +457,6 @@ DBC = { CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2075,7 +466,6 @@ DBC = { CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2085,6 +475,7 @@ DBC = { CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), } # These cars have non-standard EPS torque scale factors. All others are 73 @@ -2098,7 +489,7 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_T NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} # the DSU uses the AEB message for longitudinal on these cars -UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} +UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F} # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} @@ -2107,4 +498,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA} diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 28edf157ae..f69771546f 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -4,8 +4,8 @@ import re import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.selfdrive.car.fw_query_definitions import StdQueries -from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries +from openpilot.common.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" @@ -15,33 +15,41 @@ def is_valid_vin(vin: str): return re.fullmatch(VIN_RE, vin) is not None -def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): - addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for - valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI +def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False): for i in range(retry): - for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): - try: - query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) - results = query.get_data(timeout) + for bus in buses: + for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in ( + (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400), # Bolt fwdCamera + ): + if bus not in valid_buses: + continue - for addr in valid_vin_addrs: - vin = results.get((addr, None)) - if vin is not None: - # Ford pads with null bytes - if len(vin) == 24: - vin = re.sub(b'\x00*$', b'', vin) + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, vin_addrs, [request, ], [response, ], response_offset=rx_offset, + functional_addrs=functional_addrs, debug=debug) + results = query.get_data(timeout) - # Honda Bosch response starts with a length, trim to correct length - if vin.startswith(b'\x11'): - vin = vin[1:18] + for addr in vin_addrs: + vin = results.get((addr, None)) + if vin is not None: + # Ford pads with null bytes + if len(vin) == 24: + vin = re.sub(b'\x00*$', b'', vin) - return get_rx_addr_for_tx_addr(addr), vin.decode() + # Honda Bosch response starts with a length, trim to correct length + if vin.startswith(b'\x11'): + vin = vin[1:18] - cloudlog.error(f"vin query retry ({i+1}) ...") - except Exception: - cloudlog.exception("VIN query exception") + cloudlog.warning(f"got vin with {request=}") + return get_rx_addr_for_tx_addr(addr), bus, vin.decode() + except Exception: + cloudlog.exception("VIN query exception") - return 0, VIN_UNKNOWN + cloudlog.error(f"vin query retry ({i+1}) ...") + + return -1, -1, VIN_UNKNOWN if __name__ == "__main__": @@ -59,5 +67,5 @@ if __name__ == "__main__": logcan = messaging.sub_sock('can') time.sleep(1) - vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug) - print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f718913d0d..45686060a3 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -3,11 +3,11 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from openpilot.common.numpy_fast import clip from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags from openpilot.selfdrive.controls.lib.drive_helpers import VOLKSWAGEN_V_CRUISE_MIN VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -89,7 +89,7 @@ class CarController: if not self.CP.pcmCruiseSpeed: if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap: self.sl_force_active_timer = self.frame - put_bool_nonblocking("LastSpeedLimitSignTap", False) + self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False) self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0)) @@ -134,13 +134,22 @@ class CarController: self.apply_steer_last = apply_steer can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque + # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to + # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. + ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX) + if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): + ea_simulated_torque = CS.out.steeringTorque + can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque)) + # **** Acceleration Controls ******************************************** # if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping - starting = actuators.longControlState == LongCtrlState.starting + starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, acc_control, stopping, starting, CS.esp_hold_confirmation)) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 6dba504957..2de49d1147 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ - CarControllerParams, BUTTON_STATES, VolkswagenFlagsSP + CarControllerParams, VolkswagenFlags, BUTTON_STATES, VolkswagenFlagsSP class CarState(CarStateBase): @@ -14,6 +14,7 @@ class CarState(CarStateBase): self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False self.upscale_lead_car_signal = False + self.eps_stock_values = False self.buttonStates = BUTTON_STATES.copy() self.buttonStatesPrev = BUTTON_STATES.copy() @@ -65,6 +66,11 @@ class CarState(CarStateBase): ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + # VW Emergency Assist status tracking and mitigation + self.eps_stock_values = pt_cp.vl["LH_EPS_03"] + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 + # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 @@ -329,6 +335,11 @@ class CarState(CarStateBase): messages = [] + if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + messages += [ + ("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not + ] + if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ # sig_address, frequency diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py new file mode 100644 index 0000000000..dcdb2e62bf --- /dev/null +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -0,0 +1,1157 @@ +from cereal import car +from openpilot.selfdrive.car.volkswagen.values import CAR + +Ecu = car.CarParams.Ecu + +# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting + + +FW_VERSIONS = { + CAR.ARTEON_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259AH\xf1\x890001', + b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', + b'\xf1\x873G0906259N \xf1\x890004', + b'\xf1\x873G0906259P \xf1\x890001', + b'\xf1\x875NA907115H \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', + b'\xf1\x870GC300011L \xf1\x891401', + b'\xf1\x870GC300014M \xf1\x892802', + b'\xf1\x870GC300019G \xf1\x892804', + b'\xf1\x870GC300040P \xf1\x891401', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', + b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.ATLAS_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703H906026AA\xf1\x899970', + b'\xf1\x8703H906026AG\xf1\x899973', + b'\xf1\x8703H906026AJ\xf1\x890638', + b'\xf1\x8703H906026AJ\xf1\x891017', + b'\xf1\x8703H906026AT\xf1\x891922', + b'\xf1\x8703H906026BC\xf1\x892664', + b'\xf1\x8703H906026F \xf1\x896696', + b'\xf1\x8703H906026F \xf1\x899970', + b'\xf1\x8703H906026J \xf1\x896026', + b'\xf1\x8703H906026J \xf1\x899971', + b'\xf1\x8703H906026S \xf1\x896693', + b'\xf1\x8703H906026S \xf1\x899970', + b'\xf1\x873CN906259 \xf1\x890005', + b'\xf1\x873CN906259F \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158A \xf1\x893387', + b'\xf1\x8709G927158DR\xf1\x893536', + b'\xf1\x8709G927158DR\xf1\x893742', + b'\xf1\x8709G927158EN\xf1\x893691', + b'\xf1\x8709G927158F \xf1\x893489', + b'\xf1\x8709G927158FT\xf1\x893835', + b'\xf1\x8709G927158GL\xf1\x893939', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\x0e1914151912001103111122031200', + b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + ], + }, + CAR.CRAFTER_MK2: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056BP\xf1\x894729', + b'\xf1\x8704L906056EK\xf1\x896391', + b'\xf1\x8705L906023BC\xf1\x892688', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', + b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', + b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', + b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572J \xf1\x890156', + b'\xf1\x872Q0907572M \xf1\x890233', + ], + }, + CAR.GOLF_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016AD\xf1\x895758', + b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', + b'\xf1\x8704E906016N \xf1\x899105', + b'\xf1\x8704E906023AG\xf1\x891726', + b'\xf1\x8704E906023BN\xf1\x894518', + b'\xf1\x8704E906024K \xf1\x896811', + b'\xf1\x8704E906024K \xf1\x899970', + b'\xf1\x8704E906027GR\xf1\x892394', + b'\xf1\x8704E906027HD\xf1\x892603', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MA\xf1\x894958', + b'\xf1\x8704L906021DT\xf1\x895520', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', + b'\xf1\x8704L906026BN\xf1\x891197', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026NF\xf1\x899528', + b'\xf1\x8704L906056CL\xf1\x893823', + b'\xf1\x8704L906056CR\xf1\x895813', + b'\xf1\x8704L906056HE\xf1\x893758', + b'\xf1\x8704L906056HN\xf1\x896590', + b'\xf1\x8704L906056HT\xf1\x896591', + b'\xf1\x870EA906016A \xf1\x898343', + b'\xf1\x870EA906016E \xf1\x894219', + b'\xf1\x870EA906016F \xf1\x894238', + b'\xf1\x870EA906016F \xf1\x895002', + b'\xf1\x870EA906016Q \xf1\x895993', + b'\xf1\x870EA906016S \xf1\x897207', + b'\xf1\x875G0906259 \xf1\x890007', + b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x875G0906259J \xf1\x890002', + b'\xf1\x875G0906259L \xf1\x890002', + b'\xf1\x875G0906259N \xf1\x890003', + b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x875G0906259Q \xf1\x892313', + b'\xf1\x875G0906259T \xf1\x890003', + b'\xf1\x878V0906259H \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890003', + b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259K \xf1\x890003', + b'\xf1\x878V0906259P \xf1\x890001', + b'\xf1\x878V0906259Q \xf1\x890002', + b'\xf1\x878V0906259R \xf1\x890002', + b'\xf1\x878V0906264F \xf1\x890003', + b'\xf1\x878V0906264L \xf1\x890002', + b'\xf1\x878V0906264M \xf1\x890001', + b'\xf1\x878V09C0BB01 \xf1\x890001', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927749AP\xf1\x892943', + b'\xf1\x8709S927158A \xf1\x893585', + b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041D \xf1\x891004', + b'\xf1\x870CW300041H \xf1\x891010', + b'\xf1\x870CW300042F \xf1\x891604', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300043E \xf1\x891603', + b'\xf1\x870CW300044S \xf1\x894530', + b'\xf1\x870CW300044T \xf1\x895245', + b'\xf1\x870CW300045 \xf1\x894531', + b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', + b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', + b'\xf1\x870CW300050G \xf1\x891905', + b'\xf1\x870D9300012 \xf1\x894904', + b'\xf1\x870D9300012 \xf1\x894913', + b'\xf1\x870D9300012 \xf1\x894937', + b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300012 \xf1\x895046', + b'\xf1\x870D9300014M \xf1\x895004', + b'\xf1\x870D9300014Q \xf1\x895006', + b'\xf1\x870D9300020J \xf1\x894902', + b'\xf1\x870D9300020Q \xf1\x895201', + b'\xf1\x870D9300020S \xf1\x895201', + b'\xf1\x870D9300040A \xf1\x893613', + b'\xf1\x870D9300040S \xf1\x894311', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041P \xf1\x894507', + b'\xf1\x870DD300045K \xf1\x891120', + b'\xf1\x870DD300046F \xf1\x891601', + b'\xf1\x870GC300012A \xf1\x891401', + b'\xf1\x870GC300012A \xf1\x891403', + b'\xf1\x870GC300014B \xf1\x892401', + b'\xf1\x870GC300014B \xf1\x892403', + b'\xf1\x870GC300014B \xf1\x892405', + b'\xf1\x870GC300020G \xf1\x892401', + b'\xf1\x870GC300020G \xf1\x892403', + b'\xf1\x870GC300020G \xf1\x892404', + b'\xf1\x870GC300020N \xf1\x892804', + b'\xf1\x870GC300043T \xf1\x899999', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', + b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', + b'\xf1\x875Q0959655S 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b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', + b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', + b'\xf1\x875Q0909144S 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b'\xf1\x8704E906027MS\xf1\x896223', + b'\xf1\x875G0906259T \xf1\x890003', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158BQ\xf1\x893545', + b'\xf1\x8709S927158BS\xf1\x893642', + b'\xf1\x8709S927158BS\xf1\x893694', + b'\xf1\x8709S927158CK\xf1\x893770', + b'\xf1\x8709S927158R \xf1\x893552', + b'\xf1\x8709S927158R \xf1\x893587', + b'\xf1\x870GC300020N \xf1\x892803', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1314171231313500314611011630169333463100', + b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100', + b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314642011650169333463100', + b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314643011650169333463100', + b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1311170031313300314240011150119333433100', + b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A10A01A1', + b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907572N \xf1\x890681', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.PASSAT_MK8: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703N906026E \xf1\x892114', + b'\xf1\x8704E906023AH\xf1\x893379', + b'\xf1\x8704E906023BM\xf1\x894522', + b'\xf1\x8704L906026DP\xf1\x891538', + b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x892012', + b'\xf1\x8704L906026GA\xf1\x892013', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259 \xf1\x890004', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906264 \xf1\x890004', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300042H \xf1\x891607', + b'\xf1\x870CW300043H \xf1\x891601', + b'\xf1\x870CW300048R \xf1\x890610', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014L \xf1\x895002', + b'\xf1\x870D9300018C \xf1\x895297', + b'\xf1\x870D9300041A \xf1\x894801', + b'\xf1\x870D9300042H \xf1\x894901', + b'\xf1\x870DD300045T \xf1\x891601', + b'\xf1\x870DD300046H \xf1\x891601', + b'\xf1\x870DL300011H \xf1\x895201', + b'\xf1\x870GC300042H \xf1\x891404', + b'\xf1\x870GC300043 \xf1\x892301', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', + b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', + 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b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00703A1', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572A \xf1\x890126', + b'\xf1\x873Q0907572A \xf1\x890130', + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x873Q0907572C \xf1\x890196', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.PASSAT_NMS: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8706K906016C \xf1\x899609', + b'\xf1\x8706K906016E \xf1\x899830', + b'\xf1\x8706K906016G \xf1\x891124', + b'\xf1\x8706K906071BJ\xf1\x894891', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158AB\xf1\x893318', + b'\xf1\x8709G927158BD\xf1\x893121', + b'\xf1\x8709G927158DK\xf1\x893594', + b'\xf1\x8709G927158FQ\xf1\x893745', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x87561959655 \xf1\x890210\xf1\x82\x1212121111113000102011--121012--101312', + b'\xf1\x87561959655C \xf1\x890508\xf1\x82\x1215141111121100314919--153015--304831', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x87561907567A \xf1\x890132', + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152', + ], + }, + CAR.POLO_MK6: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042D \xf1\x891612', + b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', + ], + (Ecu.srs, 0x715, None): [ 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b'\xf1\x8705E906013E \xf1\x891624', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158EM\xf1\x893812', + b'\xf1\x8709S927158BL\xf1\x893791', + b'\xf1\x8709S927158CR\xf1\x893924', + b'\xf1\x8709S927158DN\xf1\x893946', + b'\xf1\x8709S927158FF\xf1\x893876', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100', + b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572T \xf1\x890383', + ], + }, + CAR.TCROSS_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025AK\xf1\x897053', + ], + 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b'\xf1\x870CW300043B \xf1\x891603', + b'\xf1\x870CW300049Q \xf1\x890906', + b'\xf1\x870D9300011T \xf1\x894801', + b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014K \xf1\x895006', + b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870D9300042M \xf1\x895013', + b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300013K \xf1\x892403', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', + b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870GC300046D \xf1\x892402', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121118112231292221111', + b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', + b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060700', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, +} diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 70a3caa393..f46c0ce5e2 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -4,8 +4,8 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params from openpilot.selfdrive.car import get_safety_config, create_mads_event from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, \ - VolkswagenFlagsSP +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \ + BUTTON_STATES, VolkswagenFlagsSP ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -71,6 +71,9 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera + if 0x126 in fingerprint[2]: # HCA_01 + ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value + # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 @@ -102,11 +105,9 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.openpilotLongitudinalControl ret.customStockLongAvailable = True ret.stoppingControl = True - ret.startingState = True - ret.startAccel = 1.0 ret.stopAccel = -0.55 - ret.vEgoStarting = 1.0 - ret.vEgoStopping = 1.0 + ret.vEgoStarting = 0.1 + ret.vEgoStopping = 0.5 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] @@ -263,9 +264,9 @@ class CarInterface(CarInterfaceBase): self.CS.madsEnabled = True self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled) ret, self.CS = self.toggle_gac(ret, self.CS, bool(self.CS.gap_dist_button), 1, 3, 3, "-") - self.CS.madsEnabled = self.get_sp_started_mads(self.CS.madsEnabled, ret.cruiseState.available) else: self.CS.madsEnabled = False + self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS) if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed: if any(b.type == ButtonType.cancel for b in buttonEvents): diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 1dc852ba90..35542f9f6b 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): return packer.make_can_msg("HCA_01", bus, values) +def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): + values = {s: eps_stock_values[s] for s in [ + "COUNTER", # Sync counter value to EPS output + "EPS_Lenkungstyp", # EPS rack type + "EPS_Berechneter_LW", # Absolute raw steering angle + "EPS_VZ_BLW", # Raw steering angle sign + "EPS_HCA_Status", # EPS HCA control status + ]} + + values.update({ + # Absolute driver torque input and sign, with EA inactivity mitigation + "EPS_Lenkmoment": abs(ea_simulated_torque), + "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, + }) + + return packer.make_can_msg("LH_EPS_03", bus, values) + + def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, lat_active, steering_pressed, hud_alert, hud_control): values = {} if len(ldw_stock_values): @@ -102,7 +120,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont acc_hold_type = 0 acc_07_values = { - "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 038527e2ac..7871471671 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,6 +1,6 @@ from collections import defaultdict, namedtuple from dataclasses import dataclass, field -from enum import Enum, StrEnum, IntFlag +from enum import Enum, IntFlag, StrEnum from typing import Dict, List, Union from cereal import car @@ -111,6 +111,10 @@ class CANBUS: cam = 2 +class VolkswagenFlags(IntFlag): + STOCK_HCA_PRESENT = 1 + + class VolkswagenFlagsSP(IntFlag): SP_CC_ONLY = 1 SP_CC_ONLY_NO_RADAR = 2 @@ -256,7 +260,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), CAR.TIGUAN_MK2: [ - VWCarInfo("Volkswagen Tiguan 2018-23"), + VWCarInfo("Volkswagen Tiguan 2018-24"), VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), ], CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), @@ -264,7 +268,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021-23"), ], - CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]), + CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), CAR.AUDI_A3_MK3: [ VWCarInfo("Audi A3 2014-19"), VWCarInfo("Audi A3 Sportback e-tron 2017-18"), @@ -276,7 +280,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), - CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), + CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), @@ -320,1117 +324,3 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], ) - -FW_VERSIONS = { - CAR.ARTEON_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x873G0906259AH\xf1\x890001', - b'\xf1\x873G0906259F \xf1\x890004', - b'\xf1\x873G0906259G \xf1\x890004', - b'\xf1\x873G0906259G \xf1\x890005', - b'\xf1\x873G0906259M \xf1\x890003', - b'\xf1\x873G0906259N \xf1\x890004', - b'\xf1\x873G0906259P \xf1\x890001', - b'\xf1\x875NA907115H \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158L \xf1\x893611', - b'\xf1\x870DL300014C \xf1\x893704', - b'\xf1\x870GC300011L \xf1\x891401', - b'\xf1\x870GC300014M \xf1\x892802', - b'\xf1\x870GC300019G \xf1\x892804', - b'\xf1\x870GC300040P \xf1\x891401', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', - b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', - b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', - b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', - b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', - b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', - b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.ATLAS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703H906026AA\xf1\x899970', - b'\xf1\x8703H906026AG\xf1\x899973', - b'\xf1\x8703H906026AJ\xf1\x890638', - b'\xf1\x8703H906026AJ\xf1\x891017', - b'\xf1\x8703H906026AT\xf1\x891922', - b'\xf1\x8703H906026BC\xf1\x892664', - b'\xf1\x8703H906026F \xf1\x896696', - b'\xf1\x8703H906026F \xf1\x899970', - b'\xf1\x8703H906026J \xf1\x896026', - b'\xf1\x8703H906026J \xf1\x899971', - b'\xf1\x8703H906026S \xf1\x896693', - b'\xf1\x8703H906026S \xf1\x899970', - b'\xf1\x873CN906259 \xf1\x890005', - b'\xf1\x873CN906259F \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158A \xf1\x893387', - b'\xf1\x8709G927158DR\xf1\x893536', - b'\xf1\x8709G927158DR\xf1\x893742', - b'\xf1\x8709G927158EN\xf1\x893691', - b'\xf1\x8709G927158F \xf1\x893489', - b'\xf1\x8709G927158FT\xf1\x893835', - b'\xf1\x8709G927158GL\xf1\x893939', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200', - b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900', - b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', - b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900', - b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', - b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1', - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x875Q0907572H \xf1\x890620', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572P \xf1\x890682', - ], - }, - CAR.CRAFTER_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906056BP\xf1\x894729', - b'\xf1\x8704L906056EK\xf1\x896391', - b'\xf1\x8705L906023BC\xf1\x892688', - ], - # Only current upstreamed vehicle has a manual transmission - #(Ecu.transmission, 0x7e1, None): [ - #], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', - b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', - b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', - b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', - b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572J \xf1\x890156', - b'\xf1\x872Q0907572M \xf1\x890233', - ], - }, - CAR.GOLF_MK7: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906016A \xf1\x897697', - b'\xf1\x8704E906016N \xf1\x899105', - b'\xf1\x8704E906016AD\xf1\x895758', - b'\xf1\x8704E906016CE\xf1\x899096', - b'\xf1\x8704E906016CH\xf1\x899226', - b'\xf1\x8704E906023AG\xf1\x891726', - b'\xf1\x8704E906023BN\xf1\x894518', - b'\xf1\x8704E906024K \xf1\x896811', - b'\xf1\x8704E906027GR\xf1\x892394', - b'\xf1\x8704E906027HD\xf1\x892603', - b'\xf1\x8704E906027HD\xf1\x893742', - b'\xf1\x8704E906027MA\xf1\x894958', - b'\xf1\x8704L906021DT\xf1\x895520', - b'\xf1\x8704L906021DT\xf1\x898127', - b'\xf1\x8704L906021N \xf1\x895518', - b'\xf1\x8704L906021N \xf1\x898138', - b'\xf1\x8704L906026BN\xf1\x891197', - b'\xf1\x8704L906026BP\xf1\x897608', - b'\xf1\x8704L906026NF\xf1\x899528', - b'\xf1\x8704L906056CL\xf1\x893823', - b'\xf1\x8704L906056CR\xf1\x895813', - b'\xf1\x8704L906056HE\xf1\x893758', - b'\xf1\x8704L906056HN\xf1\x896590', - b'\xf1\x8704L906056HT\xf1\x896591', - b'\xf1\x870EA906016A \xf1\x898343', - b'\xf1\x870EA906016E \xf1\x894219', - b'\xf1\x870EA906016F \xf1\x894238', - b'\xf1\x870EA906016F \xf1\x895002', - b'\xf1\x870EA906016Q \xf1\x895993', - b'\xf1\x870EA906016S \xf1\x897207', - b'\xf1\x875G0906259 \xf1\x890007', - b'\xf1\x875G0906259D \xf1\x890002', - b'\xf1\x875G0906259J \xf1\x890002', - b'\xf1\x875G0906259L \xf1\x890002', - b'\xf1\x875G0906259N \xf1\x890003', - b'\xf1\x875G0906259Q \xf1\x890002', - b'\xf1\x875G0906259Q \xf1\x892313', - b'\xf1\x875G0906259T \xf1\x890003', - b'\xf1\x878V0906259H \xf1\x890002', - b'\xf1\x878V0906259J \xf1\x890003', - b'\xf1\x878V0906259K \xf1\x890001', - b'\xf1\x878V0906259K \xf1\x890003', - b'\xf1\x878V0906259P \xf1\x890001', - b'\xf1\x878V0906259Q \xf1\x890002', - b'\xf1\x878V0906259R \xf1\x890002', - b'\xf1\x878V0906264F \xf1\x890003', - b'\xf1\x878V0906264L \xf1\x890002', - b'\xf1\x878V0906264M \xf1\x890001', - b'\xf1\x878V09C0BB01 \xf1\x890001', - b'\xf1\x8704E906024K \xf1\x899970', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927749AP\xf1\x892943', - b'\xf1\x8709S927158A \xf1\x893585', - b'\xf1\x870CW300040H \xf1\x890606', - b'\xf1\x870CW300041D \xf1\x891004', - b'\xf1\x870CW300041H \xf1\x891010', - b'\xf1\x870CW300042F \xf1\x891604', - b'\xf1\x870CW300043B \xf1\x891601', - b'\xf1\x870CW300043E \xf1\x891603', - b'\xf1\x870CW300044S \xf1\x894530', - b'\xf1\x870CW300044T \xf1\x895245', - b'\xf1\x870CW300045 \xf1\x894531', - b'\xf1\x870CW300047D \xf1\x895261', - b'\xf1\x870CW300047E \xf1\x895261', - b'\xf1\x870CW300048J \xf1\x890611', - b'\xf1\x870CW300049H \xf1\x890905', - b'\xf1\x870D9300012 \xf1\x894904', - b'\xf1\x870D9300012 \xf1\x894913', - b'\xf1\x870D9300012 \xf1\x894937', - b'\xf1\x870D9300012 \xf1\x895045', - b'\xf1\x870D9300012 \xf1\x895046', - b'\xf1\x870D9300014M \xf1\x895004', - b'\xf1\x870D9300014Q \xf1\x895006', - b'\xf1\x870D9300020J \xf1\x894902', - b'\xf1\x870D9300020Q \xf1\x895201', - b'\xf1\x870D9300020S \xf1\x895201', - b'\xf1\x870D9300040A \xf1\x893613', - b'\xf1\x870D9300040S \xf1\x894311', - b'\xf1\x870D9300041H \xf1\x895220', - b'\xf1\x870D9300041P \xf1\x894507', - b'\xf1\x870DD300045K \xf1\x891120', - b'\xf1\x870DD300046F \xf1\x891601', - b'\xf1\x870GC300012A \xf1\x891401', - b'\xf1\x870GC300012A \xf1\x891403', - b'\xf1\x870GC300014B \xf1\x892401', - b'\xf1\x870GC300014B \xf1\x892403', - b'\xf1\x870GC300014B \xf1\x892405', - b'\xf1\x870GC300020G \xf1\x892401', - b'\xf1\x870GC300020G \xf1\x892403', - b'\xf1\x870GC300020G \xf1\x892404', - b'\xf1\x870GC300020N \xf1\x892804', - b'\xf1\x870GC300043T \xf1\x899999', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', - b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', - b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', - b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', - b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', - b'\xf1\x875Q0959655S 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b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', - b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', - b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', - b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', - b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', - b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', - b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', - b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', - b'\xf1\x875Q0907572G \xf1\x890571', - b'\xf1\x875Q0907572H \xf1\x890620', - b'\xf1\x875Q0907572J \xf1\x890653', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - b'\xf1\x875Q0907572S \xf1\x890780', - ], - }, - CAR.JETTA_MK7: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906024AK\xf1\x899937', - b'\xf1\x8704E906024AS\xf1\x899912', - b'\xf1\x8704E906024BC\xf1\x899971', - b'\xf1\x8704E906024BG\xf1\x891057', - b'\xf1\x8704E906024B \xf1\x895594', - b'\xf1\x8704E906024C \xf1\x899970', - b'\xf1\x8704E906024L 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b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A00642A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A10A01A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A10A11A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907572N \xf1\x890681', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.PASSAT_MK8: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703N906026E \xf1\x892114', - b'\xf1\x8704E906023AH\xf1\x893379', - b'\xf1\x8704L906026DP\xf1\x891538', - b'\xf1\x8704L906026ET\xf1\x891990', - b'\xf1\x8704L906026FP\xf1\x892012', - b'\xf1\x8704L906026GA\xf1\x892013', - b'\xf1\x8704L906026KD\xf1\x894798', - b'\xf1\x873G0906259B \xf1\x890002', - b'\xf1\x873G0906264 \xf1\x890004', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300043H \xf1\x891601', - b'\xf1\x870CW300048R \xf1\x890610', - b'\xf1\x870D9300013A \xf1\x894905', - b'\xf1\x870D9300014L \xf1\x895002', - b'\xf1\x870D9300041A \xf1\x894801', - b'\xf1\x870DD300045T \xf1\x891601', - b'\xf1\x870DL300011H \xf1\x895201', - b'\xf1\x870CW300042H \xf1\x891601', - b'\xf1\x870CW300042H \xf1\x891607', - b'\xf1\x870GC300042H \xf1\x891404', - b'\xf1\x870D9300018C \xf1\x895297', - b'\xf1\x870GC300043 \xf1\x892301', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', - b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', - b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', - b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', - b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', - b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', - b'\xf1\x875Q0909143P 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b'\xf1\x8709G927158DK\xf1\x893594', - b'\xf1\x8709G927158FQ\xf1\x893745', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x87561959655 \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312', - b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x87561907567A \xf1\x890132', - b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152', - ], - }, - CAR.POLO_MK6: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025H \xf1\x895177', - b'\xf1\x8705C906032J \xf1\x891702', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300042D \xf1\x891612', - b'\xf1\x870CW300050D \xf1\x891908', - b'\xf1\x870CW300051G \xf1\x891909', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', - b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q2909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572R \xf1\x890372', - ], - }, - CAR.SHARAN_MK2: { - # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906016HE\xf1\x894635', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153', - ], - }, - CAR.TAOS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027NJ\xf1\x891445', - b'\xf1\x8704E906027NP\xf1\x891286', - b'\xf1\x8705E906013BD\xf1\x892496', - b'\xf1\x8705E906013E \xf1\x891624', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158EM\xf1\x893812', - b'\xf1\x8709S927158BL\xf1\x893791', - b'\xf1\x8709S927158DN\xf1\x893946', - b'\xf1\x8709S927158FF\xf1\x893876', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100', - b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TCROSS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025AK\xf1\x897053', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300050E \xf1\x891903', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\02212130411110411--04041104141311152H14', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TIGUAN_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703N906026D \xf1\x893680', - b'\xf1\x8704E906027NB\xf1\x899504', - b'\xf1\x8704L906026EJ\xf1\x893661', - b'\xf1\x8704L906027G \xf1\x899893', - b'\xf1\x875N0906259 \xf1\x890002', - b'\xf1\x875NA906259H \xf1\x890002', - b'\xf1\x875NA907115E \xf1\x890003', - b'\xf1\x875NA907115E \xf1\x890005', - b'\xf1\x875NA907115J \xf1\x890002', - b'\xf1\x8783A907115B \xf1\x890005', - b'\xf1\x8783A907115F \xf1\x890002', - b'\xf1\x8783A907115G \xf1\x890001', - b'\xf1\x8783A907115K \xf1\x890001', - b'\xf1\x8783A907115K \xf1\x890002', - b'\xf1\x8704E906024AP\xf1\x891461', - b'\xf1\x8783A907115 \xf1\x890007', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158DT\xf1\x893698', - b'\xf1\x8709G927158FM\xf1\x893757', - b'\xf1\x8709G927158GC\xf1\x893821', - b'\xf1\x8709G927158GD\xf1\x893820', - b'\xf1\x8709G927158GM\xf1\x893936', - b'\xf1\x8709G927158GN\xf1\x893938', - b'\xf1\x870D9300043 \xf1\x895202', - b'\xf1\x870DL300011N \xf1\x892001', - b'\xf1\x870DL300011N \xf1\x892012', - b'\xf1\x870DL300012M \xf1\x892107', - b'\xf1\x870DL300012P \xf1\x892103', - b'\xf1\x870DL300013A \xf1\x893005', - b'\xf1\x870DL300013G \xf1\x892119', - b'\xf1\x870DL300013G \xf1\x892120', - b'\xf1\x870DL300014C \xf1\x893703', - b'\xf1\x870DD300046K \xf1\x892302', - b'\xf1\x870GC300013P \xf1\x892401', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', - b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', - b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100', - b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', - b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', - b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', - b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', - b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', - b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', - b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1', - b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM', - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572J \xf1\x890156', - b'\xf1\x872Q0907572M \xf1\x890233', - b'\xf1\x872Q0907572Q \xf1\x890342', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TOURAN_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906026HM\xf1\x893017', - b'\xf1\x8705E906018CQ\xf1\x890808', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300041E \xf1\x891005', - b'\xf1\x870CW300051M \xf1\x891926', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.TRANSPORTER_T61: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906056AG\xf1\x899970', - b'\xf1\x8704L906056AL\xf1\x899970', - b'\xf1\x8704L906057AP\xf1\x891186', - b'\xf1\x8704L906057N \xf1\x890413', - b'\xf1\x8705L906023E \xf1\x891352', - b'\xf1\x8705L906023MR\xf1\x892582', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870BT300012G \xf1\x893102', - b'\xf1\x870BT300012E \xf1\x893105', - b'\xf1\x870BT300046R \xf1\x893102', - b'\xf1\x870DV300012B \xf1\x893701', - b'\xf1\x870DV300012B \xf1\x893702', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', - b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411', - b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413', - b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2', - b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', - b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.TROC_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8705E906018AT\xf1\x899640', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300050J \xf1\x891911', - b'\xf1\x870CW300051M \xf1\x891925', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100', - b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.AUDI_A3_MK3: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906023AN\xf1\x893695', - b'\xf1\x8704E906023AR\xf1\x893440', - b'\xf1\x8704E906023BL\xf1\x895190', - b'\xf1\x8704E906027CJ\xf1\x897798', - b'\xf1\x8704L997022N \xf1\x899459', - b'\xf1\x875G0906259A \xf1\x890004', - b'\xf1\x875G0906259D \xf1\x890002', - b'\xf1\x875G0906259L \xf1\x890002', - b'\xf1\x875G0906259Q \xf1\x890002', - b'\xf1\x878V0906259E \xf1\x890001', - b'\xf1\x878V0906259F \xf1\x890002', - b'\xf1\x878V0906259H \xf1\x890002', - b'\xf1\x878V0906259J \xf1\x890002', - b'\xf1\x878V0906259K 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b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', - b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', - b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', - b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.SKODA_SCALA_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025AK\xf1\x897053', - b'\xf1\x8705C906032M \xf1\x892365', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300020 \xf1\x891907', - b'\xf1\x870CW300050 \xf1\x891709', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', - b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14', - b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q1909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.SKODA_SUPERB_MK3: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027BS\xf1\x892887', - b'\xf1\x8704E906027BT\xf1\x899042', - b'\xf1\x8704L906026ET\xf1\x891343', - b'\xf1\x8704L906026ET\xf1\x891990', - b'\xf1\x8704L906026FP\xf1\x891196', - b'\xf1\x8704L906026KA\xf1\x896014', - b'\xf1\x8704L906026KB\xf1\x894071', - b'\xf1\x8704L906026KD\xf1\x894798', - b'\xf1\x8704L906026MT\xf1\x893076', - b'\xf1\x873G0906259 \xf1\x890004', - b'\xf1\x873G0906259B \xf1\x890002', - b'\xf1\x873G0906259L \xf1\x890003', - b'\xf1\x873G0906264A \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300042H \xf1\x891601', - b'\xf1\x870CW300043B \xf1\x891603', - b'\xf1\x870CW300049Q \xf1\x890906', - b'\xf1\x870D9300011T \xf1\x894801', - b'\xf1\x870D9300012 \xf1\x894940', - b'\xf1\x870D9300013A \xf1\x894905', - b'\xf1\x870D9300014K \xf1\x895006', - b'\xf1\x870D9300041H \xf1\x894905', - b'\xf1\x870D9300042M \xf1\x895013', - b'\xf1\x870D9300043F \xf1\x895202', - b'\xf1\x870GC300013K \xf1\x892403', - b'\xf1\x870GC300014M \xf1\x892801', - b'\xf1\x870GC300019G \xf1\x892803', - b'\xf1\x870GC300043 \xf1\x892301', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', - b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', - b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', - b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', - b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', - b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572B \xf1\x890192', - b'\xf1\x873Q0907572B \xf1\x890194', - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x875Q0907572R \xf1\x890771', - b'\xf1\x875Q0907572S \xf1\x890780', - ], - }, -} diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d36f7f4db0..f48405fb05 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,25 +1,25 @@ #!/usr/bin/env python3 import os import math +import numpy as np import time +import threading from typing import SupportsFloat from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.common.profiler import Profiler -from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from openpilot.system.swaglog import cloudlog -from openpilot.system.version import is_release_branch, get_short_branch +from openpilot.common.swaglog import cloudlog +from openpilot.system.version import get_short_branch from openpilot.selfdrive.athena.registration import is_registered_device from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from openpilot.selfdrive.controls.lib.lane_planner import CAMERA_OFFSET -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -28,11 +28,13 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.events import Events, ET from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.sunnypilot import get_model_generation from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS LANE_DEPARTURE_THRESHOLD = 0.1 +CAMERA_OFFSET = 0.04 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ @@ -42,9 +44,9 @@ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd", "gpxd", "gpxd_uploa ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState PandaType = log.PandaState.PandaType -Desire = log.LateralPlan.Desire -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +Desire = log.Desire +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection EventName = car.CarEvent.EventName ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel @@ -66,15 +68,13 @@ class Controls: # Setup sockets self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', - 'carControl', 'carEvents', 'carParams', 'controlsStateSP']) + 'carControl', 'onroadEvents', 'carParams', 'controlsStateSP']) self.sensor_packets = ["accelerometer", "gyroscope"] self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] - can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20 - self.can_sock = messaging.sub_sock('can', timeout=can_timeout) - self.log_sock = messaging.sub_sock('androidLog') + self.can_sock = messaging.sub_sock('can', timeout=20) self.params = Params() @@ -88,11 +88,12 @@ class Controls: ignore += ['driverCameraState', 'managerState'] if self.d_camera_hardware_missing: ignore += ['driverMonitoringState'] + lateral_plan_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'testJoystick', 'longitudinalPlanSP', 'lateralPlanSP'] + self.camera_packets + self.sensor_packets, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick']) + 'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets + lateral_plan_svs, + ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ]) if CI is None: # wait for one pandaState and one CAN packet @@ -100,12 +101,12 @@ class Controls: get_one_can(self.can_sock) num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch() + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) else: self.CI, self.CP = CI, CI.CP - self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar + self.joystick_mode = self.params.get_bool("JoystickDebugMode") # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") @@ -128,16 +129,15 @@ class Controls: self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() car_recognized = self.CP.carName != 'mock' - controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly - self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly - if self.read_only: + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly + self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly + if self.CP.passive: safety_config = car.CarParams.SafetyConfig.new_message() safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] @@ -150,11 +150,11 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) - put_nonblocking("CarParamsCache", cp_bytes) - put_nonblocking("CarParamsPersistent", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params - if not self.CP.experimentalLongitudinalAvailable or is_release_branch(): + if not self.CP.experimentalLongitudinalAvailable: self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") @@ -196,7 +196,6 @@ class Controls: self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 - self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False @@ -212,8 +211,9 @@ class Controls: self.process_not_running = False - # TODO: no longer necessary, aside from process replay - self.sm['liveParameters'].valid = True + self.custom_model, self.model_gen = get_model_generation(self.params) + self.model_use_lateral_planner = self.custom_model and self.model_gen == 1 + self.can_log_mono_time = 0 self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0) @@ -226,15 +226,11 @@ class Controls: set_offroad_alert("Offroad_CarUnrecognized", True) else: set_offroad_alert("Offroad_NoFirmware", True) - elif self.read_only: + elif self.CP.passive: self.events.add(EventName.dashcamMode, static=True) - elif self.joystick_mode: - self.events.add(EventName.joystickDebug, static=True) - self.startup_event = None # controlsd is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) - self.prof = Profiler(False) # off by default def set_initial_state(self): if REPLAY: @@ -246,11 +242,44 @@ class Controls: if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled + def get_road_edge(self, carstate, model_v2): + # Lane detection by FrogAi + one_blinker = carstate.leftBlinker != carstate.rightBlinker + if not self.edge_toggle: + self.road_edge = False + elif one_blinker: + # Set the minimum lane threshold to 3.0 meters + min_lane_threshold = 3.0 + # Set the blinker index based on which signal is on + blinker_index = 0 if carstate.leftBlinker else 1 + desired_edge = model_v2.roadEdges[blinker_index] + current_lane = model_v2.laneLines[blinker_index + 1] + # Check if both the desired lane and the current lane have valid x and y values + if all([desired_edge.x, desired_edge.y, current_lane.x, current_lane.y]) and len(desired_edge.x) == len(current_lane.x): + # Interpolate the x and y values to the same length + x = np.linspace(desired_edge.x[0], desired_edge.x[-1], num=len(desired_edge.x)) + lane_y = np.interp(x, current_lane.x, current_lane.y) + desired_y = np.interp(x, desired_edge.x, desired_edge.y) + # Calculate the width of the lane we're wanting to change into + lane_width = np.abs(desired_y - lane_y) + # Set road_edge to False if the lane width is not larger than the threshold + self.road_edge = not (np.amax(lane_width) > min_lane_threshold) + else: + self.road_edge = True + else: + # Default to setting "road_edge" to False + self.road_edge = False + def update_events(self, CS): - """Compute carEvents from carState""" + """Compute onroadEvents from carState""" self.events.clear() + # Add joystick event, static on cars, dynamic on nonCars + if self.joystick_mode: + self.events.add(EventName.joystickDebug) + self.startup_event = None + # Add startup event if self.startup_event is not None: self.events.add(self.startup_event) @@ -262,7 +291,7 @@ class Controls: return # no more events while in dashcam mode - if self.read_only: + if self.CP.passive: return # show alert to indicate whether NNFF is loaded @@ -337,10 +366,12 @@ class Controls: self.events.add(EventName.calibrationInvalid) # Handle lane change - if self.sm['lateralPlanSP'].laneChangeEdgeBlock: + lane_change_edge_block = self.sm['lateralPlanSPDEPRECATED'].laneChangeEdgeBlockDEPRECATED if self.model_use_lateral_planner else self.sm['modelV2SP'].laneChangeEdgeBlock + lane_change_svs = self.sm['lateralPlanDEPRECATED'] if self.model_use_lateral_planner else self.sm['modelV2'].meta + if lane_change_svs.laneChangeState == LaneChangeState.preLaneChange and lane_change_edge_block: self.events.add(EventName.laneChangeRoadEdge) - elif self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange: - direction = self.sm['lateralPlan'].laneChangeDirection + elif lane_change_svs.laneChangeState == LaneChangeState.preLaneChange: + direction = lane_change_svs.laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): self.events.add(EventName.laneChangeBlocked) @@ -349,7 +380,7 @@ class Controls: self.events.add(EventName.preLaneChangeLeft) else: self.events.add(EventName.preLaneChangeRight) - elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting, + elif lane_change_svs.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) @@ -386,7 +417,7 @@ class Controls: self.events.add(EventName.cameraMalfunction) if not self.sm.all_alive(['driverCameraState']) and not self.d_camera_hardware_missing: self.d_camera_hardware_missing = True - put_bool_nonblocking("DriverCameraHardwareMissing", True) + self.params.put_bool_nonblocking("DriverCameraHardwareMissing", True) elif not self.sm.all_freq_ok(self.camera_packets): self.events.add(EventName.cameraFrameRate) self.process_not_running = False @@ -425,16 +456,18 @@ class Controls: else: self.logged_comm_issue = None - if not self.sm['lateralPlan'].mpcSolutionValid: - self.events.add(EventName.plannerError) - if not self.sm['liveLocationKalman'].posenetOK: - self.events.add(EventName.posenetInvalid) - if not self.sm['liveLocationKalman'].deviceStable: - self.events.add(EventName.deviceFalling) - if not self.sm['liveLocationKalman'].inputsOK: - self.events.add(EventName.locationdTemporaryError) - if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): - self.events.add(EventName.paramsdTemporaryError) + if not (self.CP.notCar and self.joystick_mode): + if self.model_use_lateral_planner: + if not self.sm['lateralPlanDEPRECATED'].mpcSolutionValid: + self.events.add(EventName.plannerErrorDEPRECATED) + if not self.sm['liveLocationKalman'].posenetOK: + self.events.add(EventName.posenetInvalid) + if not self.sm['liveLocationKalman'].deviceStable: + self.events.add(EventName.deviceFalling) + if not self.sm['liveLocationKalman'].inputsOK: + self.events.add(EventName.locationdTemporaryError) + if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): + self.events.add(EventName.paramsdTemporaryError) # conservative HW alert. if the data or frequency are off, locationd will throw an error if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets): @@ -495,12 +528,12 @@ class Controls: if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: self.sm.ignore_alive.append('wideRoadCameraState') - if not self.read_only: + if not self.CP.passive: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) self.initialized = True self.set_initial_state() - put_bool_nonblocking("ControlsReady", True) + self.params.put_bool_nonblocking("ControlsReady", True) # Check for CAN timeout if not can_strs: @@ -638,8 +671,10 @@ class Controls: self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) - lat_plan = self.sm['lateralPlan'] + lat_plan = self.sm['lateralPlanDEPRECATED'] long_plan = self.sm['longitudinalPlan'] + model_v2 = self.sm['modelV2'] + blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta CC = car.CarControl.new_message() CC.enabled = self.enabled @@ -657,9 +692,9 @@ class Controls: actuators.longControlState = self.LoC.long_control_state # Enable blinkers while lane changing - if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off: - CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left - CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right + if blinker_svs.laneChangeState != LaneChangeState.off: + CC.leftBlinker = blinker_svs.laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = blinker_svs.laneChangeDirection == LaneChangeDirection.right if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame @@ -678,15 +713,17 @@ class Controls: actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) # Steering PID loop and lateral MPC - self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, - lat_plan.psis, - lat_plan.curvatures, - lat_plan.curvatureRates) - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, - self.last_actuators, self.steer_limited, self.desired_curvature, - self.desired_curvature_rate, self.sm['liveLocationKalman'], - lat_plan=lat_plan, model_data=self.sm['modelV2']) + if self.model_use_lateral_planner: + self.desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures) + else: + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) actuators.curvature = self.desired_curvature + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, + self.steer_limited, self.desired_curvature, + self.sm['liveLocationKalman'], + model_data=model_v2) + if self.model_use_lateral_planner: + actuators.curvature = self.desired_curvature else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.rcv_frame['testJoystick'] > 0: @@ -703,7 +740,7 @@ class Controls: if CC.latActive: steer = clip(joystick_axes[1], -1, 1) # max angle is 45 for angle-based cars, max curvature is 0.02 - actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02 + actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 90., steer * -0.02 lac_log.active = self.active lac_log.steeringAngleDeg = CS.steeringAngleDeg @@ -724,7 +761,8 @@ class Controls: if undershooting and turning and good_speed and max_torque: lac_log.active and self.events.add(EventName.steerSaturated) elif lac_log.saturated: - dpath_points = lat_plan.dPathPoints + # TODO probably should not use dpath_points but curvature + dpath_points = lat_plan.dPathPoints if self.model_use_lateral_planner else model_v2.position.y if len(dpath_points): # Check if we deviated from the path # TODO use desired vs actual curvature @@ -816,7 +854,7 @@ class Controls: if current_alert: hudControl.visualAlert = current_alert.visual_alert - if not self.read_only and self.initialized: + if not self.CP.passive and self.initialized: # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) @@ -833,6 +871,7 @@ class Controls: # Curvature & Steering angle lp = self.sm['liveParameters'] + lp_mono_time_svs = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2' steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) @@ -851,12 +890,11 @@ class Controls: controlsState.alertSound = current_alert.audible_alert controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] - controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime[lp_mono_time_svs] controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse] controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled) controlsState.curvature = curvature controlsState.desiredCurvature = self.desired_curvature - controlsState.desiredCurvatureRate = self.desired_curvature_rate controlsState.state = self.state controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state @@ -902,16 +940,18 @@ class Controls: cs_send.carState.events = car_events self.pm.send('carState', cs_send) - # carEvents - logged every second or on change + # onroadEvents - logged every second or on change if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): - ce_send = messaging.new_message('carEvents', len(self.events)) - ce_send.carEvents = car_events - self.pm.send('carEvents', ce_send) + ce_send = messaging.new_message('onroadEvents', len(self.events)) + ce_send.valid = True + ce_send.onroadEvents = car_events + self.pm.send('onroadEvents', ce_send) self.events_prev = self.events.names.copy() # carParams - logged every 50 seconds (> 1 per segment) if (self.sm.frame % int(50. / DT_CTRL) == 0): cp_send = messaging.new_message('carParams') + cp_send.valid = True cp_send.carParams = self.CP self.pm.send('carParams', cp_send) @@ -926,47 +966,52 @@ class Controls: def step(self): start_time = time.monotonic() - self.prof.checkpoint("Ratekeeper", ignore=True) - - self.is_metric = self.params.get_bool("IsMetric") - self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl - - self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8")) - self.reverse_acc_change = self.params.get_bool("ReverseAccChange") - self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl") - - if self.sm.frame % int(2.5 / DT_CTRL) == 0: - self.live_torque = self.params.get_bool("LiveTorque") # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") - self.prof.checkpoint("Sample") self.update_events(CS) cloudlog.timestamp("Events updated") - if not self.read_only and self.initialized: + if not self.CP.passive and self.initialized: # Update control state self.state_transition(CS) - self.prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) CC, lac_log = self.state_control(CS) - self.prof.checkpoint("State Control") - # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.prof.checkpoint("Sent") self.CS_prev = CS + def params_thread(self, evt): + while not evt.is_set(): + self.is_metric = self.params.get_bool("IsMetric") + self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl + if self.CP.notCar: + self.joystick_mode = self.params.get_bool("JoystickDebugMode") + + self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8")) + self.reverse_acc_change = self.params.get_bool("ReverseAccChange") + self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl") + + if self.sm.frame % int(2.5 / DT_CTRL) == 0: + self.live_torque = self.params.get_bool("LiveTorque") + time.sleep(0.1) + def controlsd_thread(self): - while True: - self.step() - self.rk.monitor_time() - self.prof.display() + e = threading.Event() + t = threading.Thread(target=self.params_thread, args=(e, )) + try: + t.start() + while True: + self.step() + self.rk.monitor_time() + except SystemExit: + e.set() + t.join() def main(): diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index ad1a991bc6..bd4decbb80 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,33 +1,34 @@ -import numpy as np from cereal import log from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.controls.lib.drive_helpers import get_road_edge +from openpilot.selfdrive.sunnypilot import get_model_generation -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { LaneChangeDirection.none: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.none, + LaneChangeState.laneChangeFinishing: log.Desire.none, }, LaneChangeDirection.left: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft, }, LaneChangeDirection.right: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight, }, } @@ -48,7 +49,7 @@ class DesireHelper: self.lane_change_ll_prob = 1.0 self.keep_pulse_timer = 0.0 self.prev_one_blinker = False - self.desire = log.LateralPlan.Desire.none + self.desire = log.Desire.none self.param_s = Params() self.lane_change_wait_timer = 0 @@ -61,12 +62,15 @@ class DesireHelper: self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay") + self.custom_model, self.model_gen = get_model_generation(self.param_s) + self.model_use_lateral_planner = self.custom_model and self.model_gen == 1 + def read_param(self): self.edge_toggle = self.param_s.get_bool("RoadEdge") self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay") - def update(self, carstate, lateral_active, lane_change_prob, model_data): + def update(self, carstate, lateral_active, lane_change_prob, model_data=None, lat_plan_sp=None): if self.param_read_counter % 50 == 0: self.read_param() self.param_read_counter += 1 @@ -75,31 +79,8 @@ class DesireHelper: one_blinker = carstate.leftBlinker != carstate.rightBlinker below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN - # Lane detection by FrogAi - if not self.edge_toggle: - self.road_edge = False - elif one_blinker: - # Set the minimum lane threshold to 3.0 meters - min_lane_threshold = 3.0 - # Set the blinker index based on which signal is on - blinker_index = 0 if carstate.leftBlinker else 1 - desired_edge = model_data.roadEdges[blinker_index] - current_lane = model_data.laneLines[blinker_index + 1] - # Check if both the desired lane and the current lane have valid x and y values - if all([desired_edge.x, desired_edge.y, current_lane.x, current_lane.y]) and len(desired_edge.x) == len(current_lane.x): - # Interpolate the x and y values to the same length - x = np.linspace(desired_edge.x[0], desired_edge.x[-1], num=len(desired_edge.x)) - lane_y = np.interp(x, current_lane.x, current_lane.y) - desired_y = np.interp(x, desired_edge.x, desired_edge.y) - # Calculate the width of the lane we're wanting to change into - lane_width = np.abs(desired_y - lane_y) - # Set road_edge to False if the lane width is not larger than the threshold - self.road_edge = not (np.amax(lane_width) > min_lane_threshold) - else: - self.road_edge = True - else: - # Default to setting "road_edge" to False - self.road_edge = False + if self.model_use_lateral_planner: + self.road_edge = get_road_edge(carstate, model_data, self.edge_toggle) if not carstate.madsEnabled or self.lane_change_timer > LANE_CHANGE_TIME_MAX: self.lane_change_state = LaneChangeState.off @@ -114,7 +95,7 @@ class DesireHelper: self.lane_change_wait_timer = 0 # LaneChangeState.preLaneChange - elif self.lane_change_state == LaneChangeState.preLaneChange and self.road_edge: + elif self.lane_change_state == LaneChangeState.preLaneChange and (self.road_edge if self.model_use_lateral_planner else lat_plan_sp.laneChangeEdgeBlockDEPRECATED): self.lane_change_direction = LaneChangeDirection.none elif self.lane_change_state == LaneChangeState.preLaneChange: # Set lane change direction @@ -190,5 +171,5 @@ class DesireHelper: self.keep_pulse_timer += DT_MDL if self.keep_pulse_timer > 1.0: self.keep_pulse_timer = 0.0 - elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): - self.desire = log.LateralPlan.Desire.none + elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight): + self.desire = log.Desire.none diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 31294c8f2a..61edf7aade 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,9 +1,10 @@ import math +import numpy as np from cereal import car, log, custom from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_MDL +from openpilot.common.realtime import DT_MDL, DT_CTRL from openpilot.selfdrive.modeld.constants import ModelConstants # WARNING: this value was determined based on the model's training distribution, @@ -22,7 +23,6 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 - MAX_VEL_ERR = 5.0 ButtonEvent = car.CarState.ButtonEvent @@ -257,11 +257,20 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): +def clip_curvature(v_ego, prev_curvature, new_curvature): + v_ego = max(MIN_SPEED, v_ego) + max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 + safe_desired_curvature = clip(new_curvature, + prev_curvature - max_curvature_rate * DT_CTRL, + prev_curvature + max_curvature_rate * DT_CTRL) + + return safe_desired_curvature + + +def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures): if len(psis) != CONTROL_N: psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N - curvature_rates = [0.0]*CONTROL_N v_ego = max(MIN_SPEED, v_ego) # TODO this needs more thought, use .2s extra for now to estimate other delays @@ -276,16 +285,12 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): desired_curvature = 2 * average_curvature_desired - current_curvature_desired # This is the "desired rate of the setpoint" not an actual desired rate - desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 - safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) safe_desired_curvature = clip(desired_curvature, current_curvature_desired - max_curvature_rate * DT_MDL, current_curvature_desired + max_curvature_rate * DT_MDL) - return safe_desired_curvature, safe_desired_curvature_rate + return safe_desired_curvature def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, @@ -305,3 +310,34 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) return float(vel_err) return 0.0 + + +def get_road_edge(carstate, model_v2, toggle): + # Lane detection by FrogAi + one_blinker = carstate.leftBlinker != carstate.rightBlinker + if not toggle: + road_edge = False + elif one_blinker: + # Set the minimum lane threshold to 3.0 meters + min_lane_threshold = 3.0 + # Set the blinker index based on which signal is on + blinker_index = 0 if carstate.leftBlinker else 1 + desired_edge = model_v2.roadEdges[blinker_index] + current_lane = model_v2.laneLines[blinker_index + 1] + # Check if both the desired lane and the current lane have valid x and y values + if all([desired_edge.x, desired_edge.y, current_lane.x, current_lane.y]) and len(desired_edge.x) == len(current_lane.x): + # Interpolate the x and y values to the same length + x = np.linspace(desired_edge.x[0], desired_edge.x[-1], num=len(desired_edge.x)) + lane_y = np.interp(x, current_lane.x, current_lane.y) + desired_y = np.interp(x, desired_edge.x, desired_edge.y) + # Calculate the width of the lane we're wanting to change into + lane_width = np.abs(desired_y - lane_y) + # Set road_edge to False if the lane width is not larger than the threshold + road_edge = not (np.amax(lane_width) > min_lane_threshold) + else: + road_edge = True + else: + # Default to setting "road_edge" to False + road_edge = False + + return road_edge diff --git a/selfdrive/controls/lib/dynamic_experimental_controller.py b/selfdrive/controls/lib/dynamic_experimental_controller.py index c3e1dd31a7..aa2e239b38 100644 --- a/selfdrive/controls/lib/dynamic_experimental_controller.py +++ b/selfdrive/controls/lib/dynamic_experimental_controller.py @@ -21,7 +21,7 @@ # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN # THE SOFTWARE. # -# Version = 0.1.2 +# Version = 2023-12-13 from common.numpy_fast import interp from openpilot.selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE @@ -38,13 +38,16 @@ SLOWNESS_PROB = 0.6 SLOWNESS_CRUISE_OFFSET = 1.05 DANGEROUS_TTC_WINDOW_SIZE = 5 -DANGEROUS_TTC = 1.55 +DANGEROUS_TTC = 2.0 HIGHWAY_CRUISE_KPH = 75 -STOP_AND_GO_FRAME = 500 +STOP_AND_GO_FRAME = 60 -MODE_SWITCH_DELAY_FRAME = 500 +SET_MODE_TIMEOUT = 10 + +MPC_FCW_WINDOW_SIZE = 5 +MPC_FCW_PROB = 0.6 class SNG_State: @@ -80,8 +83,6 @@ class DynamicExperimentalController: self._is_enabled = False self._mode = 'acc' self._mode_prev = 'acc' - self._mode_switch_allowed = True - self._mode_switch_frame = 0 self._frame = 0 self._lead_gmac = GenericMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE) @@ -90,41 +91,45 @@ class DynamicExperimentalController: self._slow_down_gmac = GenericMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE) self._has_slow_down = False - self._has_slow_down_prev = False self._has_blinkers = False - self._has_blinkers_prev = False self._slowness_gmac = GenericMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE) self._has_slowness = False - self._has_slowness_prev = False self._has_nav_enabled = False - self._has_nav_enabled_prev = False self._dangerous_ttc_gmac = GenericMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE) self._has_dangerous_ttc = False - self._has_dangerous_ttc_prev = False self._v_ego_kph = 0. self._v_cruise_kph = 0. self._has_lead = False - self._has_lead_prev = False self._has_standstill = False self._has_standstill_prev = False self._sng_transit_frame = 0 self._sng_state = SNG_State.off + + self._mpc_fcw_gmac = GenericMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE) + self._has_mpc_fcw = False + self._mpc_fcw_crash_cnt = 0 + + self._set_mode_timeout = 0 pass - def _update(self, car_state, lead_one, md, controls_state, radar_unavailable): + def _update(self, car_state, lead_one, md, controls_state): self._v_ego_kph = car_state.vEgo * 3.6 self._v_cruise_kph = controls_state.vCruise self._has_lead = lead_one.status self._has_standstill = car_state.standstill + # fcw detection + self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0) + self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB + # nav enable detection self._has_nav_enabled = md.navEnabled @@ -154,8 +159,9 @@ class DynamicExperimentalController: self._sng_transit_frame -= 1 # slowness detection - self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET)) - self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB + if not self._has_standstill: + self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET)) + self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB # dangerous TTC detection if not self._has_lead_filtered and self._has_lead_filtered_prev: @@ -169,86 +175,94 @@ class DynamicExperimentalController: # keep prev values self._has_standstill_prev = self._has_standstill - self._has_slowness_prev = self._has_slowness - self._has_slow_down_prev = self._has_slow_down self._has_lead_filtered_prev = self._has_lead_filtered self._frame += 1 def _blended_priority_mode(self): + # when mpc fcw crash prob is high + # use blended to slow down quickly + if self._has_mpc_fcw: + self._set_mode('blended') + return + # when blinker is on and speed is driving below highway cruise speed: blended - # we don't want it to switch mode at higher speed, blended may trigger hard brake + # we dont want it to switch mode at higher speed, blended may trigger hard brake if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH: - self._mode = 'blended' + self._set_mode('blended') return # when at highway cruise and SNG: blended # ensuring blended mode is used because acc is bad at catching SNG lead car - # especially those that accel very fast and then brake very hard. + # especially those who accel very fast and then brake very hard. if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH: - self._mode = 'blended' + self._set_mode('blended') return # when standstill: blended - # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light. + # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light. if self._has_standstill: - self._mode = 'blended' + self._set_mode('blended') return # when detecting slow down scenario: blended # e.g. traffic light, curve, stop sign etc. if self._has_slow_down: - self._mode = 'blended' + self._set_mode('blended') return # when detecting lead slow down: blended # use blended for higher braking capability if self._has_dangerous_ttc: - self._mode = 'blended' + self._set_mode('blended') return # car driving at speed lower than set speed: acc if self._has_slowness: - self._mode = 'acc' + self._set_mode('acc') return - self._mode = 'blended' + self._set_mode('blended') def _acc_priority_mode(self): + # when mpc fcw crash prob is high + # use blended to slow down quickly + if self._has_mpc_fcw: + self._set_mode('blended') + return + # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition, #if self._has_lead_filtered and not self._has_standstill: - # self._mode = 'acc' + # self._set_mode('acc') # return # when blinker is on and speed is driving below highway cruise speed: blended - # we don't want it to switch mode at higher speed, blended may trigger hard brake + # we dont want it to switch mode at higher speed, blended may trigger hard brake if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH: - self._mode = 'blended' + self._set_mode('blended') return # when standstill: blended - # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light. + # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light. if self._has_standstill: - self._mode = 'blended' + self._set_mode('blended') return # when detecting slow down scenario: blended # e.g. traffic light, curve, stop sign etc. if self._has_slow_down: - self._mode = 'blended' + self._set_mode('blended') return # car driving at speed lower than set speed: acc if self._has_slowness: - self._mode = 'acc' + self._set_mode('acc') return - self._mode = 'acc' + self._set_mode('acc') def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state): if self._is_enabled: - self._update(car_state, lead_one, md, controls_state, radar_unavailable) - if self._frame > self._mode_switch_frame: - self._mode_switch_allowed = True + self._update(car_state, lead_one, md, controls_state) if radar_unavailable: self._blended_priority_mode() else: @@ -262,3 +276,15 @@ class DynamicExperimentalController: def is_enabled(self): return self._is_enabled + + def set_mpc_fcw_crash_cnt(self, crash_cnt): + self._mpc_fcw_crash_cnt = crash_cnt + + def _set_mode(self, mode): + if self._set_mode_timeout == 0: + self._mode = mode + if mode == "blended": + self._set_mode_timeout = SET_MODE_TIMEOUT + + if self._set_mode_timeout > 0: + self._set_mode_timeout -= 1 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 42abc82b91..9b650a4df3 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1088,7 +1088,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { # For planning the trajectory Model Predictive Control (MPC) is used. This is # an optimization algorithm that is not guaranteed to find a feasible solution. # If no solution is found or the solution has a very high cost this alert is thrown. - EventName.plannerError: { + EventName.plannerErrorDEPRECATED: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"), ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"), }, diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index b32ccbd237..5032608dad 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -4,7 +4,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog TRAJECTORY_SIZE = 33 diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index ddf20b2bb2..1e7c5aaf31 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 521b25c0a5..c532124385 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 6c6c9b4b37..eb63588f0d 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 444d671229..4e0d69a6ea 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -5,6 +5,7 @@ import numpy as np from cereal import log, custom from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.interfaces import LatControlInputs from openpilot.common.params import Params from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone from openpilot.selfdrive.controls.lib.latcontrol import LatControl @@ -25,16 +26,24 @@ from openpilot.selfdrive.modeld.constants import ModelConstants LOW_SPEED_X = [0, 10, 20, 30] LOW_SPEED_Y = [15, 13, 10, 5] -LOW_SPEED_Y_NN = [12, 4, 1, 0] +LOW_SPEED_Y_NN = [12, 3, 1, 0] + +LAT_PLAN_MIN_IDX = 5 + + +def get_predicted_lateral_jerk(lat_accels, t_diffs): + # compute finite difference between subsequent model_data.acceleration.y values + # this is just two calls of np.diff followed by an element-wise division + lat_accel_diffs = np.diff(lat_accels) + lat_jerk = lat_accel_diffs / t_diffs + # return as python list + return lat_jerk.tolist() def sign(x): return 1.0 if x > 0.0 else (-1.0 if x < 0.0 else 0.0) -LAT_PLAN_MIN_IDX = 5 - - def get_lookahead_value(future_vals, current_val): if len(future_vals) == 0: return current_val @@ -74,8 +83,30 @@ class LatControlTorque(LatControl): self.torqued_override = self.param_s.get_bool("TorquedOverride") self._frame = 0 + self.use_lateral_jerk = False # TODO: make this a parameter in the UI + # Twilsonco's Lateral Neural Network Feedforward self.use_nn = CI.has_lateral_torque_nn + + if self.use_nn or self.use_lateral_jerk: + # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, + # however, we can "look ahead" to the future planned lateral jerk in order to guage + # whether the current desired lateral jerk will persist into the future, i.e. + # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk. + # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent + # using a "future" value that is actually planned to occur before the "current" desired + # value, which is offset by the steerActuatorDelay. + self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments + self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments + + # Scaling the lateral acceleration "friction response" could be helpful for some. + # Increase for a stronger response, decrease for a weaker response. + self.lat_jerk_friction_factor = 0.4 + self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit + + # precompute time differences between ModelConstants.T_IDXS + self.t_diffs = np.diff(ModelConstants.T_IDXS) + self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3 if self.use_nn: self.pitch = FirstOrderFilter(0.0, 0.5, 0.01) # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data @@ -96,25 +127,9 @@ class LatControlTorque(LatControl): self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames] self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0]) self.roll_deque = deque(maxlen=history_check_frames[0]) + self.error_deque = deque(maxlen=history_check_frames[0]) self.past_future_len = len(self.past_times) + len(self.nn_future_times) - # Setup adjustable parameters - - # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, - # however, we can "look ahead" to the future planned lateral jerk in order to guage - # whether the current desired lateral jerk will persist into the future, i.e. - # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk. - # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent - # using a "future" value that is actually planned to occur before the "current" desired - # value, which is offset by the steerActuatorDelay. - self.friction_look_ahead_v = [0.8, 1.8] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments - self.friction_look_ahead_bp = [9.0, 35.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments - - # Additionally, lateral jerk and lateral accel together can be too great a friction response, - # so they're independently scaled, so they amount to a reasonable combination. - self.lat_jerk_friction_factor = 0.4 - self.lat_accel_friction_factor = 0.7 - def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelFactor = latAccelFactor self.torque_params.latAccelOffset = latAccelOffset @@ -135,7 +150,7 @@ class LatControlTorque(LatControl): def pid_long_sp(self): return self._pid_long_sp - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): self.update_live_tune() pid_log = log.ControlsState.LateralTorqueState.new_message() @@ -146,15 +161,16 @@ class LatControlTorque(LatControl): output_torque = 0.0 pid_log.active = False else: + actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY actual_lateral_jerk = 0.0 if self.use_steering_angle: - actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + actual_curvature = actual_curvature_vm curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) - if self.use_nn: + if self.use_nn or self.use_lateral_jerk: actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0) actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 else: - actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) curvature_deadzone = 0.0 @@ -168,8 +184,27 @@ class LatControlTorque(LatControl): low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y if not self.use_nn else LOW_SPEED_Y_NN)**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - model_planner_good = None not in [lat_plan, model_data] and all([len(i) >= CONTROL_N for i in [model_data.orientation.x, lat_plan.curvatures]]) - if self.use_nn and model_planner_good: + + lateral_jerk_setpoint = 0 + lateral_jerk_measurement = 0 + lookahead_lateral_jerk = 0 + + if self.use_nn or self.use_lateral_jerk: + # prepare "look-ahead" desired lateral jerk + lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) + friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) + predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs) + desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - actual_lateral_accel) / self.desired_lat_jerk_time + lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk) + if self.use_steering_angle or lookahead_lateral_jerk == 0.0: + lookahead_lateral_jerk = 0.0 + actual_lateral_jerk = 0.0 + self.lat_accel_friction_factor = 1.0 + lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk + lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk + + model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N + if self.use_nn and model_good: # update past data roll = params.roll pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) @@ -177,24 +212,13 @@ class LatControlTorque(LatControl): self.roll_deque.append(roll) self.lateral_accel_desired_deque.append(desired_lateral_accel) - # prepare "look-ahead" desired lateral jerk - lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) - friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) - lookahead_curvature_rate = get_lookahead_value(list(lat_plan.curvatureRates)[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_curvature_rate) - lookahead_lateral_jerk = lookahead_curvature_rate * CS.vEgo**2 - # prepare past and future values # adjust future times to account for longitudinal acceleration adjusted_future_times = [t + 0.5*CS.aEgo*(t/max(CS.vEgo, 1.0)) for t in self.nn_future_times] past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, i)] for i in self.history_frame_offsets] future_rolls = [roll_pitch_adjust(interp(t, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(t, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for t in adjusted_future_times] past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, i)] for i in self.history_frame_offsets] - future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], lat_plan.curvatures) * CS.vEgo ** 2 for t in adjusted_future_times] - - lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk - lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk - if self.use_steering_angle or lookahead_lateral_jerk == 0.0: - lateral_jerk_measurement = 0.0 + future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for t in adjusted_future_times] # compute NNFF error response nnff_setpoint_input = [CS.vEgo, setpoint, lateral_jerk_setpoint, roll] \ @@ -218,23 +242,25 @@ class LatControlTorque(LatControl): # apply friction override for cars with low NN friction response if self.nn_friction_override: - pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params, + pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params, friction_input, - lateral_accel_deadzone, friction_compensation=True) - ff += self.torque_from_lateral_accel(0.0, self.torque_params, - lookahead_lateral_jerk, - lateral_accel_deadzone, friction_compensation=True) + lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False) nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input else: - gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint, - lateral_accel_deadzone, friction_compensation=False) - torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement, - lateral_accel_deadzone, friction_compensation=False) + 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, + lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False) + torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False) pid_log.error = torque_from_setpoint - torque_from_measurement - ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, - desired_lateral_accel - actual_lateral_accel, - lateral_accel_deadzone, friction_compensation=True) + error = desired_lateral_accel - actual_lateral_accel + if self.use_lateral_jerk: + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + else: + friction_input = error + ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + friction_input, lateral_accel_deadzone, friction_compensation=True, + gravity_adjusted=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 5074bd326e..c6e921c6df 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,12 +4,13 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_MDL from openpilot.common.numpy_fast import interp from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N from openpilot.selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error, get_road_edge from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper + import cereal.messaging as messaging from cereal import log @@ -28,8 +29,7 @@ STEERING_RATE_COST = 700.0 class LateralPlanner: - def __init__(self, CP, debug=False, use_lanelines=True): - self.use_lanelines = use_lanelines + def __init__(self, CP, debug=False, model_use_lateral_planner=False): self.LP = LanePlanner() self.DH = DesireHelper() @@ -67,13 +67,19 @@ class LateralPlanner: self.vision_curve_laneless = self.param_s.get_bool("VisionCurveLaneless") + self.road_edge = False + self.edge_toggle = self.param_s.get_bool("RoadEdge") + self.param_read_counter = 0 self.read_param() + self.model_use_lateral_planner = model_use_lateral_planner + def read_param(self): self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding='utf8')) if self.param_read_counter % 50 == 0: self.vision_curve_laneless = self.param_s.get_bool("VisionCurveLaneless") + self.edge_toggle = self.param_s.get_bool("RoadEdge") self.param_read_counter += 1 def reset_mpc(self, x0=None): @@ -91,80 +97,85 @@ class LateralPlanner: # Parse model predictions md = sm['modelV2'] - self.LP.parse_model(md) - if len(md.position.x) == TRAJECTORY_SIZE and (len(md.orientation.x) == TRAJECTORY_SIZE or - (len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE)): - if len(md.orientation.x) == TRAJECTORY_SIZE: - self.t_idxs = np.array(md.position.t) - self.plan_yaw = np.array(md.orientation.z) - self.plan_yaw_rate = np.array(md.orientationRate.z) - if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE: - self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate]) - self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) - self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) - car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) - self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) - self.v_ego = self.v_plan[0] - # Lane change logic - lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob - self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, md) + if self.model_use_lateral_planner: + self.LP.parse_model(md) + if len(md.position.x) == TRAJECTORY_SIZE and (len(md.orientation.x) == TRAJECTORY_SIZE or + (len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolutionDEPRECATED.x) == TRAJECTORY_SIZE)): + if len(md.orientation.x) == TRAJECTORY_SIZE: + self.t_idxs = np.array(md.position.t) + self.plan_yaw = np.array(md.orientation.z) + self.plan_yaw_rate = np.array(md.orientationRate.z) + if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolutionDEPRECATED.x) == TRAJECTORY_SIZE: + self.x_sol = np.column_stack([md.lateralPlannerSolutionDEPRECATED.x, md.lateralPlannerSolutionDEPRECATED.y, md.lateralPlannerSolutionDEPRECATED.yaw, md.lateralPlannerSolutionDEPRECATED.yawRate]) + self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) + self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) + car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) + self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) + self.v_ego = self.v_plan[0] - # Turn off lanes during lane change - if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: - self.LP.lll_prob *= self.DH.lane_change_ll_prob - self.LP.rll_prob *= self.DH.lane_change_ll_prob - self.d_path_w_lines_xyz = self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz) + # Lane change logic + lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob + self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, model_data=md) - low_speed = v_ego_car < 10 * CV.MPH_TO_MS + # Turn off lanes during lane change + if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: + self.LP.lll_prob *= self.DH.lane_change_ll_prob + self.LP.rll_prob *= self.DH.lane_change_ll_prob + self.d_path_w_lines_xyz = self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz) - if not self.get_dynamic_lane_profile(sm['longitudinalPlanSP']) and not low_speed: - self.path_xyz = self.d_path_w_lines_xyz - self.dynamic_lane_profile_status = False - else: - self.path_xyz[:, 1] += self.LP.path_offset - self.dynamic_lane_profile_status = True + low_speed = v_ego_car < 10 * CV.MPH_TO_MS - if not self.dynamic_lane_profile_status: - self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, - LATERAL_ACCEL_COST, LATERAL_JERK_COST, - STEERING_RATE_COST) - - y_pts = self.path_xyz[:LAT_MPC_N+1, 1] - heading_pts = self.plan_yaw[:LAT_MPC_N+1] - yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1] - self.y_pts = y_pts - - assert len(y_pts) == LAT_MPC_N + 1 - assert len(heading_pts) == LAT_MPC_N + 1 - assert len(yaw_rate_pts) == LAT_MPC_N + 1 - lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf) - p = np.column_stack([self.v_plan, lateral_factor]) - self.lat_mpc.run(self.x0, - p, - y_pts, - heading_pts, - yaw_rate_pts) - # init state for next iteration - # mpc.u_sol is the desired second derivative of psi given x0 curv state. - # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate. - # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control. - self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) - - # Check for infeasible MPC solution - mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() - t = time.monotonic() - if mpc_nans or self.lat_mpc.solution_status != 0: - self.reset_mpc() - self.x0[3] = measured_curvature * self.v_ego - if t > self.last_cloudlog_t + 5.0: - self.last_cloudlog_t = t - cloudlog.warning("Lateral mpc - nan: True") - - if self.lat_mpc.cost > 1e6 or mpc_nans: - self.solution_invalid_cnt += 1 + if not self.get_dynamic_lane_profile(sm['longitudinalPlanSP']) and not low_speed: + self.path_xyz = self.d_path_w_lines_xyz + self.dynamic_lane_profile_status = False else: - self.solution_invalid_cnt = 0 + self.path_xyz[:, 1] += self.LP.path_offset + self.dynamic_lane_profile_status = True + + if not self.dynamic_lane_profile_status: + self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, + LATERAL_ACCEL_COST, LATERAL_JERK_COST, + STEERING_RATE_COST) + + y_pts = self.path_xyz[:LAT_MPC_N+1, 1] + heading_pts = self.plan_yaw[:LAT_MPC_N+1] + yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1] + self.y_pts = y_pts + + assert len(y_pts) == LAT_MPC_N + 1 + assert len(heading_pts) == LAT_MPC_N + 1 + assert len(yaw_rate_pts) == LAT_MPC_N + 1 + lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf) + p = np.column_stack([self.v_plan, lateral_factor]) + self.lat_mpc.run(self.x0, + p, + y_pts, + heading_pts, + yaw_rate_pts) + # init state for next iteration + # mpc.u_sol is the desired second derivative of psi given x0 curv state. + # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate. + # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control. + self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) + + # Check for infeasible MPC solution + mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() + t = time.monotonic() + if mpc_nans or self.lat_mpc.solution_status != 0: + self.reset_mpc() + self.x0[3] = measured_curvature * self.v_ego + if t > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = t + cloudlog.warning("Lateral mpc - nan: True") + + if self.lat_mpc.cost > 1e6 or mpc_nans: + self.solution_invalid_cnt += 1 + else: + self.solution_invalid_cnt = 0 + + if not self.model_use_lateral_planner: + self.road_edge = get_road_edge(sm['carState'], md, self.edge_toggle) def get_dynamic_lane_profile(self, longitudinal_plan_sp): if self.dynamic_lane_profile == 1: @@ -192,56 +203,52 @@ class LateralPlanner: def publish(self, sm, pm): plan_solution_valid = self.solution_invalid_cnt < 2 - plan_send = messaging.new_message('lateralPlan') + plan_send = messaging.new_message('lateralPlanDEPRECATED') plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - lateralPlan = plan_send.lateralPlan - lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] - lateralPlan.dPathPoints = self.path_xyz[:,1].tolist() if self.dynamic_lane_profile_status else self.y_pts.tolist() - lateralPlan.psis = self.x_sol[0:CONTROL_N, 2].tolist() if self.dynamic_lane_profile_status else self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() + lateralPlanDEPRECATED = plan_send.lateralPlanDEPRECATED + lateralPlanDEPRECATED.modelMonoTime = sm.logMonoTime['modelV2'] + lateralPlanDEPRECATED.dPathPoints = self.path_xyz[:,1].tolist() if self.dynamic_lane_profile_status else self.y_pts.tolist() + lateralPlanDEPRECATED.psis = self.x_sol[0:CONTROL_N, 2].tolist() if self.dynamic_lane_profile_status else self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() - lateralPlan.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() if self.dynamic_lane_profile_status else (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() - lateralPlan.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] if self.dynamic_lane_profile_status else [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] # TODO: unused + lateralPlanDEPRECATED.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() if self.dynamic_lane_profile_status else (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() + lateralPlanDEPRECATED.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] if self.dynamic_lane_profile_status else [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] # TODO: unused - lateralPlan.mpcSolutionValid = bool(1) if self.dynamic_lane_profile_status else bool(plan_solution_valid) - lateralPlan.solverExecutionTime = 0.0 if self.dynamic_lane_profile_status else self.lat_mpc.solve_time + lateralPlanDEPRECATED.mpcSolutionValid = bool(1) if self.dynamic_lane_profile_status else bool(plan_solution_valid) + lateralPlanDEPRECATED.solverExecutionTime = 0.0 if self.dynamic_lane_profile_status else self.lat_mpc.solve_time if self.debug_mode: - lateralPlan.solverState.x = self.x_sol.tolist() if self.dynamic_lane_profile_status else self.lat_mpc.x_sol.tolist() + lateralPlanDEPRECATED.solverState.x = self.x_sol.tolist() if self.dynamic_lane_profile_status else self.lat_mpc.x_sol.tolist() if not self.dynamic_lane_profile_status: - lateralPlan.solverCost = self.lat_mpc.cost - lateralPlan.solverState = log.LateralPlan.SolverState.new_message() - lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist() + lateralPlanDEPRECATED.solverCost = self.lat_mpc.cost + lateralPlanDEPRECATED.solverState = log.LateralPlan.SolverState.new_message() + lateralPlanDEPRECATED.solverState.u = self.lat_mpc.u_sol.flatten().tolist() - lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = self.use_lanelines - lateralPlan.laneChangeState = self.DH.lane_change_state - lateralPlan.laneChangeDirection = self.DH.lane_change_direction + lateralPlanDEPRECATED.desire = self.DH.desire + lateralPlanDEPRECATED.useLaneLines = not self.dynamic_lane_profile_status + lateralPlanDEPRECATED.laneChangeState = self.DH.lane_change_state + lateralPlanDEPRECATED.laneChangeDirection = self.DH.lane_change_direction - pm.send('lateralPlan', plan_send) + pm.send('lateralPlanDEPRECATED', plan_send) - plan_sp_send = messaging.new_message('lateralPlanSP') + plan_sp_send = messaging.new_message('lateralPlanSPDEPRECATED') plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - lateralPlanSP = plan_sp_send.lateralPlanSP + lateralPlanSPDEPRECATED = plan_sp_send.lateralPlanSPDEPRECATED - lateralPlanSP.laneWidth = float(self.LP.lane_width) - lateralPlanSP.lProb = float(self.LP.lll_prob) - lateralPlanSP.rProb = float(self.LP.rll_prob) - lateralPlanSP.dProb = float(self.LP.d_prob) + lateralPlanSPDEPRECATED.laneWidth = float(self.LP.lane_width) + lateralPlanSPDEPRECATED.lProb = float(self.LP.lll_prob) + lateralPlanSPDEPRECATED.rProb = float(self.LP.rll_prob) + lateralPlanSPDEPRECATED.dProb = float(self.LP.d_prob) - lateralPlanSP.laneChangePrev = self.DH.prev_lane_change - lateralPlanSP.laneChangeEdgeBlock = bool((self.DH.lane_change_state == LaneChangeState.preLaneChange) and self.DH.road_edge) + lateralPlanSPDEPRECATED.dynamicLaneProfile = int(self.dynamic_lane_profile) + lateralPlanSPDEPRECATED.dynamicLaneProfileStatus = bool(self.dynamic_lane_profile_status) - lateralPlanSP.dynamicLaneProfile = int(self.dynamic_lane_profile) - lateralPlanSP.dynamicLaneProfileStatus = bool(self.dynamic_lane_profile_status) - - lateralPlanSP.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]] - lateralPlanSP.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]] + lateralPlanSPDEPRECATED.laneChangeEdgeBlockDEPRECATED = self.road_edge if self.standstill: self.standstill_elapsed += DT_MDL else: self.standstill_elapsed = 0.0 - lateralPlanSP.standstillElapsed = int(self.standstill_elapsed) + lateralPlanSPDEPRECATED.standstillElapsed = int(self.standstill_elapsed) - pm.send('lateralPlanSP', plan_sp_send) + pm.send('lateralPlanSPDEPRECATED', plan_sp_send) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index d75289c6ad..f93cec3f62 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -4,7 +4,7 @@ import time import numpy as np from cereal import custom from openpilot.common.numpy_fast import clip -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild from openpilot.selfdrive.modeld.constants import index_function from openpilot.selfdrive.car.interfaces import ACCEL_MIN diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c030bf90b4..295a7341b5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -21,7 +21,7 @@ from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnCo from openpilot.selfdrive.controls.lib.turn_speed_controller import TurnSpeedController from openpilot.selfdrive.controls.lib.dynamic_experimental_controller import DynamicExperimentalController from openpilot.selfdrive.controls.lib.events import Events -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 @@ -58,13 +58,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: - def __init__(self, CP, init_v=0.0, init_a=0.0): + def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc() self.fcw = False + self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N) @@ -78,7 +79,7 @@ class LongitudinalPlanner: self.cruise_source = 'cruise' self.vision_turn_controller = VisionTurnController(CP) - self.speed_limit_controller = SpeedLimitController() + self.speed_limit_controller = SpeedLimitController(CP) self.events = Events() self.turn_speed_controller = TurnSpeedController() self.dynamic_experimental_controller = DynamicExperimentalController() @@ -152,8 +153,8 @@ class LongitudinalPlanner: v_cruise = 0.0 # Get active solutions for custom long mpc. - self.cruise_source, v_cruise_sol = self.cruise_solutions( - prev_accel_constraint and (self.CP.openpilotLongitudinalControl or not self.CP.pcmCruiseSpeed), + v_cruise = self.cruise_solutions( + not reset_state and (self.CP.openpilotLongitudinalControl or not self.CP.pcmCruiseSpeed), self.v_desired_filter.x, self.a_desired, v_cruise, sm) # clip limits, cannot init MPC outside of bounds @@ -164,7 +165,7 @@ class LongitudinalPlanner: self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality) self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution) @@ -179,8 +180,8 @@ class LongitudinalPlanner: # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired - self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) - self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 self.e2e_events(sm) @@ -229,9 +230,7 @@ class LongitudinalPlanner: longitudinalPlanSP.events = self.events.to_msg() longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state - longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.speed_limit) - longitudinalPlanSP.distToTurn = float(self.turn_speed_controller.distance) - longitudinalPlanSP.turnSign = int(self.turn_speed_controller.turn_sign) + longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.v_target) longitudinalPlanSP.personality = self.personality @@ -243,24 +242,17 @@ class LongitudinalPlanner: # Update controllers self.vision_turn_controller.update(enabled, v_ego, v_cruise, sm) self.events = Events() - self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.CP, self.events) - self.turn_speed_controller.update(enabled, v_ego, a_ego, sm) + self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events) + self.turn_speed_controller.update(enabled, v_ego, sm, v_cruise) + + v_tsc_target = self.vision_turn_controller.v_target if self.vision_turn_controller.is_active else 255 + slc_target = self.speed_limit_controller.speed_limit_offseted if self.speed_limit_controller.is_active else 255 + m_tsc_target = self.turn_speed_controller.v_target if self.turn_speed_controller.is_active else 255 # Pick solution with the lowest velocity target. - v_solutions = {'cruise': v_cruise} + v_solutions = min(v_cruise, v_tsc_target, slc_target, m_tsc_target) - if self.vision_turn_controller.is_active: - v_solutions['turn'] = self.vision_turn_controller.v_target - - if self.speed_limit_controller.is_active: - v_solutions['limit'] = self.speed_limit_controller.speed_limit_offseted - - if self.turn_speed_controller.is_active: - v_solutions['turnlimit'] = self.turn_speed_controller.speed_limit - - source = min(v_solutions, key=v_solutions.get) - - return source, v_solutions[source] + return v_solutions def e2e_events(self, sm): e2e_long_status = sm['e2eLongStateSP'].status diff --git a/selfdrive/controls/lib/sunnypilot/common.py b/selfdrive/controls/lib/sunnypilot/common.py index 9c72d23d56..731cc413c6 100644 --- a/selfdrive/controls/lib/sunnypilot/common.py +++ b/selfdrive/controls/lib/sunnypilot/common.py @@ -16,3 +16,14 @@ class Policy(IntEnum): map_data_priority = 4 car_state_priority = 5 combined = 6 + + +class Engage(IntEnum): + auto = 0 + user_confirm = 1 + + +class OffsetType(IntEnum): + default = 0 + fixed = 1 + percentage = 2 diff --git a/selfdrive/controls/lib/sunnypilot/helpers.py b/selfdrive/controls/lib/sunnypilot/helpers.py index d7be1bf536..e84856418d 100644 --- a/selfdrive/controls/lib/sunnypilot/helpers.py +++ b/selfdrive/controls/lib/sunnypilot/helpers.py @@ -1,5 +1,5 @@ from openpilot.selfdrive.controls.lib.sunnypilot import DEBUG, SpeedLimitControlState -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def debug(msg): diff --git a/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py b/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py index 47366a3c2f..d3e966bfb1 100644 --- a/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py +++ b/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py @@ -1,13 +1,12 @@ import time -from common.numpy_fast import clip, interp -from common.conversions import Conversions as CV -from common.params import Params +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params from openpilot.selfdrive.controls.lib.sunnypilot import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \ PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, EventName, SpeedLimitControlState -from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \ - CONTROL_N +from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_SPEED_OFFSET_TH, CONTROL_N from openpilot.selfdrive.controls.lib.events import Events, ET -from openpilot.selfdrive.controls.lib.sunnypilot.common import Source, Policy +from openpilot.selfdrive.controls.lib.sunnypilot.common import Source, Policy, Engage, OffsetType from openpilot.selfdrive.controls.lib.sunnypilot.helpers import description_for_state, debug from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_resolver import SpeedLimitResolver from openpilot.selfdrive.modeld.constants import ModelConstants @@ -16,8 +15,9 @@ ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting) class SpeedLimitController: - def __init__(self): + def __init__(self, CP): self._params = Params() + self._CP = CP self._policy = Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8'))) self._resolver = SpeedLimitResolver(self._policy) self._last_params_update = 0.0 @@ -41,16 +41,21 @@ class SpeedLimitController: self._state = SpeedLimitControlState.inactive self._state_prev = SpeedLimitControlState.inactive self._gas_pressed = False + self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) - self._engage_type = int(self._params.get("SpeedLimitEngageType", encoding='utf8')) + self._warning_type_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) + self._warning_offset_type = int(self._params.get("SpeedLimitWarningOffsetType", encoding='utf8')) + self._warning_offset_value = float(self._params.get("SpeedLimitWarningValueOffset", encoding='utf8')) + self._engage_type = clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), Engage.auto, Engage.user_confirm) self._brake_pressed = False self._brake_pressed_prev = False self._current_time = 0. self._v_cruise_rounded = 0. self._v_cruise_prev_rounded = 0. self._speed_limit_offsetted_rounded = 0. + self._speed_limit_warning_offsetted_rounded = 0. self._ms_to_local = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH # Mapping functions to state transitions @@ -91,7 +96,7 @@ class SpeedLimitController: @property def is_active(self): - return self.state in ACTIVE_STATES + return self.state in ACTIVE_STATES and self._is_enabled @property def speed_limit_offseted(self): @@ -99,14 +104,24 @@ class SpeedLimitController: @property def speed_limit_offset(self): - if self._offset_type == 0: + if self._offset_type == OffsetType.default: return interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit - elif self._offset_type == 1: + elif self._offset_type == OffsetType.fixed: return self._offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS) - elif self._offset_type == 2: + elif self._offset_type == OffsetType.percentage: return self._offset_value * 0.01 * self._speed_limit return 0. + @property + def speed_limit_warning_offset(self): + if self._warning_offset_type == OffsetType.default: + return interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit + elif self._warning_offset_type == OffsetType.fixed: + return self._warning_offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS) + elif self._warning_offset_type == OffsetType.percentage: + return self._warning_offset_value * 0.01 * self._speed_limit + return 0. + @property def speed_limit(self): return self._speed_limit @@ -122,18 +137,19 @@ class SpeedLimitController: def _update_v_cruise_setpoint_prev(self): self._v_cruise_setpoint_prev = self._v_cruise_setpoint - def _update_params(self, CP): + def _update_params(self): if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD: self._is_enabled = self._params.get_bool("EnableSlc") self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) + self._warning_type_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) + self._warning_offset_type = int(self._params.get("SpeedLimitWarningOffsetType", encoding='utf8')) + self._warning_offset_value = float(self._params.get("SpeedLimitWarningValueOffset", encoding='utf8')) self._policy = Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8'))) self._is_metric = self._params.get_bool("IsMetric") self._ms_to_local = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH self._resolver.change_policy(self._policy) - pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise - self._engage_type = clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), 0, 1) if pcm_cruise_op_long else \ - int(self._params.get("SpeedLimitEngageType", encoding='utf8')) + self._engage_type = Engage.auto if self._pcm_cruise_op_long else clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), Engage.auto, Engage.user_confirm) debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_type}') self._last_params_update = self._current_time @@ -152,7 +168,7 @@ class SpeedLimitController: self._speed_limit_changed = self._speed_limit != self._speed_limit_prev self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev self._speed_limit_prev = self._speed_limit - if self._engage_type != 2: + if self._engage_type != Engage.user_confirm: self._update_v_cruise_setpoint_prev() self._op_enabled_prev = self._op_enabled self._brake_pressed_prev = self._brake_pressed @@ -160,16 +176,17 @@ class SpeedLimitController: self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._ms_to_local)) self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._ms_to_local)) self._speed_limit_offsetted_rounded = int(0) if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._ms_to_local)) + self._speed_limit_warning_offsetted_rounded = int(0) if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_warning_offset) * self._ms_to_local)) def transition_state_from_inactive(self): """ Make state transition from inactive state """ - if self._engage_type == 2: + if self._engage_type == Engage.user_confirm: if (((self._last_op_enabled_time + 7.) >= self._current_time >= (self._last_op_enabled_time + 2.)) or self._speed_limit_changed): if self._speed_limit_changed: self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation self.state = SpeedLimitControlState.preActive - elif self._engage_type == 1: + elif self._engage_type == Engage.auto: if self._v_offset < LIMIT_SPEED_OFFSET_TH: self.state = SpeedLimitControlState.adapting else: @@ -178,10 +195,10 @@ class SpeedLimitController: def transition_state_from_temp_inactive(self): """ Make state transition from temporary inactive state """ if self._speed_limit_changed: - if self._engage_type == 2: + if self._engage_type == Engage.user_confirm: self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation self.state = SpeedLimitControlState.preActive - elif self._engage_type == 1: + elif self._engage_type == Engage.auto: self.state = SpeedLimitControlState.inactive def transition_state_from_pre_active(self): @@ -207,14 +224,14 @@ class SpeedLimitController: def transition_state_from_active(self): """ Make state transition from active state """ - if self._engage_type == 2: + if self._engage_type == Engage.user_confirm: if self._state_prev == SpeedLimitControlState.active: if self._v_cruise_setpoint_changed and self._v_cruise_rounded != self._speed_limit_offsetted_rounded: self.state = SpeedLimitControlState.tempInactive elif self._speed_limit_changed: self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation self.state = SpeedLimitControlState.preActive - elif self._engage_type == 1: + elif self._engage_type == Engage.auto: if self._v_offset < LIMIT_SPEED_OFFSET_TH: self.state = SpeedLimitControlState.adapting @@ -223,22 +240,22 @@ class SpeedLimitController: # In any case, if op is disabled, or speed limit control is disabled # or the reported speed limit is 0 or gas is pressed, deactivate. - if (not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or - (self._gas_pressed and self._disengage_on_accelerator)) or self._engage_type == 0: + if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or \ + (self._gas_pressed and self._disengage_on_accelerator): self.state = SpeedLimitControlState.inactive return # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed. # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations # due to controlsd logic changing cruise setpoint when going active. - if self._engage_type == 1 and self._v_cruise_setpoint_changed and \ + if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \ self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD): self.state = SpeedLimitControlState.tempInactive return self.state_transition_strategy[self.state]() - if self._engage_type == 2: + if self._engage_type == Engage.user_confirm: self._update_v_cruise_setpoint_prev() def get_current_acceleration_as_target(self): @@ -257,22 +274,26 @@ class SpeedLimitController: return self._v_offset / ModelConstants.T_IDXS[CONTROL_N] def _update_events(self, events): + if self._speed_limit > 0 and self._warning_type_type == 2 and \ + self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): + events.add(EventName.speedLimitPreActive) + if not self.is_active: if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \ self._v_cruise_rounded != self._speed_limit_offsetted_rounded: events.add(EventName.speedLimitPreActive) else: - if self._engage_type == 2: + if self._engage_type == Engage.user_confirm: if self._state_prev == SpeedLimitControlState.preActive: events.add(EventName.speedLimitConfirmed) events.add(EventName.speedLimitActive) - elif self._engage_type == 1: + elif self._engage_type == Engage.auto: if self._state_prev not in ACTIVE_STATES: events.add(EventName.speedLimitActive) elif self._speed_limit_changed != 0: events.add(EventName.speedLimitValueChange) - def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, CP, events=Events()): + def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()): _car_state = sm['carState'] self._op_enabled = sm['controlsState'].enabled and _car_state.cruiseState.enabled and \ not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \ @@ -286,7 +307,7 @@ class SpeedLimitController: self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm) - self._update_params(CP) + self._update_params() self._update_calculations() self._state_transition() self._update_events(events) diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 9580e604ff..866270ca60 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -12,7 +12,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel -from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk +from openpilot.common.mock.generators import generate_liveLocationKalman class TestLatControl(unittest.TestCase): @@ -30,13 +30,11 @@ class TestLatControl(unittest.TestCase): CS.vEgo = 30 CS.steeringPressed = False - last_actuators = car.CarControl.Actuators.new_message() - params = log.LiveParametersData.new_message() - llk = gen_llk() + llk = generate_liveLocationKalman() for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk) + _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk) self.assertTrue(lac_log.saturated) diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py index 7d1051d314..28ecf10593 100644 --- a/selfdrive/controls/lib/turn_speed_controller.py +++ b/selfdrive/controls/lib/turn_speed_controller.py @@ -1,56 +1,63 @@ -import numpy as np +import json +import math import time -from common.params import Params from cereal import custom -from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \ - LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.common.params import Params +from openpilot.system.version import is_release_sp_branch + +R = 6373000.0 # approximate radius of earth in meters +TO_RADIANS = math.pi / 180 +TO_DEGREES = 180 / math.pi +TARGET_JERK = -0.6 # m/s^3 There's some jounce limits that are not consistent so we're fudging this some +TARGET_ACCEL = -1.2 # m/s^2 should match up with the long planner limit +TARGET_OFFSET = 1.0 # seconds - This controls how soon before the curve you reach the target velocity. It also helps + # reach the target velocity when innacuracies in the distance modeling logic would cause overshoot. + # The value is multiplied against the target velocity to determine the additional distance. This is + # done to keep the distance calculations consistent but results in the offset actually being less + # time than specified depending on how much of a speed diffrential there is between v_ego and the + # target velocity. -_ACTIVE_LIMIT_MIN_ACC = -0.5 # m/s^2 Maximum deceleration allowed while active. -_ACTIVE_LIMIT_MAX_ACC = 0.5 # m/s^2 Maximum acelration allowed while active. +def calculate_accel(t, target_jerk, a_ego): + return a_ego + target_jerk * t -_DEBUG = False +def calculate_velocity(t, target_jerk, a_ego, v_ego): + return v_ego + a_ego * t + target_jerk/2 * (t ** 2) + + +def calculate_distance(t, target_jerk, a_ego, v_ego): + return t * v_ego + a_ego/2 * (t ** 2) + target_jerk/6 * (t ** 3) + + +PARAMS_UPDATE_PERIOD = 5. TurnSpeedControlState = custom.LongitudinalPlanSP.SpeedLimitControlState -def _debug(msg): - if not _DEBUG: - return - print(msg) +# points should be in radians +# output is meters +def distance_to_point(ax, ay, bx, by): + a = math.sin((bx-ax)/2)*math.sin((bx-ax)/2) + math.cos(ax) * math.cos(bx)*math.sin((by-ay)/2)*math.sin((by-ay)/2) + c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a)) + + return R * c # in meters -def _description_for_state(turn_speed_control_state): - if turn_speed_control_state == TurnSpeedControlState.inactive: - return 'INACTIVE' - if turn_speed_control_state == TurnSpeedControlState.tempInactive: - return 'TEMP INACTIVE' - if turn_speed_control_state == TurnSpeedControlState.adapting: - return 'ADAPTING' - if turn_speed_control_state == TurnSpeedControlState.active: - return 'ACTIVE' - - -class TurnSpeedController(): +class TurnSpeedController: def __init__(self): - self._params = Params() - self._last_params_update = 0. - self._is_enabled = self._params.get_bool("TurnSpeedControl") + self.params = Params() + self.mem_params = Params("/dev/shm/params") + self.enabled = self.params.get_bool("TurnSpeedControl") and not is_release_sp_branch() + self.last_params_update = 0 self._op_enabled = False - self._v_ego = 0. - self._a_ego = 0. - self._v_cruise_setpoint = 0. - - self._v_offset = 0. - self._speed_limit = 0. - self._speed_limit_temp_inactive = 0. - self._distance = 0. - self._turn_sign = 0 + self._gas_pressed = False self._state = TurnSpeedControlState.inactive - - self._next_speed_limit_prev = 0. + self._v_cruise = 0 + self._min_v = 0 + self.target_lat = 0.0 + self.target_lon = 0.0 + self.target_v = 0.0 @property def state(self): @@ -58,159 +65,163 @@ class TurnSpeedController(): @state.setter def state(self, value): - if value != self._state: - _debug(f'Turn Speed Controller state: {_description_for_state(value)}') - - if value == TurnSpeedControlState.adapting: - _debug('TSC: Enteriing Adapting as speed offset is below threshold') - _debug(f'_v_offset: {self._v_offset * 3.6}\nspeed_limit: {self.speed_limit * 3.6}') - _debug(f'_v_ego: {self._v_ego * 3.6}\ndistance: {self.distance}') - - if value == TurnSpeedControlState.tempInactive: - # Track the speed limit value when controller was set to temp inactive. - self._speed_limit_temp_inactive = self._speed_limit - self._state = value @property def is_active(self): - return self.state > TurnSpeedControlState.tempInactive + return self.state > TurnSpeedControlState.tempInactive and self.enabled @property - def speed_limit(self): - return max(self._speed_limit, LIMIT_MIN_SPEED) if self._speed_limit > 0. else 0. + def v_target(self): + return self._min_v - @property - def distance(self): - return max(self._distance, 0.) - - @property - def turn_sign(self): - return self._turn_sign - - def _get_limit_from_map_data(self, sm): - """Provides the speed limit, distance and turn sign to it for turns based on map data. - """ - # Ignore if no live map data - sock = 'liveMapDataSP' - if sm.logMonoTime[sock] is None: - _debug('TS: No map data for turn speed limit') - return 0., 0., 0 - - # Load map_data and initialize - map_data = sm[sock] - speed_limit = 0. - - # Calculate the age of the gps fix. Ignore if too old. - gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3 - if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE: - _debug(f'TS: Ignoring map data as is too old. Age: {gps_fix_age}') - return 0., 0., 0 - - # Load turn ahead sections info from map_data with distances corrected by gps_fix_age - distance_since_fix = self._v_ego * gps_fix_age - distances_to_sections_ahead = np.maximum(0., np.array(map_data.turnSpeedLimitsAheadDistances) - distance_since_fix) - speed_limit_in_sections_ahead = map_data.turnSpeedLimitsAhead - turn_signs_in_sections_ahead = map_data.turnSpeedLimitsAheadSigns - - # Ensure current speed limit is considered only if we are inside the section. - if map_data.turnSpeedLimitValid and self._v_ego > 0.: - speed_limit_end_time = (map_data.turnSpeedLimitEndDistance / self._v_ego) - gps_fix_age - if speed_limit_end_time > 0.: - speed_limit = map_data.turnSpeedLimit - - # When we have no ahead speed limit to consider or all are greater than current speed limit - # or car has stopped, then provide current value and reset tracking. - turn_sign = map_data.turnSpeedLimitSign if map_data.turnSpeedLimitValid else 0 - if len(speed_limit_in_sections_ahead) == 0 or self._v_ego <= 0. or \ - (speed_limit > 0 and np.amin(speed_limit_in_sections_ahead) > speed_limit): - self._next_speed_limit_prev = 0. - return speed_limit, 0., turn_sign - - # Calculated the time needed to adapt to the limits ahead and the corresponding distances. - adapt_times = (np.maximum(speed_limit_in_sections_ahead, LIMIT_MIN_SPEED) - self._v_ego) / LIMIT_ADAPT_ACC - adapt_distances = self._v_ego * adapt_times + 0.5 * LIMIT_ADAPT_ACC * adapt_times**2 - distance_gaps = distances_to_sections_ahead - adapt_distances - - # We select as next speed limit, the one that have the lowest distance gap. - next_idx = np.argmin(distance_gaps) - next_speed_limit = speed_limit_in_sections_ahead[next_idx] - distance_to_section_ahead = distances_to_sections_ahead[next_idx] - next_turn_sign = turn_signs_in_sections_ahead[next_idx] - distance_gap = distance_gaps[next_idx] - - # When we have a next_speed_limit value that has not changed from a provided next speed limit value - # in previous resolutions, we keep providing it along with the updated distance to it. - if next_speed_limit == self._next_speed_limit_prev: - return next_speed_limit, distance_to_section_ahead, next_turn_sign - - # Reset tracking - self._next_speed_limit_prev = 0. - - # When we detect we are close enough, we provide the next limit value and track it. - if distance_gap <= 0.: - self._next_speed_limit_prev = next_speed_limit - return next_speed_limit, distance_to_section_ahead, next_turn_sign - - # Otherwise we just provide the calculated speed_limit - return speed_limit, 0., turn_sign - - def _update_params(self): + def update_params(self): t = time.monotonic() - if t > self._last_params_update + 5.0: - self._is_enabled = self._params.get_bool("TurnSpeedControl") - self._last_params_update = t + if t > self.last_params_update + PARAMS_UPDATE_PERIOD: + self.enabled = self.params.get_bool("TurnSpeedControl") and not is_release_sp_branch() + self.last_params_update = t - def _update_calculations(self): - # Update current velocity offset (error) - self._v_offset = self.speed_limit - self._v_ego + def target_speed(self, v_ego, a_ego) -> float: + if not self.enabled: + return 0.0 - def _state_transition(self, sm): - # In any case, if op is disabled, or turn speed limit control is disabled - # or the reported speed limit is 0, deactivate. - if not self._op_enabled or not self._is_enabled or self.speed_limit == 0.: + lat = 0.0 + lon = 0.0 + try: + position = json.loads(self.mem_params.get("LastGPSPosition")) + lat = position["latitude"] + lon = position["longitude"] + except: return 0.0 + + try: + target_velocities = json.loads(self.mem_params.get("MapTargetVelocities")) + except: return 0.0 + + min_dist = 1000 + min_idx = 0 + distances = [] + + # find our location in the path + for i in range(len(target_velocities)): + target_velocity = target_velocities[i] + tlat = target_velocity["latitude"] + tlon = target_velocity["longitude"] + d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS) + distances.append(d) + if d < min_dist: + min_dist = d + min_idx = i + + # only look at values from our current position forward + forward_points = target_velocities[min_idx:] + forward_distances = distances[min_idx:] + + # find velocities that we are within the distance we need to adjust for + valid_velocities = [] + for i in range(len(forward_points)): + target_velocity = forward_points[i] + tlat = target_velocity["latitude"] + tlon = target_velocity["longitude"] + tv = target_velocity["velocity"] + if tv > v_ego: + continue + + d = forward_distances[i] + + a_diff = (a_ego - TARGET_ACCEL) + accel_t = abs(a_diff / TARGET_JERK) + min_accel_v = calculate_velocity(accel_t, TARGET_JERK, a_ego, v_ego) + + max_d = 0 + if tv > min_accel_v: + # calculate time needed based on target jerk + a = 0.5 * TARGET_JERK + b = a_ego + c = v_ego - tv + t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a + t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a + if not isinstance(t_a, complex) and t_a > 0: + t = t_a + else: + t = t_b + if isinstance(t, complex): + continue + + max_d = max_d + calculate_distance(t, TARGET_JERK, a_ego, v_ego) + else: + t = accel_t + max_d = calculate_distance(t, TARGET_JERK, a_ego, v_ego) + + # calculate additional time needed based on target accel + t = abs((min_accel_v - tv) / TARGET_ACCEL) + max_d += calculate_distance(t, 0, TARGET_ACCEL, min_accel_v) + + if d < max_d + tv * TARGET_OFFSET: + valid_velocities.append((float(tv), tlat, tlon)) + + # Find the smallest velocity we need to adjust for + min_v = 100.0 + target_lat = 0.0 + target_lon = 0.0 + for tv, lat, lon in valid_velocities: + if tv < min_v: + min_v = tv + target_lat = lat + target_lon = lon + + if self.target_v < min_v and not (self.target_lat == 0 and self.target_lon == 0): + for i in range(len(forward_points)): + target_velocity = forward_points[i] + tlat = target_velocity["latitude"] + tlon = target_velocity["longitude"] + tv = target_velocity["velocity"] + if tv > v_ego: + continue + + if tlat == self.target_lat and tlon == self.target_lon and tv == self.target_v: + return float(self.target_v) + # not found so lets reset + self.target_v = 0.0 + self.target_lat = 0.0 + self.target_lon = 0.0 + + self.target_v = min_v + self.target_lat = target_lat + self.target_lon = target_lon + + return min_v + + def _state_transition(self): + if not self._op_enabled or not self.enabled: self.state = TurnSpeedControlState.inactive return - # In any case, we deactivate the speed limit controller temporarily - # if gas is pressed (to support gas override implementations). - if sm['carState'].gasPressed: + if self._gas_pressed: self.state = TurnSpeedControlState.tempInactive return - # inactive + # INACTIVE if self.state == TurnSpeedControlState.inactive: - # If the limit speed offset is negative (i.e. reduce speed) and lower than threshold and distanct to turn limit - # is positive (not in turn yet) we go to adapting state to reduce speed, otherwise we go directly to active - if self._v_offset < LIMIT_SPEED_OFFSET_TH and self.distance > 0.: - self.state = TurnSpeedControlState.adapting - else: + if self._v_cruise > self._min_v != 0: self.state = TurnSpeedControlState.active - # tempInactive + + # TEMP INACTIVE elif self.state == TurnSpeedControlState.tempInactive: - # if the speed limit recorded when going to temp Inactive changes - # then set to inactive, activation will happen on next cycle - if self._speed_limit != self._speed_limit_temp_inactive: - self.state = TurnSpeedControlState.inactive - # adapting - elif self.state == TurnSpeedControlState.adapting: - # Go to active once the speed offset is over threshold or the distance to turn is now 0. - if self._v_offset >= LIMIT_SPEED_OFFSET_TH or self.distance == 0.: + if self._v_cruise > self._min_v != 0: self.state = TurnSpeedControlState.active - # active + else: + self.state = TurnSpeedControlState.inactive + + # ACTIVE elif self.state == TurnSpeedControlState.active: - # Go to adapting if the speed offset goes below threshold as long as the distance to turn is still positive. - if self._v_offset < LIMIT_SPEED_OFFSET_TH and self.distance > 0.: - self.state = TurnSpeedControlState.adapting + if not (self._v_cruise > self._min_v != 0): + self.state = TurnSpeedControlState.inactive - def update(self, enabled, v_ego, a_ego, sm): - self._op_enabled = enabled - self._v_ego = v_ego - self._a_ego = a_ego + def update(self, op_enabled, v_ego, sm, v_cruise): + self.update_params() + self._op_enabled = op_enabled + self._gas_pressed = sm['carState'].gasPressed + self._v_cruise = v_cruise + self._min_v = self.target_speed(v_ego, sm['carState'].aEgo) - # Get the speed limit from Map Data - self._speed_limit, self._distance, self._turn_sign = self._get_limit_from_map_data(sm) - - self._update_params() - self._update_calculations() - self._state_transition(sm) + self._state_transition() diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py index 63d3c1df9a..5d90a5578a 100644 --- a/selfdrive/controls/lib/vision_turn_controller.py +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -67,7 +67,7 @@ class VisionTurnController: @property def is_active(self): - return self._state != VisionTurnControllerState.disabled + return self._state != VisionTurnControllerState.disabled and self._is_enabled @property def current_lat_acc(self): @@ -105,7 +105,7 @@ class VisionTurnController: # Get the target velocity for the maximum curve self._v_target = (TARGET_LAT_A / max_curve) ** 0.5 - self._v_target = max(self.v_target, MIN_TARGET_V) + self._v_target = max(self._v_target, MIN_TARGET_V) def _state_transition(self): if not self._op_enabled or not self._is_enabled or self._gas_pressed or self._v_ego < MIN_TARGET_V: @@ -114,11 +114,11 @@ class VisionTurnController: # DISABLED if self.state == VisionTurnControllerState.disabled: - if self._v_cruise > self.v_target: + if self._v_cruise > self._v_target: self.state = VisionTurnControllerState.turning # TURNING elif self.state == VisionTurnControllerState.turning: - if not (self._v_cruise > self.v_target): + if not (self._v_cruise > self._v_target): self.state = VisionTurnControllerState.disabled def update(self, enabled, v_ego, v_cruise, sm): diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index b4a05e533c..3c1e8068c5 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -4,28 +4,32 @@ import numpy as np from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import Priority, config_realtime_process -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner +from openpilot.selfdrive.sunnypilot import get_model_generation import cereal.messaging as messaging + def cumtrapz(x, t): return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))]) -def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): - plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS) - model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS) +def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner, model_use_lateral_planner): + if model_use_lateral_planner: + plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS) + model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS) ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) uiPlan = ui_send.uiPlan uiPlan.frameId = sm['modelV2'].frameId - x_fp = (lateral_planner.x_sol if lateral_planner.dynamic_lane_profile_status else lateral_planner.lat_mpc.x_sol)[:,0] - y_fp = (lateral_planner.x_sol if lateral_planner.dynamic_lane_profile_status else lateral_planner.lat_mpc.x_sol)[:,1] - uiPlan.position.x = np.interp(plan_odo, model_odo, x_fp).tolist() - uiPlan.position.y = np.interp(plan_odo, model_odo, y_fp).tolist() - uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + if model_use_lateral_planner: + x_fp = (lateral_planner.x_sol if lateral_planner.dynamic_lane_profile_status else lateral_planner.lat_mpc.x_sol)[:,0] + y_fp = (lateral_planner.x_sol if lateral_planner.dynamic_lane_profile_status else lateral_planner.lat_mpc.x_sol)[:,1] + uiPlan.position.x = np.interp(plan_odo, model_odo, x_fp).tolist() if model_use_lateral_planner else list(sm['modelV2'].position.x) + uiPlan.position.y = np.interp(plan_odo, model_odo, y_fp).tolist() if model_use_lateral_planner else list(sm['modelV2'].position.y) + uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() if model_use_lateral_planner else list(sm['modelV2'].position.z) uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() pm.send('uiPlan', ui_send) @@ -40,17 +44,17 @@ def plannerd_thread(): debug_mode = bool(int(os.getenv("DEBUG", "0"))) - use_lanelines = False - - cloudlog.event("e2e mode", on=use_lanelines) - longitudinal_planner = LongitudinalPlanner(CP) - lateral_planner = LateralPlanner(CP, debug=debug_mode, use_lanelines=use_lanelines) - pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSP']) - sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'lateralPlan', - 'longitudinalPlan', 'navInstruction', 'lateralPlanSP', 'longitudinalPlanSP', - 'liveMapDataSP', 'e2eLongStateSP'], + custom_model, model_gen = get_model_generation(params) + model_use_lateral_planner = custom_model and model_gen == 1 + lateral_planner = LateralPlanner(CP, debug=debug_mode, model_use_lateral_planner=model_use_lateral_planner) + lateral_planner_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED'] + + pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP'] + lateral_planner_svs) + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', + 'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP', + 'liveMapDataSP', 'e2eLongStateSP'] + lateral_planner_svs, poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) while True: @@ -61,7 +65,7 @@ def plannerd_thread(): lateral_planner.publish(sm, pm) longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) + publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner, model_use_lateral_planner) def main(): plannerd_thread() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 153f151c5a..89d09692b2 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -9,10 +9,10 @@ from cereal import messaging, log, car from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.car.hyundai.values import HyundaiFlagsSP -from openpilot.system.swaglog import cloudlog -from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s @@ -274,6 +274,7 @@ class RadarD: # publish tracks for UI debugging (keep last) tracks_msg = messaging.new_message('liveTracks', len(self.tracks)) + tracks_msg.valid = self.radar_state_valid for index, tid in enumerate(sorted(self.tracks.keys())): tracks_msg.liveTracks[index] = { "trackId": tid, diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py old mode 100755 new mode 100644 index 6eb803e8aa..34d14fbb39 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 -import time -import unittest +import os from parameterized import parameterized from cereal import log, car @@ -11,7 +9,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.mazda.values import CAR as MAZDA from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.manager.process_config import managed_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu @@ -36,94 +34,87 @@ CX5_FW_VERSIONS = [ (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), ] -class TestStartup(unittest.TestCase): - @parameterized.expand([ - # TODO: test EventName.startup for release branches +@parameterized.expand([ + # TODO: test EventName.startup for release branches - # officially supported car - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + # officially supported car + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), - # dashcamOnly car - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + # dashcamOnly car + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), - # unrecognized car with no fw - (EventName.startupNoFw, None, None, ""), - (EventName.startupNoFw, None, None, ""), + # unrecognized car with no fw + (EventName.startupNoFw, None, None, ""), + (EventName.startupNoFw, None, None, ""), - # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + # unrecognized car + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - # fuzzy match - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - ]) - @with_processes(['controlsd']) - def test_startup_alert(self, expected_event, car_model, fw_versions, brand): + # fuzzy match + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), +]) +def test_startup_alert(expected_event, car_model, fw_versions, brand): + controls_sock = messaging.sub_sock("controlsState") + pm = messaging.PubMaster(['can', 'pandaStates']) - # TODO: this should be done without any real sockets - controls_sock = messaging.sub_sock("controlsState") - pm = messaging.PubMaster(['can', 'pandaStates']) + params = Params() + params.put_bool("OpenpilotEnabledToggle", True) - params = Params() - params.clear_all() - params.put_bool("Passive", False) - params.put_bool("OpenpilotEnabledToggle", True) + # Build capnn version of FW array + if fw_versions is not None: + car_fw = [] + cp = car.CarParams.new_message() + for ecu, addr, subaddress, version in fw_versions: + f = car.CarParams.CarFw.new_message() + f.ecu = ecu + f.address = addr + f.fwVersion = version + f.brand = brand - # Build capnn version of FW array - if fw_versions is not None: - car_fw = [] - cp = car.CarParams.new_message() - for ecu, addr, subaddress, version in fw_versions: - f = car.CarParams.CarFw.new_message() - f.ecu = ecu - f.address = addr - f.fwVersion = version - f.brand = brand + if subaddress is not None: + f.subAddress = subaddress - if subaddress is not None: - f.subAddress = subaddress + car_fw.append(f) + cp.carVin = "1" * 17 + cp.carFw = car_fw + params.put("CarParamsCache", cp.to_bytes()) + else: + os.environ['SKIP_FW_QUERY'] = '1' - car_fw.append(f) - cp.carVin = "1" * 17 - cp.carFw = car_fw - params.put("CarParamsCache", cp.to_bytes()) + managed_processes['controlsd'].start() - time.sleep(2) # wait for controlsd to be ready + assert pm.wait_for_readers_to_update('can', 5) + pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - time.sleep(0.1) + assert pm.wait_for_readers_to_update('pandaStates', 5) + msg = messaging.new_message('pandaStates', 1) + msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno + pm.send('pandaStates', msg) - msg = messaging.new_message('pandaStates', 1) - msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno - pm.send('pandaStates', msg) + # fingerprint + if (car_model is None) or (fw_versions is not None): + finger = {addr: 1 for addr in range(1, 100)} + else: + finger = _FINGERPRINTS[car_model][0] - # fingerprint - if (car_model is None) or (fw_versions is not None): - finger = {addr: 1 for addr in range(1, 100)} - else: - finger = _FINGERPRINTS[car_model][0] + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] + for _ in range(1000): + # controlsd waits for boardd to echo back that it has changed the multiplexing mode + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) - for _ in range(1000): - # controlsd waits for boardd to echo back that it has changed the multiplexing mode - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) + pm.send('can', can_list_to_can_capnp(msgs)) + assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}" - msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] - pm.send('can', can_list_to_can_capnp(msgs)) - - time.sleep(0.01) - msgs = messaging.drain_sock(controls_sock) - if len(msgs): - event_name = msgs[0].controlsState.alertType.split("/")[0] - self.assertEqual(EVENT_NAME[expected_event], event_name, - f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}") - break - else: - self.fail(f"failed to fingerprint {car_model}") - -if __name__ == "__main__": - unittest.main() + ctrls = messaging.drain_sock(controls_sock) + if len(ctrls): + event_name = ctrls[0].controlsState.alertType.split("/")[0] + assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}" + break + else: + raise Exception(f"failed to fingerprint {car_model}") diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ea1160d60b..810e45cfc6 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -3,10 +3,11 @@ import argparse import binascii import time from collections import defaultdict +from typing import Optional import cereal.messaging as messaging from openpilot.selfdrive.debug.can_table import can_table -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogIterable, LogReader RED = '\033[91m' CLEAR = '\033[0m' @@ -95,13 +96,15 @@ if __name__ == "__main__": args = parser.parse_args() - init_lr, new_lr = None, None + init_lr: Optional[LogIterable] = None + new_lr: Optional[LogIterable] = None + if args.init: if args.init == '': init_lr = [] else: - init_lr = logreader_from_route_or_segment(args.init) + init_lr = LogReader(args.init) if args.comp: - new_lr = logreader_from_route_or_segment(args.comp) + new_lr = LogReader(args.comp) can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a148996d94..0d545b3153 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -4,16 +4,12 @@ import math import datetime from collections import Counter from pprint import pprint -from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import SERVICE_LIST -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, ReadMode if __name__ == "__main__": - r = Route(sys.argv[1]) - cnt_valid: Counter = Counter() cnt_events: Counter = Counter() @@ -24,31 +20,29 @@ if __name__ == "__main__": start_time = math.inf end_time = -math.inf ignition_off = None - for q in tqdm(r.qlog_paths()): - if q is None: - continue - lr = list(LogReader(q)) - for msg in lr: - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) + for msg in LogReader(sys.argv[1], ReadMode.QLOG): + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) - if msg.which() == 'carEvents': - for e in msg.carEvents: - cnt_events[e.name] += 1 - elif msg.which() == 'controlsState': - if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: + if msg.which() == 'onroadEvents': + for e in msg.onroadEvents: + cnt_events[e.name] += 1 + elif msg.which() == 'controlsState': + at = msg.controlsState.alertType + if "/override" not in at or "lanechange" in at.lower(): + if len(alerts) == 0 or alerts[-1][1] != at: t = (msg.logMonoTime - start_time) / 1e9 - alerts.append((t, msg.controlsState.alertType)) - elif msg.which() == 'pandaStates': - if ignition_off is None: - ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) - if not ign: - ignition_off = msg.logMonoTime - elif msg.which() in cams: - cnt_cameras[msg.which()] += 1 + alerts.append((t, at)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime + elif msg.which() in cams: + cnt_cameras[msg.which()] += 1 - if not msg.valid: - cnt_valid[msg.which()] += 1 + if not msg.valid: + cnt_valid[msg.which()] += 1 duration = (end_time - start_time) / 1e9 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 53cfef3fcc..1a5677030a 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -54,9 +54,8 @@ def cycle_alerts(duration=200, is_metric=False): CS = car.CarState.new_message() CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016") sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', - 'managerState', 'longitudinalPlanSP', 'lateralPlanSP', - 'driverMonitoringStateSP'] + cameras) + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', + 'managerState', 'longitudinalPlanSP', 'driverMonitoringStateSP'] + cameras) pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState']) diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py new file mode 100755 index 0000000000..d521ab2e18 --- /dev/null +++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python3 +import argparse + +from openpilot.tools.lib.logreader import LogReader, ReadMode +from panda.python import uds + + +def main(route: str, addrs: list[int]): + """ + TODO: + - highlight TX vs RX clearly + - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128) + - print as fixed width table, easier to read + """ + + lr = LogReader(route, default_mode=ReadMode.RLOG) + + start_mono_time = None + prev_mono_time = 0 + + # include rx addresses + addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs] + + for msg in lr: + if msg.which() == 'can': + if start_mono_time is None: + start_mono_time = msg.logMonoTime + + if msg.which() in ("can", 'sendcan'): + for can in getattr(msg, msg.which()): + if can.address in addrs: + if msg.logMonoTime != prev_mono_time: + print() + prev_mono_time = msg.logMonoTime + print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " + + f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') + parser.add_argument('route', help='Route name') + parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)') + args = parser.parse_args() + + addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] + main(args.route, addrs) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 20cef0fcc0..20028f8fd2 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import os import argparse import json import cereal.messaging as messaging from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, @@ -53,31 +51,18 @@ if __name__ == "__main__": parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") args = parser.parse_args() - logs = None - if len(args.route): - if os.path.exists(args.route[0]): - logs = [args.route[0]] - else: - r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] - - if len(args.route) == 2 and logs: - n = int(args.route[1]) - logs = [logs[n]] - min_level = LEVELS[args.level] - if logs: - for log in logs: - if log: - lr = LogReader(log) - for m in lr: - if m.which() == 'logMessage': - print_logmessage(m.logMonoTime, m.logMessage, min_level) - elif m.which() == 'errorLogMessage' and 'qlog' in log: - print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) - elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime, m.androidLog) + if args.route: + for route in args.route: + lr = LogReader(route) + for m in lr: + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime, m.logMessage, min_level) + elif m.which() == 'errorLogMessage': + print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime, m.androidLog) else: sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) while True: diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index c2bff7c638..68308bb627 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.logreader import LogReader, ReadMode def get_fingerprint(lr): @@ -40,6 +39,5 @@ if __name__ == "__main__": print("Usage: ./fingerprint_from_route.py ") sys.exit(1) - route = Route(sys.argv[1]) - lr = MultiLogIterator(route.log_paths()[:5]) + lr = LogReader(sys.argv[1], ReadMode.QLOG) get_fingerprint(lr) diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py new file mode 100755 index 0000000000..bd5822729a --- /dev/null +++ b/selfdrive/debug/format_fingerprints.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python3 +import jinja2 +import os + +from cereal import car +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.interfaces import get_interface_attr + +Ecu = car.CarParams.Ecu + +CARS = get_interface_attr('CAR') +FW_VERSIONS = get_interface_attr('FW_VERSIONS') +FINGERPRINTS = get_interface_attr('FINGERPRINTS') +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + +FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" +{%- if FINGERPRINTS[brand] %} +# ruff: noqa: E501 +{% endif %} +{% if FW_VERSIONS[brand] %} +from cereal import car +{% endif %} +from openpilot.selfdrive.car.{{brand}}.values import CAR +{% if FW_VERSIONS[brand] %} + +Ecu = car.CarParams.Ecu +{% endif %} +{% if comments +%} +{{ comments | join() }} +{% endif %} +{% if FINGERPRINTS[brand] %} + +FINGERPRINTS = { +{% for car, fingerprints in FINGERPRINTS[brand].items() %} + CAR.{{car.name}}: [{ +{% for fingerprint in fingerprints %} +{% if not loop.first %} + {{ "{" }} +{% endif %} + {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %} + + }{% if loop.last %}]{% endif %}, +{% endfor %} +{% endfor %} +} +{% endif %} + +FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = { +{% for car, _ in FW_VERSIONS[brand].items() %} + CAR.{{car.name}}: { +{% for key, fw_versions in FW_VERSIONS[brand][car].items() %} + (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ +{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ + {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} + {{fw_version}}, + {% endfor %} + ], +{% endfor %} + }, +{% endfor %} +} + +""", trim_blocks=True) + + +def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None): + extra_fw_versions = extra_fw_versions or {} + + fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py") + with open(fingerprints_file, "r") as f: + comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] + + with open(fingerprints_file, "w") as f: + f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, + FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, + extra_fw_versions=extra_fw_versions)) + + +if __name__ == "__main__": + for brand in FW_VERSIONS.keys(): + format_brand_fw_versions(brand) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 8fb6277d3b..3d35532496 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -8,9 +8,10 @@ from openpilot.selfdrive.car.docs import get_all_car_info from openpilot.selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" -STAR_ICON = '' -VIDEO_ICON = '\ - ' +STAR_ICON = '' +VIDEO_ICON = '' + \ + '' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) ARROW_SYMBOL = "➡️" diff --git a/selfdrive/debug/profiling/clpeak/clpeak3 b/selfdrive/debug/profiling/clpeak/clpeak3 deleted file mode 100755 index 4b3c4c130e..0000000000 Binary files a/selfdrive/debug/profiling/clpeak/clpeak3 and /dev/null differ diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/selfdrive/debug/profiling/snapdragon/.gitignore deleted file mode 100644 index 5d3033efb3..0000000000 --- a/selfdrive/debug/profiling/snapdragon/.gitignore +++ /dev/null @@ -1 +0,0 @@ -SnapdragonProfiler/ diff --git a/selfdrive/debug/profiling/snapdragon/README b/selfdrive/debug/profiling/snapdragon/README deleted file mode 100644 index ee826b413a..0000000000 --- a/selfdrive/debug/profiling/snapdragon/README +++ /dev/null @@ -1,7 +0,0 @@ -snapdragon profiler --------- - -* download from https://developer.qualcomm.com/software/snapdragon-profiler -* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler -* run ./setup-agnos.sh -* run selfdrive/debug/adb.sh on device diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index c7b6250d3f..441de9ef57 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -3,29 +3,28 @@ import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--fingerprint", help="The fingerprint to use") parser.add_argument("route", help="The route name to use") parser.add_argument("process", help="The process to run") args = parser.parse_args() cfg = [c for c in CONFIGS if c.proc_name == args.process][0] - route = Route(args.route) - lr = MultiLogIterator(route.log_paths()) + lr = LogReader(args.route) inputs = list(lr) - outputs = replay_process(cfg, inputs) + outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) # Remove message generated by the process under test and merge in the new messages produces = {o.which() for o in outputs} inputs = [i for i in inputs if i.which() not in produces] outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) - fn = f"{args.route}_{args.process}.bz2" + fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" save_log(fn, outputs) diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py deleted file mode 100755 index 73f98b285c..0000000000 --- a/selfdrive/debug/sensor_data_to_hist.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -''' -printing the gap between interrupts in a histogram to check if the -frequency is what we expect, the bmx is not interrupt driven for as we -get interrupts in a 2kHz rate. -''' - -import argparse -import sys -import numpy as np -from collections import defaultdict - -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import matplotlib.pyplot as plt - -SRC_BMX = "bmx055" -SRC_LSM = "lsm6ds3" - - -def parseEvents(log_reader): - bmx_data = defaultdict(list) - lsm_data = defaultdict(list) - - for m in log_reader: - if m.which() not in ['accelerometer', 'gyroscope']: - continue - - d = getattr(m, m.which()).to_dict() - - if d["source"] == SRC_BMX and "acceleration" in d: - bmx_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_BMX and "gyroUncalibrated" in d: - bmx_data["gyro"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "acceleration" in d: - lsm_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "gyroUncalibrated" in d: - lsm_data["gyro"].append(d["timestamp"] / 1e9) - - return bmx_data, lsm_data - - -def cleanData(data): - if len(data) == 0: - return [], [] - - data.sort() - diffs = np.diff(data) - return data, diffs - - -def logAvgValues(data, sensor): - if len(data) == 0: - print(f"{sensor}: no data to average") - return - - avg = sum(data) / len(data) - hz = 1 / avg - print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("route", type=str, help="route name") - parser.add_argument("segment", type=int, help="segment number") - args = parser.parse_args() - - r = Route(args.route) - logs = r.log_paths() - - if len(logs) == 0: - print("NO data routes") - sys.exit(0) - - if args.segment >= len(logs): - print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}") - sys.exit(0) - - lr = LogReader(logs[args.segment]) - bmx_data, lsm_data = parseEvents(lr) - - # sort bmx accel data, and then cal all the diffs, and to a histogram of those - bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"]) - bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"]) - lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"]) - lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"]) - - # get out the averages - logAvgValues(bmx_accel_diffs, "bmx accel") - logAvgValues(bmx_gyro_diffs, "bmx gyro ") - logAvgValues(lsm_accel_diffs, "lsm accel") - logAvgValues(lsm_gyro_diffs, "lsm gyro ") - - fig, axs = plt.subplots(1, 2, tight_layout=True) - axs[0].hist(bmx_accel_diffs, bins=50) - axs[0].set_title("bmx_accel") - axs[1].hist(bmx_gyro_diffs, bins=50) - axs[1].set_title("bmx_gyro") - - figl, axsl = plt.subplots(1, 2, tight_layout=True) - axsl[0].hist(lsm_accel_diffs, bins=50) - axsl[0].set_title("lsm_accel") - axsl[1].hist(lsm_gyro_diffs, bins=50) - axsl[1].set_title("lsm_gyro") - - print("check plot...") - plt.show() diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 83e173244e..dd6243a44c 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -6,8 +6,8 @@ import argparse import os import traceback from tqdm import tqdm -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader, ReadMode +from openpilot.tools.lib.route import SegmentRange from openpilot.selfdrive.car.car_helpers import interface_names from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car @@ -44,23 +44,14 @@ if __name__ == "__main__": dongles = [] for route in tqdm(routes): - route = route.rstrip() - dongle_id, time = route.split('|') + dongle_id = SegmentRange(route).dongle_id if dongle_id in dongles: continue - if NO_API: - qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2" - else: - route = Route(route) - qlog_path = next((p for p in route.qlog_paths() if p is not None), None) - - if qlog_path is None: - continue + lr = LogReader(route, default_mode=ReadMode.QLOG) try: - lr = LogReader(qlog_path) dongles.append(dongle_id) CP = None @@ -98,13 +89,11 @@ if __name__ == "__main__": if len(fuzzy_matches) == 1: if list(fuzzy_matches)[0] != live_fingerprint: wrong_fuzzy += 1 - print(f"{dongle_id}|{time}") print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) else: good_fuzzy += 1 break - print(f"{dongle_id}|{time}") print("Old style:", live_fingerprint, "Vin", CP.carVin) print("New style (exact):", exact_matches) print("New style (fuzzy):", fuzzy_matches) @@ -112,8 +101,8 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \ - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + + f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index d60d2d372b..dc83c8f7a4 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -5,8 +5,7 @@ import matplotlib.pyplot as plt from sklearn import linear_model from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.logreader import LogReader MIN_SAMPLES = 30 * 100 @@ -58,7 +57,6 @@ def get_eps_factor(lr, plot=False): if __name__ == "__main__": - r = Route(sys.argv[1]) - lr = MultiLogIterator(r.log_paths()) + lr = LogReader(sys.argv[1]) n = get_eps_factor(lr, plot="--plot" in sys.argv) print("EPS torque factor: ", n) diff --git a/selfdrive/gpxd/gpx_uploader.py b/selfdrive/gpxd/gpx_uploader.py deleted file mode 100644 index 7ebf59d9b9..0000000000 --- a/selfdrive/gpxd/gpx_uploader.py +++ /dev/null @@ -1,170 +0,0 @@ -#!/usr/bin/env python3 -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -import os -import time -from cereal import log -import cereal.messaging as messaging -from common.params import Params -from common.realtime import set_core_affinity, Ratekeeper -from selfdrive.athena.registration import register -from system.swaglog import cloudlog -from system.version import get_version - -# for uploader -from system.loggerd.xattr_cache import getxattr, setxattr -import glob -import requests -import json - -NetworkType = log.DeviceState.NetworkType - -RATE = 1 - -# customisable values -GPX_LOG_PATH = '/data/media/0/gpx_logs/' -LOG_HERTZ = 1/10 # 0.1 Hz = 10 sec, higher for higher accuracy, 10hz seems fine - -# uploader -UPLOAD_ATTR_NAME = 'user.upload' -UPLOAD_ATTR_VALUE = b'1' -LOG_PATH = '/data/media/0/gpx_logs/' - -# osm api -VERSION_URL = 'https://api.openstreetmap.org/api/versions' -UPLOAD_URL = 'https://sunnypilot.com/osm/gpx_uploader.php' - -_DEBUG = False - - -def _debug(msg): - if not _DEBUG: - return - print(msg, flush=True) - - -def _get_is_uploaded(filename): - _debug("%s is uploaded: %s" % (filename, getxattr(filename, UPLOAD_ATTR_NAME) is not None)) - return getxattr(filename, UPLOAD_ATTR_NAME) is not None - - -def _set_is_uploaded(filename): - _debug("%s set to uploaded" % filename) - setxattr(filename, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) - - -def _get_files_to_be_uploaded(): - files = sorted(filter(os.path.isfile, glob.glob(LOG_PATH + '*'))) - files_to_be_uploaded = [] - for file in files: - if not _get_is_uploaded(file): - files_to_be_uploaded.append(file) - return files_to_be_uploaded - - -class GpxUploader: - def __init__(self, sm): - self.sm = sm - self.param_s = Params() - self.rk = Ratekeeper(RATE, print_delay_threshold=None) - - self._delete_after_upload = self.param_s.get_bool('GpxDeleteAfterUpload') - self._car_model = "Unknown Model" - # read model from LiveParameters - params = self.param_s.get("LiveParameters") - if params is not None: - params = json.loads(params) - self._car_model = params.get('carFingerprint', self._car_model) - self._sp_version = get_version() - _debug("GpxUploader init - _delete_after_upload = %s" % self._delete_after_upload) - _debug("GpxUploader init - _car_model = %s" % self._car_model) - self.api_headers = {"User-Agent": f"sunnypilot-{self._sp_version}-{register()}"} - - def update(self): - while True: - self.sm.update(0) - files = _get_files_to_be_uploaded() - network_type = self.sm['deviceState'].networkType - if len(files) == 0 or not self._is_online(): - _debug("run - not online or no files") - elif network_type != NetworkType.wifi: - _debug("run - not on Wi-Fi") - elif not self.param_s.get_bool("DisableOnroadUploads") or self.param_s.get_bool("IsOffroad"): - for file in files: - if self._do_upload(file): - if self._delete_after_upload: - _debug("run - _delete_after_upload") - os.remove(file) - else: - _debug("run - set_is_uploaded") - _set_is_uploaded(file) - # sleep for 300 secs if offroad - # otherwise sleep 60 secs - time.sleep(300 if self.param_s.get_bool("IsOffroad") else 60) - self.rk.keep_time() - - def _is_online(self): - try: - r = requests.get(VERSION_URL, headers=self.api_headers) - _debug("is_online? status_code = %s" % r.status_code) - return r.status_code >= 200 - except Exception as e: - print(f'Online check error: {e}') - return False - - def _do_upload(self, filename): - fn = os.path.basename(filename) - data = { - 'description': "Routes from sunnypilot %s (%s)." % (self._sp_version, self._car_model), - 'visibility': 'identifiable' - } - files = { - "file": (fn, open(filename, 'rb')) - } - try: - r = requests.post(UPLOAD_URL, files=files, data=data, headers=self.api_headers) - _debug("do_upload - %s - %s" % (filename, r.status_code)) - return r.status_code == 200 - except Exception as e: - print(f'Upload error: {e}') - return False - - def gpx_uploader_thread(self): - try: - set_core_affinity([0, 1, 2, 3]) - except Exception: - cloudlog.exception("gpx_uploader: failed to set core affinity") - - self.update() - - -def main(sm=None): - if sm is None: - sm = messaging.SubMaster(['deviceState']) - - gpx_uploader = GpxUploader(sm) - gpx_uploader.gpx_uploader_thread() - - -if __name__ == "__main__": - main() diff --git a/selfdrive/gpxd/gpxd.py b/selfdrive/gpxd/gpxd.py deleted file mode 100644 index 0b69b4b65f..0000000000 --- a/selfdrive/gpxd/gpxd.py +++ /dev/null @@ -1,190 +0,0 @@ -#!/usr/bin/env python3 -# The MIT License -# -# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -import cereal.messaging as messaging -import os -import datetime -import signal -import subprocess -import threading -from common.realtime import set_core_affinity, Ratekeeper -from cereal import log -from system.swaglog import cloudlog - -# customisable values -GPX_LOG_PATH = '/data/media/0/gpx_logs/' -LOG_HERTZ = 10 # 10 hz = 0.1 sec, higher for higher accuracy, 10hz seems fine -LOG_LENGTH = 10 # mins, higher means it keeps more data in the memory, will take more time to write into a file too. -LOST_SIGNAL_COUNT_LENGTH = 10 # secs, output log file if we lost signal for this long - -# do not change -LOST_SIGNAL_COUNT_MAX = LOST_SIGNAL_COUNT_LENGTH * LOG_HERTZ # secs, -LOGS_PER_FILE = LOG_LENGTH * 60 * LOG_HERTZ # e.g. 10 * 60 * 10 = 6000 points per file - -ERROR_STRING = ("[Errno 13]", "[Errno 30]") - - -_DEBUG = False -_CLOUDLOG_DEBUG = True - - -def _debug(msg, log_to_cloud=True): - if _CLOUDLOG_DEBUG and log_to_cloud: - cloudlog.debug(msg) - if _DEBUG: - print(msg) - - -class WaitTimeHelper: - ready_event = threading.Event() - shutdown = False - - def __init__(self): - signal.signal(signal.SIGTERM, self.graceful_shutdown) - signal.signal(signal.SIGINT, self.graceful_shutdown) - signal.signal(signal.SIGHUP, self.graceful_shutdown) - - def graceful_shutdown(self, signum, frame): - self.shutdown = True - self.ready_event.set() - - -class GpxD: - def __init__(self, sm): - self.sm = sm - self.rk = Ratekeeper(LOG_HERTZ, print_delay_threshold=None) - - self.log_count = 0 - self.logs = list() - self.lost_signal_count = 0 - self.wait_helper = WaitTimeHelper() - self.started_time = datetime.datetime.utcnow().isoformat() - self.v_ego_prev = 0. - self.pause = True - - def log(self): - location = self.sm['liveLocationKalman'] - gps = self.sm['gpsLocationExternal'] - v_ego = self.sm['carState'].vEgo - - if abs(v_ego) > 0.: - self.pause = False - - location_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - _debug("gpxd: location_valid - %s" % location_valid) - if not location_valid or self.pause: - if self.log_count > 0: - self.lost_signal_count += 1 - else: - lat = location.positionGeodetic.value[0] - lon = location.positionGeodetic.value[1] - alt = gps.altitude - - _debug("gpxd: logged - %s %s %s %s" % (datetime.datetime.utcfromtimestamp(location.unixTimestampMillis*0.001).isoformat(), str(lat), str(lon), str(alt))) - self.logs.append([datetime.datetime.utcfromtimestamp(location.unixTimestampMillis*0.001).isoformat(), str(lat), str(lon), str(alt)]) - self.log_count += 1 - self.lost_signal_count = 0 - - if not self.pause and abs(v_ego) < 0.01: - _debug("gpxd: paused") - self.pause = True - - self.v_ego_prev = v_ego - - def write_log(self, force = False): - if self.log_count == 0: - return - - if force or (self.log_count >= LOGS_PER_FILE or self.lost_signal_count >= LOST_SIGNAL_COUNT_MAX): - _debug("gpxd: save to log") - self._write_gpx() - self.lost_signal_count = 0 - self.log_count = 0 - self.logs.clear() - self.started_time = datetime.datetime.utcnow().isoformat() - - def _write_gpx(self): - if len(self.logs) > 1: - if not os.path.exists(GPX_LOG_PATH): - try: - os.makedirs(GPX_LOG_PATH) - except (PermissionError, OSError) as e: - if any(error in str(e) for error in ERROR_STRING): - subprocess.run(["sudo", "mount", "-o", "rw,remount", "/"]) - print(f"gpxd: {e}: Filesystem remounted.") - else: - print(f"gpxd: Other error occurred: {e}") - except Exception as e: - print(f"An error occurred: {e}") - filename = self.started_time.replace(':','-') - gpx_str = '' - gpx_str += "\n" - gpx_str += "\n" - gpx_str += "\n" - gpx_str += " " + self.started_time + "" - gpx_str += " \n" - for trkpt in self.logs: - gpx_str += self._trkpt_template(trkpt[1], trkpt[2], trkpt[3], trkpt[0]) - gpx_str += " \n" - gpx_str += "\n" - gpx_str += "\n" - try: - f = open('%s%sZ.gpx' % (GPX_LOG_PATH, filename), 'w') - f.write(gpx_str) - f.close() - except: - pass - - def _trkpt_template(self, lat, lon, ele, time): - gpx_str = "" - gpx_str += " \n" - gpx_str += " " + ele + "\n" - gpx_str += " \n" - gpx_str += " \n" - return gpx_str - - def gpxd_thread(self): - try: - set_core_affinity([0, 1, 2, 3]) - except Exception: - cloudlog.exception("gpxd: failed to set core affinity") - while True: - self.sm.update(0) - self.log() - self.write_log() - if self.wait_helper.shutdown: - self.write_log(True) - break - self.rk.keep_time() - - -def main(sm=None): - if sm is None: - sm = messaging.SubMaster(['liveLocationKalman', 'gpsLocationExternal', 'carState']) - - gpx = GpxD(sm) - gpx.gpxd_thread() - - -if __name__ == "__main__": - main() diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index a6febe0170..07555a6087 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,10 +1,37 @@ -Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') +Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl'] + +# build ekf models +rednose_gen_dir = 'models/generated' +rednose_gen_deps = [ + "models/constants.py", +] +live_ekf = env.RednoseCompileFilter( + target='live', + filter_gen_script='models/live_kf.py', + output_dir=rednose_gen_dir, + extra_gen_artifacts=['live_kf_constants.h'], + gen_script_deps=rednose_gen_deps, +) +car_ekf = env.RednoseCompileFilter( + target='car', + filter_gen_script='models/car_kf.py', + output_dir=rednose_gen_dir, + extra_gen_artifacts=[], + gen_script_deps=rednose_gen_deps, +) + +# locationd build +locationd_sources = ["locationd.cc", "models/live_kf.cc"] -ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") -locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] lenv = env.Clone() -lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}' -locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations) -lenv.Depends(locationd, libkf) \ No newline at end of file +# ekf filter libraries need to be linked, even if no symbols are used +if arch != "Darwin": + lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"] + +lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath) +lenv["RPATH"].append(Dir(rednose_gen_dir).abspath) +locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations) +lenv.Depends(locationd, rednose) +lenv.Depends(locationd, live_ekf) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 566373d7b8..06be9f031a 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -15,10 +15,10 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) @@ -64,8 +64,8 @@ class Calibrator: self.not_car = False # Read saved calibration - params = Params() - calibration_params = params.get("CalibrationParams") + self.params = Params() + calibration_params = self.params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT height = HEIGHT_INIT @@ -164,7 +164,7 @@ class Calibrator: write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: - put_nonblocking("CalibrationParams", self.get_msg().to_bytes()) + self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes()) def handle_v_ego(self, v_ego: float) -> None: self.v_ego = v_ego @@ -227,12 +227,13 @@ class Calibrator: return new_rpy - def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder: + def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder: smooth_rpy = self.get_smooth_rpy() msg = messaging.new_message('liveCalibration') - liveCalibration = msg.liveCalibration + msg.valid = valid + liveCalibration = msg.liveCalibration liveCalibration.validBlocks = self.valid_blocks liveCalibration.calStatus = self.cal_status liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) @@ -250,19 +251,16 @@ class Calibrator: return msg - def send_data(self, pm: messaging.PubMaster) -> None: - pm.send('liveCalibration', self.get_msg()) + def send_data(self, pm: messaging.PubMaster, valid: bool) -> None: + pm.send('liveCalibration', self.get_msg(valid)) -def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn: +def main() -> NoReturn: gc.disable() set_realtime_priority(1) - if sm is None: - sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) - - if pm is None: - pm = messaging.PubMaster(['liveCalibration']) + pm = messaging.PubMaster(['liveCalibration']) + sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) calibrator = Calibrator(param_put=True) @@ -286,11 +284,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m # 4Hz driven by cameraOdometry if sm.frame % 5 == 0: - calibrator.send_data(pm) - - -def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn: - calibrationd_thread(sm, pm) + calibrator.send_data(pm, sm.all_checks()) if __name__ == "__main__": diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index bde21f7879..93e2929139 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -1,11 +1,7 @@ import numpy as np -import signal -import sys from typing import List, Optional, Tuple, Any from cereal import log -from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog class NPQueue: @@ -66,12 +62,3 @@ class ParameterEstimator: def get_msg(self, valid: bool, with_points: bool) -> log.Event: raise NotImplementedError - - -def cache_points_onexit(param_name, estimator, sig, frame): - signal.signal(sig, signal.SIG_DFL) - cloudlog.warning(f"Caching {param_name} param") - params = Params() - msg = estimator.get_msg(valid=True, with_points=True) - params.put(param_name, msg.to_bytes()) - sys.exit(0) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 80882fc951..e32ed78a3e 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -678,9 +678,10 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { } int Localizer::locationd_thread() { + Params params; LocalizerGnssSource source; const char* gps_location_socket; - if (Params().getBool("UbloxAvailable")) { + if (params.getBool("UbloxAvailable")) { source = LocalizerGnssSource::UBLOX; gps_location_socket = "gpsLocationExternal"; } else { @@ -737,10 +738,7 @@ int Localizer::locationd_thread() { VectorXd posGeo = this->get_position_geodetic(); std::string lastGPSPosJSON = util::string_format( "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2)); - - std::thread([] (const std::string gpsjson) { - Params().put("LastGPSPosition", gpsjson); - }, lastGPSPosJSON).detach(); + params.putNonBlocking("LastGPSPosition", lastGPSPosJSON); } cnt++; } diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index b87c83cac2..9230cb48f0 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -7,7 +7,7 @@ import numpy as np from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py deleted file mode 100644 index b6c1771ec6..0000000000 --- a/selfdrive/locationd/models/gnss_helpers.py +++ /dev/null @@ -1,19 +0,0 @@ -import numpy as np -from laika.raw_gnss import GNSSMeasurement - -def parse_prr(m): - sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - m[GNSSMeasurement.SAT_VEL])) - R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2) - z_i = m[GNSSMeasurement.PRR] - return z_i, R_i, sat_pos_vel_i - -def parse_pr(m): - pseudorange = m[GNSSMeasurement.PR] - pseudorange_stdev = m[GNSSMeasurement.PR_STD] - sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - np.array([m[GNSSMeasurement.GLONASS_FREQ]]))) - z_i = np.atleast_1d(pseudorange) - R_i = np.atleast_2d(pseudorange_stdev**2) - return z_i, R_i, sat_pos_freq_i - diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py deleted file mode 100755 index c4f3b2e210..0000000000 --- a/selfdrive/locationd/models/gnss_kf.py +++ /dev/null @@ -1,190 +0,0 @@ -#!/usr/bin/env python3 -import sys -from typing import List - -import numpy as np - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr - -if __name__ == '__main__': # Generating sympy - import sympy as sp - from rednose.helpers.ekf_sym import gen_code -else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx - from rednose.helpers.ekf_sym import EKF_sym - - -class States(): - ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters - ECEF_VELOCITY = slice(3, 6) - CLOCK_BIAS = slice(6, 7) # clock bias in light-meters, - CLOCK_DRIFT = slice(7, 8) # clock drift in light-meters/s, - CLOCK_ACCELERATION = slice(8, 9) # clock acceleration in light-meters/s**2 - GLONASS_BIAS = slice(9, 10) # clock drift in light-meters/s, - GLONASS_FREQ_SLOPE = slice(10, 11) # GLONASS bias in m expressed as bias + freq_num*freq_slope - - -class GNSSKalman(): - name = 'gnss' - - x_initial = np.array([-2712700.6008, -4281600.6679, 3859300.1830, - 0, 0, 0, - 0, 0, 0, - 0, 0]) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 10**2, 10**2, 10**2, - 1e14, (100)**2, (0.2)**2, - (10)**2, (1)**2]) - - maha_test_kinds: List[int] = [] # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS] - - @staticmethod - def generate_code(generated_dir): - dim_state = GNSSKalman.x_initial.shape[0] - name = GNSSKalman.name - maha_test_kinds = GNSSKalman.maha_test_kinds - - # make functions and jacobians with sympy - # state variables - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - x, y, z = state[0:3, :] - v = state[3:6, :] - vx, vy, vz = v - cb, cd, ca = state[6:9, :] - glonass_bias, glonass_freq_slope = state[9:11, :] - - dt = sp.Symbol('dt') - - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[:3, :] = v - state_dot[6, 0] = cd - state_dot[7, 0] = ca - - # Basic descretization, 1st order integrator - # Can be pretty bad if dt is big - f_sym = state + dt * state_dot - - # - # Observation functions - # - - # extra args - sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1) - sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1) - # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1) - # orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1) - - # expand extra args - sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym - sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:] - # los_x, los_y, los_z = sat_los_sym - # orb_x, orb_y, orb_z = orb_epos_sym - - h_pseudorange_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb - ]) - - h_pseudorange_glonass_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb + glonass_bias + glonass_freq_slope * glonass_freq - ]) - - los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z])) - los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2) - h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) + - los_vector[1] * (sat_vy - vy) + - los_vector[2] * (sat_vz - vz) + - cd]) - - obs_eqs = [[h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym], - [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym]] - - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - - def __init__(self, generated_dir, cython=False, erratic_clock=False): - # process noise - clock_error_drift = 100.0 if erratic_clock else 0.1 - self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 3**2, 3**2, 3**2, - (clock_error_drift)**2, (0)**2, (0.005)**2, - .1**2, (.01)**2]) - - self.dim_state = self.x_initial.shape[0] - - # init filter - filter_cls = EKF_sym_pyx if cython else EKF_sym - self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, - self.dim_state, maha_test_kinds=self.maha_test_kinds) - self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial) - - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=False) - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - if len(data) > 0: - data = np.atleast_2d(data) - if kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS: - r = self.predict_and_update_pseudorange(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS: - r = self.predict_and_update_pseudorange_rate(data, t, kind) - return r - - def predict_and_update_pseudorange(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - sat_pos_freq = np.zeros((len(meas), 4)) - z = np.zeros((len(meas), 1)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_freq_i = parse_pr(m) - sat_pos_freq[i, :] = sat_pos_freq_i - z[i, :] = z_i - R[i, :, :] = R_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq) - - def predict_and_update_pseudorange_rate(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - z = np.zeros((len(meas), 1)) - sat_pos_vel = np.zeros((len(meas), 6)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_vel_i = parse_prr(m) - sat_pos_vel[i] = sat_pos_vel_i - R[i, :, :] = R_i - z[i, :] = z_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel) - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - GNSSKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py deleted file mode 100755 index e8fa999956..0000000000 --- a/selfdrive/locationd/models/lane_kf.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python3 -import sys -import numpy as np -import sympy as sp - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from rednose.helpers.ekf_sym import gen_code, EKF_sym - - -class LaneKalman(): - name = 'lane' - - @staticmethod - def generate_code(generated_dir): - # make functions and jacobians with sympy - # state variables - dim = 6 - state = sp.MatrixSymbol('state', dim, 1) - - dd = sp.Symbol('dd') # WARNING: NOT TIME - - # Time derivative of the state as a function of state - state_dot = sp.Matrix(np.zeros((dim, 1))) - state_dot[:3,0] = sp.Matrix(state[3:6,0]) - - # Basic descretization, 1st order intergrator - # Can be pretty bad if dt is big - f_sym = sp.Matrix(state) + dd*state_dot - - # - # Observation functions - # - h_lane_sym = sp.Matrix(state[:3,0]) - obs_eqs = [[h_lane_sym, ObservationKind.LANE_PT, None]] - gen_code(generated_dir, LaneKalman.name, f_sym, dd, state, obs_eqs, dim, dim) - - def __init__(self, generated_dir, pt_std=5): - # state - # left and right lane centers in ecef - # WARNING: this is not a temporal model - # the 'time' in this kalman filter is - # the distance traveled by the vehicle, - # which should approximately be the - # distance along the lane path - # a more logical parametrization - # states 0-2 are ecef coordinates distance d - # states 3-5 is the 3d "velocity" of the - # lane in ecef (m/m). - x_initial = np.array([0,0,0, - 0,0,0]) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 1**2, 1**2, 1**2]) - - # process noise - Q = np.diag([0.1**2, 0.1**2, 0.1**2, - 0.1**2, 0.1**2, 0.1*2]) - - self.dim_state = len(x_initial) - - # init filter - self.filter = EKF_sym(generated_dir, self.name, Q, x_initial, P_initial, x_initial.shape[0], P_initial.shape[0]) - self.obs_noise = {ObservationKind.LANE_PT: np.diag([pt_std**2]*3)} - - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=False) - - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - data = np.atleast_2d(data) - return self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i,:,:] = obs_noise - return R - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - LaneKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py deleted file mode 100755 index 8bd317bd58..0000000000 --- a/selfdrive/locationd/models/loc_kf.py +++ /dev/null @@ -1,565 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -import numpy as np -import sympy as sp - -from rednose.helpers.ekf_sym import EKF_sym, gen_code -from rednose.helpers.lst_sq_computer import LstSqComputer -from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr - -EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) - -class States(): - ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters - ECEF_ORIENTATION = slice(3, 7) # quat for orientation of phone in ecef - ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s - ANGULAR_VELOCITY = slice(10, 13) # roll, pitch and yaw rates in device frame in radians/s - CLOCK_BIAS = slice(13, 14) # clock bias in light-meters, - CLOCK_DRIFT = slice(14, 15) # clock drift in light-meters/s, - GYRO_BIAS = slice(15, 18) # roll, pitch and yaw biases - ODO_SCALE_UNUSED = slice(18, 19) # odometer scale - ACCELERATION = slice(19, 22) # Acceleration in device frame in m/s**2 - FOCAL_SCALE_UNUSED = slice(22, 23) # focal length scale - IMU_FROM_DEVICE_EULER = slice(23, 26) # imu offset angles in radians - GLONASS_BIAS = slice(26, 27) # GLONASS bias in m expressed as bias + freq_num*freq_slope - GLONASS_FREQ_SLOPE = slice(27, 28) # GLONASS bias in m expressed as bias + freq_num*freq_slope - CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2, - ACCELEROMETER_SCALE_UNUSED = slice(29, 30) # scale of mems accelerometer - ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer - # TODO the offset is likely a translation of the sensor, not a rotation of the camera - WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) - # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables - # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). - # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE - - # Error-state has different slices because it is an ESKF - ECEF_POS_ERR = slice(0, 3) - ECEF_ORIENTATION_ERR = slice(3, 6) # euler angles for orientation error - ECEF_VELOCITY_ERR = slice(6, 9) - ANGULAR_VELOCITY_ERR = slice(9, 12) - CLOCK_BIAS_ERR = slice(12, 13) - CLOCK_DRIFT_ERR = slice(13, 14) - GYRO_BIAS_ERR = slice(14, 17) - ODO_SCALE_ERR_UNUSED = slice(17, 18) - ACCELERATION_ERR = slice(18, 21) - FOCAL_SCALE_ERR_UNUSED = slice(21, 22) - IMU_FROM_DEVICE_EULER_ERR = slice(22, 25) - GLONASS_BIAS_ERR = slice(25, 26) - GLONASS_FREQ_SLOPE_ERR = slice(26, 27) - CLOCK_ACCELERATION_ERR = slice(27, 28) - ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29) - ACCELEROMETER_BIAS_ERR = slice(29, 32) - WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35) - - -class LocKalman(): - name = "loc" - x_initial = np.array([0, 0, 0, - 1, 0, 0, 0, - 0, 0, 0, - 0, 0, 0, - 0, 0, - 0, 0, 0, - 1, - 0, 0, 0, - 1, - 0, 0, 0, - 0, 0, - 0, - 1, - 0, 0, 0, - 0, 0, 0], dtype=np.float64) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 10**2, 10**2, 10**2, - 10**2, 10**2, 10**2, - 1**2, 1**2, 1**2, - 1e14, (100)**2, - 0.05**2, 0.05**2, 0.05**2, - 0.02**2, - 2**2, 2**2, 2**2, - 0.01**2, - 0.01**2, 0.01**2, 0.01**2, - 10**2, 1**2, - 0.2**2, - 0.05**2, - 0.05**2, 0.05**2, 0.05**2, - 0.01**2, 0.01**2, 0.01**2]) - - - # measurements that need to pass mahalanobis distance outlier rejector - maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE] # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE] - dim_augment = 7 - dim_augment_err = 6 - - @staticmethod - def generate_code(generated_dir, N=4): - dim_augment = LocKalman.dim_augment - dim_augment_err = LocKalman.dim_augment_err - - dim_main = LocKalman.x_initial.shape[0] - dim_main_err = LocKalman.P_initial.shape[0] - dim_state = dim_main + dim_augment * N - dim_state_err = dim_main_err + dim_augment_err * N - maha_test_kinds = LocKalman.maha_test_kinds - - name = f"{LocKalman.name}_{N}" - - # make functions and jacobians with sympy - # state variables - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - x, y, z = state[States.ECEF_POS, :] - q = state[States.ECEF_ORIENTATION, :] - v = state[States.ECEF_VELOCITY, :] - vx, vy, vz = v - omega = state[States.ANGULAR_VELOCITY, :] - vroll, vpitch, vyaw = omega - cb = state[States.CLOCK_BIAS, :] - cd = state[States.CLOCK_DRIFT, :] - roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] - acceleration = state[States.ACCELERATION, :] - imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :] - imu_from_device_euler[0, 0] = 0 # not observable enough - imu_from_device_euler[2, 0] = 0 # not observable enough - glonass_bias = state[States.GLONASS_BIAS, :] - glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :] - ca = state[States.CLOCK_ACCELERATION, :] - accel_bias = state[States.ACCELEROMETER_BIAS, :] - wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :] - wide_from_device_euler[0, 0] = 0 # not observable enough - - dt = sp.Symbol('dt') - - # calibration and attitude rotation matrices - quat_rot = quat_rotate(*q) - - # Got the quat predict equations from here - # A New Quaternion-Based Kalman Filter for - # Real-Time Attitude Estimation Using the Two-Step - # Geometrically-Intuitive Correction Algorithm - A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw], - [vroll, 0, vyaw, -vpitch], - [vpitch, -vyaw, 0, vroll], - [vyaw, vpitch, -vroll, 0]]) - q_dot = A * q - - # Time derivative of the state as a function of state - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[States.ECEF_POS, :] = v - state_dot[States.ECEF_ORIENTATION, :] = q_dot - state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration - state_dot[States.CLOCK_BIAS, :] = cd - state_dot[States.CLOCK_DRIFT, :] = ca - - # Basic descretization, 1st order intergrator - # Can be pretty bad if dt is big - f_sym = state + dt * state_dot - - state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1) - state_err = sp.Matrix(state_err_sym) - quat_err = state_err[States.ECEF_ORIENTATION_ERR, :] - v_err = state_err[States.ECEF_VELOCITY_ERR, :] - omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :] - cd_err = state_err[States.CLOCK_DRIFT_ERR, :] - acceleration_err = state_err[States.ACCELERATION_ERR, :] - ca_err = state_err[States.CLOCK_ACCELERATION_ERR, :] - - # Time derivative of the state error as a function of state error and state - quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2]) - q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err) - state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1))) - state_err_dot[States.ECEF_POS_ERR, :] = v_err - state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot - state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err) - state_err_dot[States.CLOCK_BIAS_ERR, :] = cd_err - state_err_dot[States.CLOCK_DRIFT_ERR, :] = ca_err - f_err_sym = state_err + dt * state_err_dot - - # convenient indexing - # q idxs are for quats and p idxs are for other - q_idxs = [[3, dim_augment]] + [[dim_main + n * dim_augment + 3, dim_main + (n + 1) * dim_augment] for n in range(N)] - q_err_idxs = [[3, dim_augment_err]] + [[dim_main_err + n * dim_augment_err + 3, dim_main_err + (n + 1) * dim_augment_err] for n in range(N)] - p_idxs = [[0, 3]] + [[dim_augment, dim_main]] + [[dim_main + n * dim_augment, dim_main + n * dim_augment + 3] for n in range(N)] - p_err_idxs = [[0, 3]] + [[dim_augment_err, dim_main_err]] + [[dim_main_err + n * dim_augment_err, dim_main_err + n * dim_augment_err + 3] for n in range(N)] - - # Observation matrix modifier - H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:] - - # these error functions are defined so that say there - # is a nominal x and true x: - # true x = err_function(nominal x, delta x) - # delta x = inv_err_function(nominal x, true x) - nom_x = sp.MatrixSymbol('nom_x', dim_state, 1) - true_x = sp.MatrixSymbol('true_x', dim_state, 1) - delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) - - err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - delta_quat = sp.Matrix(np.ones(4)) - delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :]) - err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :]) - - inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0] - inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:]) - - eskf_params = [[err_function_sym, nom_x, delta_x], - [inv_err_function_sym, nom_x, true_x], - H_mod_sym, f_err_sym, state_err_sym] - # - # Observation functions - # - - # extra args - sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1) - sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1) - # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1) - - # expand extra args - sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym - sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:] - - h_pseudorange_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb[0] - ]) - - h_pseudorange_glonass_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb[0] + glonass_bias[0] + glonass_freq_slope[0] * glonass_freq - ]) - - los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z])) - los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2) - h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) + - los_vector[1] * (sat_vy - vy) + - los_vector[2] * (sat_vz - vz) + - cd[0]]) - - imu_from_device = euler_rotate(*imu_from_device_euler) - h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias, - vpitch + pitch_bias, - vyaw + yaw_bias]) - - pos = sp.Matrix([x, y, z]) - # add 1 for stability, prevent division by 0 - gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos) - h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias) - h_acc_stationary_sym = acceleration - h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) - h_relative_motion = sp.Matrix(quat_rot.T * v) - - obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None], - [h_phone_rot_sym, ObservationKind.NO_ROT, None], - [h_acc_sym, ObservationKind.PHONE_ACCEL, None], - [h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym], - [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym], - [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None], - [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], - [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]] - - wide_from_device = euler_rotate(*wide_from_device_euler) - # MSCKF configuration - if N > 0: - # experimentally found this is correct value for imx298 with 910 focal length - # this is a variable so it can change with focus, but we disregard that for now - # TODO: this isn't correct for tici - focal_scale = 1.01 - # Add observation functions for orb feature tracks - track_epos_sym = sp.MatrixSymbol('track_epos_sym', 3, 1) - track_x, track_y, track_z = track_epos_sym - h_track_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1))) - h_track_wide_cam_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1))) - - track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) - track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym - h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), - focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) - h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), - focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])]) - - h_msckf_test_sym = sp.Matrix(np.zeros(((1 + N) * 3, 1))) - h_msckf_test_sym[-3:, :] = track_pos_sym - - for n in range(N): - idx = dim_main + n * dim_augment - # err_idx = dim_main_err + n * dim_augment_err # FIXME: Why is this not used? - x, y, z = state[idx:idx + 3] - q = state[idx + 3:idx + 7] - quat_rot = quat_rotate(*q) - track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) - track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym - h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), - focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) - h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), - focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])]) - h_msckf_test_sym[n * 3:n * 3 + 3, :] = track_pos_sym - - obs_eqs.append([h_msckf_test_sym, ObservationKind.MSCKF_TEST, track_epos_sym]) - obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym]) - obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym]) - obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym]) - msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, - [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] - else: - msckf_params = None - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds) - - def __init__(self, generated_dir, N=4, erratic_clock=False): - name = f"{self.name}_{N}" - - - # process noise - q_clock_error = 100.0 if erratic_clock else 0.1 - q_clock_error_rate = 10 if erratic_clock else 0.0 - self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 0.0**2, 0.0**2, 0.0**2, - 0.0**2, 0.0**2, 0.0**2, - 0.1**2, 0.1**2, 0.1**2, - (q_clock_error)**2, (q_clock_error_rate)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.02 / 100)**2, - 3**2, 3**2, 3**2, - 0.001**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2, - (.1)**2, (.01)**2, - 0.005**2, - (0.02 / 100)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2]) - - - self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), - ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]), - ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]), - ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]), - ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]), - ObservationKind.NO_ROT: np.diag([0.0025**2, 0.0025**2, 0.0025**2]), - ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]), - ObservationKind.NO_ACCEL: np.diag([0.0025**2, 0.0025**2, 0.0025**2])} - - # MSCKF stuff - self.N = N - self.dim_main = LocKalman.x_initial.shape[0] - self.dim_main_err = LocKalman.P_initial.shape[0] - self.dim_state = self.dim_main + self.dim_augment * self.N - self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N - - if self.N > 0: - x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] - self.computer = LstSqComputer(generated_dir, N) - - self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)] - - # init filter - self.filter = EKF_sym(generated_dir, name, Q, x_initial, P_initial, self.dim_main, self.dim_main_err, - N, self.dim_augment, self.dim_augment_err, self.maha_test_kinds, self.quaternion_idxs) - - @property - def x(self): - return self.filter.state() - - @property - def t(self): - return self.filter.get_filter_time() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=True) - - def pad_augmented(self, x, P, Q=None): - if x.shape[0] == self.dim_main and self.N > 0: - x = np.pad(x, (0, self.N * self.dim_augment), mode='constant') - x[self.dim_main + 3::7] = 1 - if P.shape[0] == self.dim_main_err and self.N > 0: - P = np.pad(P, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant') - P[self.dim_main_err:, self.dim_main_err:] = 10e20 * np.eye(self.dim_augment_err * self.N) - if Q is None: - return x, P - else: - Q = np.pad(Q, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant') - return x, P, Q - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - state, P = self.pad_augmented(state, P) - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - if len(data) > 0: - data = np.atleast_2d(data) - if kind == ObservationKind.CAMERA_ODO_TRANSLATION: - r = self.predict_and_update_odo_trans(data, t, kind) - elif kind == ObservationKind.CAMERA_ODO_ROTATION: - r = self.predict_and_update_odo_rot(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS: - r = self.predict_and_update_pseudorange(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS: - r = self.predict_and_update_pseudorange_rate(data, t, kind) - elif kind == ObservationKind.ORB_FEATURES or kind == ObservationKind.ORB_FEATURES_WIDE: - r = self.predict_and_update_orb_features(data, t, kind) - elif kind == ObservationKind.MSCKF_TEST: - r = self.predict_and_update_msckf_test(data, t, kind) - else: - r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) - # Normalize quats - quat_norm = np.linalg.norm(self.filter.state()[3:7]) - # Should not continue if the quats behave this weirdly - if not 0.1 < quat_norm < 10: - raise RuntimeError("Sir! The filter's gone all wobbly!") - return r - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i, :, :] = obs_noise - return R - - def predict_and_update_pseudorange(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - sat_pos_freq = np.zeros((len(meas), 4)) - z = np.zeros((len(meas), 1)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_freq_i = parse_pr(m) - sat_pos_freq[i, :] = sat_pos_freq_i - z[i, :] = z_i - R[i, :, :] = R_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq) - - def predict_and_update_pseudorange_rate(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - z = np.zeros((len(meas), 1)) - sat_pos_vel = np.zeros((len(meas), 6)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_vel_i = parse_prr(m) - sat_pos_vel[i] = sat_pos_vel_i - R[i, :, :] = R_i - z[i, :] = z_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel) - - def predict_and_update_odo_trans(self, trans, t, kind): - z = trans[:, :3] - R = np.zeros((len(trans), 3, 3)) - for i, _ in enumerate(z): - R[i, :, :] = np.diag(trans[i, 3:]**2) - return self.filter.predict_and_update_batch(t, kind, z, R) - - def predict_and_update_odo_rot(self, rot, t, kind): - z = rot[:, :3] - R = np.zeros((len(rot), 3, 3)) - for i, _ in enumerate(z): - R[i, :, :] = np.diag(rot[i, 3:]**2) - return self.filter.predict_and_update_batch(t, kind, z, R) - - def predict_and_update_orb_features(self, tracks, t, kind): - k = 2 * (self.N + 1) - R = np.zeros((len(tracks), k, k)) - z = np.zeros((len(tracks), k)) - ecef_pos = np.zeros((len(tracks), 3)) - ecef_pos[:] = np.nan - poses = self.x[self.dim_main:].reshape((-1, 7)) - times = tracks.reshape((len(tracks), self.N + 1, 4))[:, :, 0] - if kind==ObservationKind.ORB_FEATURES: - pt_std = 0.005 - else: - pt_std = 0.02 - if times.any(): - assert np.allclose(times[0, :-1], self.filter.get_augment_times(), atol=1e-7, rtol=0.0) - for i, track in enumerate(tracks): - img_positions = track.reshape((self.N + 1, 4))[:, 2:] - - # TODO not perfect as last pose not used - # img_positions = unroll_shutter(img_positions, poses, self.filter.state()[7:10], self.filter.state()[10:13], ecef_pos[i]) - - ecef_pos[i] = self.computer.compute_pos(poses, img_positions[:-1]) - z[i] = img_positions.flatten() - R[i, :, :] = np.diag([pt_std**2] * (k)) - - good_idxs = np.all(np.isfinite(ecef_pos), axis=1) - - # This code relies on wide and narrow orb features being captured at the same time, - # and wide features to be processed first. - ret = self.filter.predict_and_update_batch(t, kind, z[good_idxs], R[good_idxs], ecef_pos[good_idxs], - augment=kind==ObservationKind.ORB_FEATURES) - if ret is None: - return - - # have to do some weird stuff here to keep - # to have the observations input from mesh3d - # consistent with the outputs of the filter - # Probably should be replaced, not sure how. - y_full = np.zeros((z.shape[0], z.shape[1] - 3)) - if sum(good_idxs) > 0: - y_full[good_idxs] = np.array(ret[6]) - ret = ret[:6] + (y_full, z, ecef_pos) - return ret - - def predict_and_update_msckf_test(self, test_data, t, kind): - assert self.N > 0 - z = test_data - R = np.zeros((len(test_data), len(z[0]), len(z[0]))) - ecef_pos = [self.x[:3]] - for i, _ in enumerate(z): - R[i, :, :] = np.diag([0.1**2] * len(z[0])) - ret = self.filter.predict_and_update_batch(t, kind, z, R, ecef_pos) - self.filter.augment() - return ret - - def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3): - bools = [] - for m in meas: - z, R, sat_pos_freq = parse_pr(m) - bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_freq, maha_thresh=maha_thresh)) - return np.array(bools) - - def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999): - bools = [] - for m in meas: - z, R, sat_pos_vel = parse_prr(m) - bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_vel, maha_thresh=maha_thresh)) - return np.array(bools) - - -if __name__ == "__main__": - N = int(sys.argv[1].split("_")[-1]) - generated_dir = sys.argv[2] - LocKalman.generate_code(generated_dir, N=N) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index d5c7015dc1..4bc416ee88 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,13 +7,13 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.numpy_fast import clip from openpilot.selfdrive.car.chrysler.values import ChryslerFlagsSP from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s @@ -233,7 +233,8 @@ def main(): 0.2 <= liveParameters.stiffnessFactor <= 5.0, min_sr <= liveParameters.steerRatio <= max_sr, )) - if CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE: + if (CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE) or \ + (CP.carName == "subaru" and CP.lateralTuning.which() == 'torque'): liveParameters.valid = True liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) @@ -254,7 +255,7 @@ def main(): 'stiffnessFactor': liveParameters.stiffnessFactor, 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, } - put_nonblocking("LiveParameters", json.dumps(params)) + params_reader.put_nonblocking("LiveParameters", json.dumps(params)) pm.send('liveParameters', msg) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 707fdd743f..78de9216dc 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -60,6 +60,7 @@ class TestLocationdProc(unittest.TestCase): msg.cameraOdometry.trans = [0.0, 0.0, 0.0] msg.cameraOdometry.transStd = [0.0, 0.0, 0.0] msg.logMonoTime = t + msg.valid = True return msg def test_params_gps(self): diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index d2455ef9e0..f48c83ce46 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -1,15 +1,14 @@ #!/usr/bin/env python3 +import pytest import unittest import numpy as np from collections import defaultdict from enum import Enum - -from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name -TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4 +TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4" GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation'] SELECT_COMPARE_FIELDS = { 'yaw_rate': ['angularVelocityCalibrated', 'value', 2], @@ -97,6 +96,8 @@ def run_scenarios(scenario, logs): return get_select_fields_data(logs), get_select_fields_data(replayed_logs) +@pytest.mark.xdist_group("test_locationd_scenarios") +@pytest.mark.shared_download_cache class TestLocationdScenarios(unittest.TestCase): """ Test locationd with different scenarios. In all these scenarios, we expect the following: @@ -106,7 +107,7 @@ class TestLocationdScenarios(unittest.TestCase): @classmethod def setUpClass(cls): - cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) + cls.logs = list(LogReader(TEST_ROUTE)) def test_base(self): """ diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 97cb3ab9fb..f4d28a73f4 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -1,18 +1,15 @@ #!/usr/bin/env python3 -import os -import signal import numpy as np from collections import deque, defaultdict -from functools import partial import cereal.messaging as messaging from cereal import car, log from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points_onexit +from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 @@ -226,7 +223,7 @@ class TorqueEstimator(ParameterEstimator): return msg -def main(): +def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) @@ -236,9 +233,6 @@ def main(): with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: estimator = TorqueEstimator(CP) - if "REPLAY" not in os.environ: - signal.signal(signal.SIGINT, partial(cache_points_onexit, "LiveTorqueParameters", estimator)) - while True: sm.update() if sm.all_checks(): @@ -251,6 +245,14 @@ def main(): if sm.frame % 5 == 0: pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) + # Cache points every 60 seconds while onroad + if sm.frame % 240 == 0: + msg = estimator.get_msg(valid=sm.all_checks(), with_points=True) + params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) if __name__ == "__main__": - main() + import argparse + parser = argparse.ArgumentParser(description='Process the --demo argument.') + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index be37b3e7e4..f2758cf32b 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -9,7 +9,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.spinner import Spinner from openpilot.common.text_window import TextWindow from openpilot.system.hardware import AGNOS -from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 @@ -17,21 +17,22 @@ CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 -PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) -def build(spinner: Spinner, dirty: bool = False) -> None: +def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: env = os.environ.copy() env['SCONS_PROGRESS'] = "1" nproc = os.cpu_count() if nproc is None: nproc = 2 + extra_args = ["--minimal"] if minimal else [] + # building with all cores can result in using too # much memory, so retry with less parallelism compile_output: List[bytes] = [] for n in (nproc, nproc/2, 1): compile_output.clear() - scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", "--minimal"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) assert scons.stderr is not None # Read progress from stderr and update spinner @@ -83,7 +84,7 @@ def build(spinner: Spinner, dirty: bool = False) -> None: f.unlink() -if __name__ == "__main__" and not PREBUILT: +if __name__ == "__main__": spinner = Spinner() spinner.update_progress(0, 100) - build(spinner, is_dirty()) + build(spinner, is_dirty(), minimal = AGNOS) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index f8607fffc6..1b6f8df1ef 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -3,7 +3,13 @@ import sys import fcntl import errno import signal +import shutil +import subprocess +import tempfile +import threading +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params def unblock_stdout() -> None: # get a non-blocking stdout @@ -41,3 +47,18 @@ def unblock_stdout() -> None: def write_onroad_params(started, params): params.put_bool("IsOnroad", started) params.put_bool("IsOffroad", not started) + + +def save_bootlog(): + # copy current params + tmp = tempfile.mkdtemp() + shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True) + + def fn(tmpdir): + env = os.environ.copy() + env['PARAMS_ROOT'] = tmpdir + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env) + shutil.rmtree(tmpdir) + t = threading.Thread(target=fn, args=(tmp, )) + t.daemon = True + t.start() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index a84feda34b..cd7e14a8e3 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -2,7 +2,6 @@ import datetime import os import signal -import subprocess import sys import traceback from typing import List, Tuple, Union @@ -10,36 +9,29 @@ from typing import List, Tuple, Union from cereal import custom import cereal.messaging as messaging import openpilot.selfdrive.sentry as sentry -from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow -from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE, PC -from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.selfdrive.manager.mapd_installer import VERSION from openpilot.selfdrive.manager.process import ensure_running from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device -from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ get_normalized_origin, terms_version, training_version, \ - is_tested_branch, is_release_branch - - -sys.path.append(os.path.join(BASEDIR, "third_party/mapd")) + is_tested_branch, is_release_branch, is_release_sp_branch def manager_init() -> None: - # update system time from panda - set_time(cloudlog) - - # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) + save_bootlog() params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + if is_release_branch(): + params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), @@ -69,11 +61,10 @@ def manager_init() -> None: ("DevUIInfo", "0"), ("DisableOnroadUploads", "0"), ("DisengageLateralOnBrake", "0"), + ("DrivingModelGeneration", "0"), ("DynamicLaneProfile", "1"), ("EnableMads", "1"), ("EnhancedScc", "0"), - ("GpxDeleteAfterUpload", "1"), - ("GpxDeleteIfUploaded", "1"), ("HandsOnWheelMonitoring", "0"), ("HideVEgoUi", "0"), ("LastSpeedLimitSignTap", "0"), @@ -92,6 +83,9 @@ def manager_init() -> None: ("SpeedLimitEngageType", "0"), ("SpeedLimitValueOffset", "0"), ("SpeedLimitOffsetType", "0"), + ("SpeedLimitWarningType", "0"), + ("SpeedLimitWarningValueOffset", "0"), + ("SpeedLimitWarningOffsetType", "0"), ("StandStillTimer", "0"), ("StockLongToyota", "0"), ("TorqueDeadzoneDeg", "0"), @@ -122,13 +116,6 @@ def manager_init() -> None: if os.getenv("HANDSMONITORING") is not None: params.put_bool("HandsOnWheelMonitoring", bool(int(os.getenv("HANDSMONITORING", "0")))) - # is this dashcam? - if os.getenv("PASSIVE") is not None: - params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) - - if params.get("Passive") is None: - raise Exception("Passive must be set to continue") - # Create folders needed for msgq try: os.mkdir("/dev/shm") @@ -146,6 +133,7 @@ def manager_init() -> None: params.put("GitRemote", get_origin(default="")) params.put_bool("IsTestedBranch", is_tested_branch()) params.put_bool("IsReleaseBranch", is_release_branch()) + params.put_bool("IsReleaseSPBranch", is_release_sp_branch()) # set dongle id reg_res = register(show_spinner=True) @@ -154,6 +142,12 @@ def manager_init() -> None: else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") + if params.get("HardwareSerial") is None: + try: + serial = HARDWARE.get_serial() + params.put("HardwareSerial", serial) + except Exception: + cloudlog.exception("Error getting serial for device") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not is_dirty(): @@ -172,8 +166,7 @@ def manager_init() -> None: if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')): os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt')) - -def manager_prepare() -> None: + # preimport all processes for p in managed_processes.values(): p.prepare() @@ -238,7 +231,7 @@ def manager_thread() -> None: cloudlog.debug(running) # send managerState - msg = messaging.new_message('managerState') + msg = messaging.new_message('managerState', valid=True) msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()] pm.send('managerState', msg) @@ -255,17 +248,8 @@ def manager_thread() -> None: def main() -> None: - prepare_only = os.getenv("PREPAREONLY") is not None - manager_init() - - # Start UI early so prepare can happen in the background - #if not prepare_only: - # managed_processes['ui'].start() - - manager_prepare() - - if prepare_only: + if os.getenv("PREPAREONLY") is not None: return # SystemExit on sigterm @@ -296,6 +280,8 @@ if __name__ == "__main__": try: main() + except KeyboardInterrupt: + print("got CTRL-C, exiting") except Exception: add_file_handler(cloudlog) cloudlog.exception("Manager failed to start") diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index d4a6b73de7..26708c12c8 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -15,7 +15,7 @@ import cereal.messaging as messaging import openpilot.selfdrive.sentry as sentry from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index cabe87f18b..cc9d9900bc 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -50,7 +50,7 @@ procs = [ NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), PythonProcess("logmessaged", "system.logmessaged", always_run), PythonProcess("micd", "system.micd", iscar), - PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), + PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), @@ -60,7 +60,8 @@ procs = [ NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad), PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad), + #NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), + PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), @@ -68,7 +69,7 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), - PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), + PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), @@ -93,6 +94,7 @@ procs = [ # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), + PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), ] diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 0fa186baff..fbeb932a86 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -21,7 +21,6 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] @pytest.mark.tici class TestManager(unittest.TestCase): def setUp(self): - os.environ['PASSIVE'] = '0' HARDWARE.set_power_save(False) # ensure clean CarParams @@ -47,13 +46,13 @@ class TestManager(unittest.TestCase): t = time.monotonic() - start assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" + @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad") def test_clean_exit(self): """ Ensure all processes exit cleanly when stopped. """ HARDWARE.set_power_save(False) manager.manager_init() - manager.manager_prepare() CP = car.CarParams.new_message() procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) diff --git a/selfdrive/mapd_manager.py b/selfdrive/mapd_manager.py index 09b8a97496..8bc1bcccf6 100644 --- a/selfdrive/mapd_manager.py +++ b/selfdrive/mapd_manager.py @@ -9,7 +9,7 @@ from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.selfdrive.navd.helpers import Coordinate from openpilot.selfdrive.sunnypilot.live_map_data import QUERY_RADIUS from openpilot.common.realtime import Ratekeeper, set_core_affinity -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog import os import glob import shutil diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 4d3af51635..8b40383034 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -22,6 +22,9 @@ class ModelConstants: NAV_INSTRUCTION_LEN = 150 DRIVING_STYLE_LEN = 12 LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURVS_LEN = 20 + PREV_DESIRED_CURV_LEN = 1 # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) @@ -39,6 +42,7 @@ class ModelConstants: PLAN_WIDTH = 15 DESIRE_PRED_WIDTH = 8 LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 NUM_LANE_LINES = 4 NUM_ROAD_EDGES = 2 diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 53c0af0ff3..1e25964702 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -11,7 +11,7 @@ from typing import Tuple, Dict from cereal import messaging from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime @@ -101,7 +101,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult): def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents - msg = messaging.new_message('driverStateV2') + msg = messaging.new_message('driverStateV2', valid=True) ds = msg.driverStateV2 ds.frameId = frame_id ds.modelExecutionTime = execution_time diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 7434e94287..5484c85253 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -9,6 +9,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') ConfidenceClass = log.ModelDataV2.ConfidenceClass + class PublishState: def __init__(self): self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) @@ -45,7 +46,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, - nav_enabled: bool, valid: bool) -> None: + nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool, model_use_lateral_planner: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 msg.valid = valid @@ -72,9 +73,13 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # lateral planning - solution = modelV2.lateralPlannerSolution - solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] - solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)] + if model_use_lateral_planner: + solution = modelV2.lateralPlannerSolutionDEPRECATED + solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] + solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)] + else: + action = modelV2.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index 14048ec9fd..e1cef4dcc3 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -7,4 +7,4 @@ if [ -f "$DIR/libthneed.so" ]; then export LD_PRELOAD="$DIR/libthneed.so" fi -exec "$DIR/modeld.py" +exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ca920314a3..9a1b7d880c 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -4,12 +4,13 @@ import time import pickle import numpy as np import cereal.messaging as messaging +from cereal import car, log from pathlib import Path from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.common.numpy_fast import interp @@ -17,11 +18,14 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext +from openpilot.selfdrive.sunnypilot import get_model_generation PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -34,6 +38,8 @@ METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' CUSTOM_MODEL_PATH = "/data/media/0/models" +LaneChangeState = log.LaneChangeState + class FrameMeta: frame_id: int = 0 @@ -53,19 +59,45 @@ class ModelState: model: ModelRunner def __init__(self, context: CLContext): + self.param_s = Params() + self.custom_model, self.model_gen = get_model_generation(self.param_s) self.frame = ModelFrame(context) self.wide_frame = ModelFrame(context) self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + _inputs = { + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + } + if self.custom_model and self.model_gen != 0: + if self.model_gen == 1: + _inputs = { + 'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), + } + if self.model_gen == 2: + _inputs = { + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32), + } + self.inputs = { 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), - 'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), + **_inputs, 'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32), 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), } - with open(METADATA_PATH, 'rb') as f: + if self.custom_model and self.model_gen != 0: + _model_name = self.param_s.get("DrivingModelText", encoding="utf8") + _model_paths = {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/supercombo-{_model_name}.thneed"} + _metadata_name = self.param_s.get("DrivingModelMetadataText", encoding="utf8") + _metadata_path = f"{CUSTOM_MODEL_PATH}/supercombo_metadata_{_metadata_name}.pkl" if _model_name else METADATA_PATH + else: + _model_paths = MODEL_PATHS + _metadata_path = METADATA_PATH + + with open(_metadata_path, 'rb') as f: model_metadata = pickle.load(f) self.output_slices = model_metadata['output_slices'] @@ -73,14 +105,6 @@ class ModelState: self.output = np.zeros(net_output_size, dtype=np.float32) self.parser = Parser() - self.param_s = Params() - - if self.param_s.get_bool("CustomDrivingModel"): - _model_name = self.param_s.get("DrivingModelText", encoding="utf8") - _model_paths = { - ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/supercombo-{_model_name}.thneed"} - else: - _model_paths = MODEL_PATHS self.model = ModelRunner(_model_paths, self.output, Runtime.GPU, False, context) self.model.addInput("input_imgs", None) self.model.addInput("big_input_imgs", None) @@ -102,9 +126,10 @@ class ModelState: self.prev_desire[:] = inputs['desire'] self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + if not (self.custom_model and self.model_gen == 1): + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] self.inputs['nav_features'][:] = inputs['nav_features'] self.inputs['nav_instructions'][:] = inputs['nav_instructions'] - # self.inputs['driving_style'][:] = inputs['driving_style'] # if getCLBuffer is not None, frame will be None self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) @@ -119,12 +144,20 @@ class ModelState: self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2]) - self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3]) + if self.custom_model and self.model_gen != 0: + if self.model_gen == 1: + self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2]) + self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3]) + elif self.model_gen == 2: + self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:] + self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0] + else: + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] return outputs -def main(): +def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) @@ -158,11 +191,17 @@ def main(): cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") # messaging - pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"]) + pm = PubMaster(["modelV2", "modelV2SP", "cameraOdometry"]) + sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "lateralPlanDEPRECATED", "lateralPlanSPDEPRECATED"]) + publish_state = PublishState() params = Params() + custom_model, model_gen = get_model_generation(params) + if not (custom_model and model_gen == 1): + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + steer_delay = msg.steerActuatorDelay + .2 + #steer_delay = 0.4 # setup filter to track dropped frames frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) @@ -173,13 +212,25 @@ def main(): model_transform_main = np.zeros((3, 3), dtype=np.float32) model_transform_extra = np.zeros((3, 3), dtype=np.float32) live_calib_seen = False - driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) + if custom_model and model_gen == 1: + driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() + + if demo: + CP = get_demo_car_params() + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("plannerd got CarParams: %s", CP.carName) + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + DH = DesireHelper() + + while True: # Keep receiving frames until we are at least 1 frame ahead of previous extra frame while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: @@ -216,9 +267,13 @@ def main(): # TODO: path planner timeout? sm.update(0) - desire = sm["lateralPlan"].desire.raw + desire = sm["lateralPlanDEPRECATED"].desire.raw if custom_model and model_gen == 1 else DH.desire + v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId + if not (custom_model and model_gen == 1): + # TODO add lag + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) @@ -269,10 +324,19 @@ def main(): if prepare_only: cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + if custom_model and model_gen == 1: + _inputs = { + 'driving_style': driving_style + } + else: + _inputs = { + 'lateral_control_params': lateral_control_params + } + inputs:Dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'driving_style': driving_style, + **_inputs, 'nav_features': nav_features, 'nav_instructions': nav_instructions} @@ -281,22 +345,44 @@ def main(): mt2 = time.perf_counter() model_execution_time = mt2 - mt1 + lat_plan_sp = sm['lateralPlanSPDEPRECATED'] + if model_output is not None: modelv2_send = messaging.new_message('modelV2') posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen) + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen, custom_model and model_gen == 1) + + if not (custom_model and model_gen == 1): + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, lat_plan_sp=lat_plan_sp) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) pm.send('cameraOdometry', posenet_send) + modelv2_sp_send = messaging.new_message('modelV2SP') + modelv2_sp_send.valid = True + if not (custom_model and model_gen == 1): + modelv2_sp_send.modelV2SP.laneChangePrev = DH.prev_lane_change + modelv2_sp_send.modelV2SP.laneChangeEdgeBlock = lat_plan_sp.laneChangeEdgeBlockDEPRECATED + pm.send('modelV2SP', modelv2_sp_send) + last_vipc_frame_id = meta_main.frame_id if __name__ == "__main__": try: - main() + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) except KeyboardInterrupt: cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") except Exception: diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index 065bc7d489..ed495df3a8 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -d1124586-761e-4e18-a771-6b5ef35124fe -6fec774f513a19e44d4316e46ad38277197d45ea \ No newline at end of file +60abed33-9f25-4e34-9937-aaf918d41dfc +50887963963a3022e85ac0c94b0801aef955a608 \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index f8bf94c061..3e94e7d36a 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b -size 16072278 +oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37 +size 16132779 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index e4e6fb3347..041949ad94 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20 -size 4443461 +oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b +size 4488413 diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx index 3b0961537e..3b687b960a 100644 --- a/selfdrive/modeld/models/navmodel.onnx +++ b/selfdrive/modeld/models/navmodel.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048 -size 14138061 +oid sha256:8254b569878b7472e3f63ed9f3527a87bde785c9037aee3ed66f972e072b5899 +size 14166696 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index e878ec25af..d5e43abcfb 100644 --- a/selfdrive/modeld/models/navmodel_q.dlc +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132 +oid sha256:89fda8380efa3e421fbcdb6bb204c36a4991f137ee01d47f3d0380895aa7c036 size 3630942 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index e2897b08a5..dc93d84135 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850 -size 52524758 +oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be +size 48219112 diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py index 90b9762800..bfe9c8fbed 100755 --- a/selfdrive/modeld/navmodeld.py +++ b/selfdrive/modeld/navmodeld.py @@ -10,7 +10,7 @@ from typing import Tuple, Dict from cereal import messaging from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.constants import ModelConstants @@ -24,6 +24,8 @@ MODEL_PATHS = { ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc', ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'} +CUSTOM_MODEL_PATH = "/data/media/0/models" + class NavModelOutputXY(ctypes.Structure): _fields_ = [ ("x", ctypes.c_float), @@ -48,8 +50,15 @@ class ModelState: def __init__(self): assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32) + self.param_s = Params() + if self.param_s.get_bool("CustomDrivingModel"): + _model_name = self.param_s.get("NavModelText", encoding="utf8") + _model_paths = { + ModelRunner.SNPE: f"{CUSTOM_MODEL_PATH}/navmodel_q_{_model_name}.dlc"} + else: + _model_paths = MODEL_PATHS self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)} - self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model = ModelRunner(_model_paths, self.output, Runtime.DSP, True, None) self.model.addInput("input_img", None) def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]: diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9d37a5fad4..01cba29d1c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -93,7 +93,10 @@ class Parser: self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) 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)) - self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) for k in ['lead_prob', 'lane_lines_prob', 'meta']: self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index e010f6cfd6..257a9bc878 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,6 +7,7 @@ import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import tici_f_frame_size from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state @@ -22,9 +23,10 @@ class TestModeld(unittest.TestCase): self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) self.vipc_server.start_listener() + write_car_param() self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) - self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan']) + self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) managed_processes['modeld'].start() self.pm.wait_for_readers_to_update("roadCameraState", 10) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index bbcfc99c65..6347c8111d 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -3,8 +3,7 @@ import gc import cereal.messaging as messaging from cereal import car -from cereal import log -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus @@ -15,26 +14,21 @@ def dmonitoringd_thread(): gc.disable() set_realtime_priority(2) + params = Params() pm = messaging.PubMaster(['driverMonitoringState', 'driverMonitoringStateSP']) sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) - driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) + driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected")) hands_on_wheel_status = HandsOnWheelStatus() - sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid - sm['liveCalibration'].rpyCalib = [0, 0, 0] - sm['carState'].buttonEvents = [] - sm['carState'].standstill = True - v_cruise_last = 0 driver_engaged = False steering_wheel_engaged = False - hands_on_wheel_monitoring_enabled = Params().get_bool("HandsOnWheelMonitoring") + hands_on_wheel_monitoring_enabled = params.get_bool("HandsOnWheelMonitoring") # 10Hz <- dmonitoringmodeld while True: sm.update() - if not sm.updated['driverStateV2']: continue @@ -55,7 +49,9 @@ def dmonitoringd_thread(): # Get data from dmonitoringmodeld events = Events() - driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) + + if sm.all_checks(): + driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) # Block engaging after max number of distrations if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ @@ -69,7 +65,7 @@ def dmonitoringd_thread(): hands_on_wheel_status.update(events, steering_wheel_engaged, sm['controlsState'].enabled, sm['carState'].vEgo) # build driverMonitoringState packet - dat = messaging.new_message('driverMonitoringState') + dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks()) dat.driverMonitoringState = { "events": events.to_msg(), "faceDetected": driver_status.face_detected, @@ -100,7 +96,7 @@ def dmonitoringd_thread(): if (sm['driverStateV2'].frameId % 6000 == 0 and driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): - put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) + params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) def main(): dmonitoringd_thread() diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index ab82da301f..2279002f35 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS(): self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 - self._BLINK_THRESHOLD = 0.895 + self._BLINK_THRESHOLD = 0.865 - self._EE_THRESH11 = 0.275 - self._EE_THRESH12 = 5.5 + self._EE_THRESH11 = 0.241 + self._EE_THRESH12 = 4.7 self._EE_MAX_OFFSET1 = 0.06 self._EE_MIN_OFFSET1 = 0.025 self._EE_THRESH21 = 0.01 diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index c116ef1535..5a173c0351 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -1,14 +1,14 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') map_env = qt_env.Clone() -libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations, +libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, cereal, visionipc, transformations, 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': libs.append(':libEGL_mesa.so.0') if arch in ['larch64', 'aarch64', 'x86_64']: if arch == 'x86_64': - rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath + rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath map_env["RPATH"] += [rpath, ] style_path = File("style.json").abspath diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc index 5251b046fb..2e7b4d3b60 100644 --- a/selfdrive/navd/main.cc +++ b/selfdrive/navd/main.cc @@ -11,7 +11,7 @@ #include "system/hardware/hw.h" int main(int argc, char *argv[]) { - Hardware::config_cpu_rendering(); + Hardware::config_cpu_rendering(true); qInstallMessageHandler(swagLogMessageHandler); setpriority(PRIO_PROCESS, 0, -20); diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 543515c631..d52ee162bd 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -28,16 +28,16 @@ float get_zoom_level_for_scale(float lat, float meters_per_pixel) { return log2(num_tiles) - 1; } -QMapbox::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) { +QMapLibre::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) { float ang_dist = dist / EARTH_RADIUS_METERS; float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing); float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1)); float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2)); - return QMapbox::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2)); + return QMapLibre::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2)); } -MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) { +MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_settings(settings) { QSurfaceFormat fmt; fmt.setRenderableType(QSurfaceFormat::OpenGLES); @@ -60,8 +60,8 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format)); std::string style = util::read_file(STYLE_PATH); - m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1)); - m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), DEFAULT_ZOOM); + m_map.reset(new QMapLibre::Map(nullptr, m_settings, fbo->size(), 1)); + m_map->setCoordinateZoom(QMapLibre::Coordinate(0, 0), DEFAULT_ZOOM); m_map->setStyleJson(style.c_str()); m_map->createRenderer(); ever_loaded = false; @@ -70,20 +70,20 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set m_map->setFramebufferObject(fbo->handle(), fbo->size()); gl_functions->glViewport(0, 0, WIDTH, HEIGHT); - QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { + QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) { // Ignore expected signals // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116 if (ever_loaded) { - if (change != QMapboxGL::MapChange::MapChangeRegionWillChange && - change != QMapboxGL::MapChange::MapChangeRegionDidChange && - change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame && - change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { + if (change != QMapLibre::Map::MapChange::MapChangeRegionWillChange && + change != QMapLibre::Map::MapChange::MapChangeRegionDidChange && + change != QMapLibre::Map::MapChange::MapChangeWillStartRenderingFrame && + change != QMapLibre::Map::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { LOGD("New map state: %d", change); } } }); - QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) { + QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) { LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); }); @@ -145,7 +145,7 @@ void MapRenderer::msgUpdate() { timer->start(0); } -void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) { +void MapRenderer::updatePosition(QMapLibre::Coordinate position, float bearing) { if (m_map.isNull()) { return; } @@ -261,10 +261,10 @@ void MapRenderer::updateRoute(QList coordinates) { initLayers(); auto route_points = coordinate_list_to_collection(coordinates); - QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {}); + QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {}); QVariantMap navSource; navSource["type"] = "geojson"; - navSource["data"] = QVariant::fromValue(feature); + navSource["data"] = QVariant::fromValue(feature); m_map->updateSource("navSource", navSource); m_map->setLayoutProperty("navLayer", "visibility", "visible"); } @@ -273,10 +273,9 @@ void MapRenderer::initLayers() { if (!m_map->layerExists("navLayer")) { LOGD("Initializing navLayer"); QVariantMap nav; - nav["id"] = "navLayer"; nav["type"] = "line"; nav["source"] = "navSource"; - m_map->addLayer(nav, "road-intersection"); + m_map->addLayer("navLayer", nav, "road-intersection"); m_map->setPaintProperty("navLayer", "line-color", QColor("grey")); m_map->setPaintProperty("navLayer", "line-width", 5); m_map->setLayoutProperty("navLayer", "line-cap", "round"); @@ -296,9 +295,10 @@ extern "C" { QApplication *app = new QApplication(argc, argv); assert(app); - QMapboxGLSettings settings; + QMapLibre::Settings settings; + settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider); settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host); - settings.setAccessToken(token == nullptr ? get_mapbox_token() : token); + settings.setApiKey(token == nullptr ? get_mapbox_token() : token); return new MapRenderer(settings, false); } diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index dc92c70b0f..fd5922b668 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -3,7 +3,8 @@ #include #include -#include +#include +#include #include #include #include @@ -19,7 +20,7 @@ class MapRenderer : public QObject { Q_OBJECT public: - MapRenderer(const QMapboxGLSettings &, bool online=true); + MapRenderer(const QMapLibre::Settings &, bool online=true); uint8_t* getImage(); void update(); bool loaded(); @@ -37,8 +38,8 @@ private: void publish(const double render_time, const bool loaded); void sendThumbnail(const uint64_t ts, const kj::Array &buf); - QMapboxGLSettings m_settings; - QScopedPointer m_map; + QMapLibre::Settings m_settings; + QScopedPointer m_map; void initLayers(); @@ -52,7 +53,7 @@ private: bool ever_loaded = false; public slots: - void updatePosition(QMapbox::Coordinate position, float bearing); + void updatePosition(QMapLibre::Coordinate position, float bearing); void updateRoute(QList coordinates); void msgUpdate(); }; diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 51b380e5eb..8e12fcba47 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -15,7 +15,7 @@ from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 @@ -75,8 +75,11 @@ class RouteEngine: self.ui_pid = ui_pid[0] self.update_location() - self.recompute_route() - self.send_instruction() + try: + self.recompute_route() + self.send_instruction() + except Exception: + cloudlog.exception("navd.failed_to_compute") def update_location(self): location = self.sm['liveLocationKalman'] @@ -200,7 +203,7 @@ class RouteEngine: self.send_route() def send_instruction(self): - msg = messaging.new_message('navInstruction') + msg = messaging.new_message('navInstruction', valid=True) if self.step_idx is None: msg.valid = False @@ -260,7 +263,10 @@ class RouteEngine: for i in range(self.step_idx + 1, len(self.route)): total_distance += self.route[i]['distance'] total_time += self.route[i]['duration'] - total_time_typical += self.route[i]['duration_typical'] + if self.route[i]['duration_typical'] is None: + total_time_typical += self.route[i]['duration'] + else: + total_time_typical += self.route[i]['duration_typical'] msg.navInstruction.distanceRemaining = total_distance msg.navInstruction.timeRemaining = total_time @@ -306,7 +312,7 @@ class RouteEngine: for path in self.route_geometry: coords += [c.as_dict() for c in path] - msg = messaging.new_message('navRoute') + msg = messaging.new_message('navRoute', valid=True) msg.navRoute.coordinates = coords self.pm.send('navRoute', msg) diff --git a/selfdrive/navd/otisserv.py b/selfdrive/navd/otisserv.py index 33e51b86e1..bd86bdf481 100644 --- a/selfdrive/navd/otisserv.py +++ b/selfdrive/navd/otisserv.py @@ -27,10 +27,10 @@ from urllib.parse import parse_qs, unquote import json import requests import math -from common.basedir import BASEDIR -from common.params import Params -from common.realtime import set_core_affinity -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.common.swaglog import cloudlog params = Params() hostName = "" diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index dbd6add995..b5f186dbb0 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import time import numpy as np import os import pytest @@ -10,26 +11,16 @@ import cereal.messaging as messaging from typing import Any from cereal.visionipc import VisionIpcClient, VisionStreamType -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman +from openpilot.selfdrive.test.helpers import with_processes -LLK_DECIMATION = 10 CACHE_PATH = "/data/mbgl-cache-navd.db" -LOCATION1 = (32.7174, -117.16277) -LOCATION2 = (32.7558, -117.2037) - -DEFAULT_ITERATIONS = 30 * LLK_DECIMATION - +RENDER_FRAMES = 15 +DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS -def gen_llk(location=LOCATION1): - msg = messaging.new_message('liveLocationKalman') - msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} - msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} - msg.liveLocationKalman.status = 'valid' - return msg - class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): INTERNET_ACTIVE = True @@ -60,7 +51,8 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): class MapBoxInternetDisabledServer(threading.Thread): def run(self): - self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler) + self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler) + self.port = self.server.server_port self.server.serve_forever() def stop(self): @@ -74,13 +66,15 @@ class MapBoxInternetDisabledServer(threading.Thread): class TestMapRenderer(unittest.TestCase): - server = MapBoxInternetDisabledServer() + server: MapBoxInternetDisabledServer @classmethod def setUpClass(cls): assert "MAPBOX_TOKEN" in os.environ cls.original_token = os.environ["MAPBOX_TOKEN"] + cls.server = MapBoxInternetDisabledServer() cls.server.start() + time.sleep(0.5) # wait for server to startup @classmethod def tearDownClass(cls) -> None: @@ -88,7 +82,7 @@ class TestMapRenderer(unittest.TestCase): def setUp(self): self.server.enable_internet() - os.environ['MAPS_HOST'] = 'http://localhost:5000' + os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}' self.sm = messaging.SubMaster(['mapRenderState']) self.pm = messaging.PubMaster(['liveLocationKalman']) @@ -97,15 +91,11 @@ class TestMapRenderer(unittest.TestCase): if os.path.exists(CACHE_PATH): os.remove(CACHE_PATH) - def tearDown(self): - managed_processes['mapsd'].stop() - def _setup_test(self): - # start + sync up - managed_processes['mapsd'].start() - assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10) + time.sleep(0.5) + assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, } assert self.vipc.connect(False) self.vipc.recv() @@ -130,7 +120,7 @@ class TestMapRenderer(unittest.TestCase): if starting_frame_id is None: starting_frame_id = prev_frame_id - llk = gen_llk(location) + llk = generate_liveLocationKalman(location) self.pm.send("liveLocationKalman", llk) self.pm.wait_for_readers_to_update("liveLocationKalman", 10) self.sm.update(1000 if frame_expected else 0) @@ -164,17 +154,23 @@ class TestMapRenderer(unittest.TestCase): assert self.vipc.timestamp_sof == llk.logMonoTime assert self.vipc.frame_id == self.sm['mapRenderState'].frameId + assert frames_since_test_start >= RENDER_FRAMES + return render_times + @with_processes(["mapsd"]) def test_with_internet(self): self._setup_test() self._run_test(True) + @with_processes(["mapsd"]) def test_with_no_internet(self): self.server.disable_internet() self._setup_test() self._run_test(False) + @with_processes(["mapsd"]) + @pytest.mark.skip(reason="slow, flaky, and unlikely to break") def test_recover_from_no_internet(self): self._setup_test() self._run_test(True) @@ -187,8 +183,7 @@ class TestMapRenderer(unittest.TestCase): self.server.enable_internet() self._run_test(True, LOCATION2_REPEATED) - self._run_test(True, LOCATION2_REPEATED) - + @with_processes(["mapsd"]) @pytest.mark.tici def test_render_time_distribution(self): self._setup_test() diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py new file mode 100755 index 0000000000..e2a5944c2b --- /dev/null +++ b/selfdrive/navd/tests/test_navd.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +import json +import random +import unittest +import numpy as np + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes + + +class TestNavd(unittest.TestCase): + def setUp(self): + self.params = Params() + self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) + + def tearDown(self): + managed_processes['navd'].stop() + + def _check_route(self, start, end, check_coords=True): + self.params.put("NavDestination", json.dumps(end)) + self.params.put("LastGPSPosition", json.dumps(start)) + + managed_processes['navd'].start() + for _ in range(30): + self.sm.update(1000) + if all(f > 0 for f in self.sm.rcv_frame.values()): + break + else: + raise Exception("didn't get a route") + + assert managed_processes['navd'].proc.is_alive() + managed_processes['navd'].stop() + + # ensure start and end match up + if check_coords: + coords = self.sm['navRoute'].coordinates + assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], + [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], + rtol=1e-3) + + def test_simple(self): + start = { + "latitude": 32.7427228, + "longitude": -117.2321177, + } + end = { + "latitude": 32.7557004, + "longitude": -117.268002, + } + self._check_route(start, end) + + def test_random(self): + for _ in range(10): + start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + self._check_route(start, end, check_coords=False) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 43bd9101cc..af24b9968c 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -9,7 +9,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.selfdrive.athena.registration import UNREGISTERED_DONGLE_ID, is_registered_device from openpilot.system.hardware import HARDWARE, PC -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch, get_branch_type @@ -97,7 +97,9 @@ def get_properties() -> Tuple[str, str]: params = Params() dongle_id = params.get("DongleId", encoding='utf-8') if dongle_id in (None, UNREGISTERED_DONGLE_ID): - dongle_id = UNREGISTERED_DONGLE_ID + hardware_serial = params.get("HardwareSerial", encoding='utf-8') + hardware_serial = "" if hardware_serial is None else hardware_serial + dongle_id = UNREGISTERED_DONGLE_ID + hardware_serial gitname = params.get("GithubUsername", encoding='utf-8') if gitname is None: gitname = "" @@ -129,14 +131,13 @@ def init(project: SentryProject) -> bool: integrations = [] if project == SentryProject.SELFDRIVE: integrations.append(ThreadingIntegration(propagate_hub=True)) - else: - sentry_sdk.utils.MAX_STRING_LENGTH = 8192 sentry_sdk.init(project.value, default_integrations=False, release=get_version(), integrations=integrations, traces_sample_rate=1.0, + max_value_length=8192, environment=env, send_default_pii=True) diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 8acf406515..94572b82c7 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -9,11 +9,12 @@ from typing import NoReturn, Union, List, Dict from openpilot.common.params import Params from cereal.messaging import SubMaster -from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE from openpilot.common.file_helpers import atomic_write_in_dir from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: @@ -80,6 +81,8 @@ def main() -> NoReturn: sock = ctx.socket(zmq.PULL) sock.bind(STATS_SOCKET) + STATS_DIR = Paths.stats_root() + # initialize stats directory Path(STATS_DIR).mkdir(parents=True, exist_ok=True) diff --git a/selfdrive/sunnypilot/__init__.py b/selfdrive/sunnypilot/__init__.py index e69de29bb2..7c612d4004 100644 --- a/selfdrive/sunnypilot/__init__.py +++ b/selfdrive/sunnypilot/__init__.py @@ -0,0 +1,4 @@ +def get_model_generation(params): + custom_model = params.get_bool("CustomDrivingModel") + gen = int(params.get("DrivingModelGeneration", encoding="utf8")) + return custom_model, gen diff --git a/selfdrive/sunnypilot/live_map_data/__init__.py b/selfdrive/sunnypilot/live_map_data/__init__.py index 593d12c65b..8db9022e69 100644 --- a/selfdrive/sunnypilot/live_map_data/__init__.py +++ b/selfdrive/sunnypilot/live_map_data/__init__.py @@ -1,5 +1,5 @@ from cereal import custom -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog LOOK_AHEAD_HORIZON_TIME = 15. # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg. _DEBUG = False diff --git a/selfdrive/sunnypilot/live_map_data/debug.py b/selfdrive/sunnypilot/live_map_data/debug.py index 035f21077a..23f122adf0 100644 --- a/selfdrive/sunnypilot/live_map_data/debug.py +++ b/selfdrive/sunnypilot/live_map_data/debug.py @@ -11,7 +11,7 @@ from openpilot.common.realtime import set_core_affinity from openpilot.selfdrive.controls.lib.sunnypilot.common import Policy from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_resolver import SpeedLimitResolver from openpilot.selfdrive.sunnypilot.live_map_data import get_debug -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def excepthook(args): diff --git a/selfdrive/sunnypilot/live_map_data/standalone.py b/selfdrive/sunnypilot/live_map_data/standalone.py index a65e3e373a..fbe0f570ee 100644 --- a/selfdrive/sunnypilot/live_map_data/standalone.py +++ b/selfdrive/sunnypilot/live_map_data/standalone.py @@ -9,7 +9,7 @@ import traceback from openpilot.common.realtime import Ratekeeper, set_core_affinity from openpilot.selfdrive.sunnypilot.live_map_data import get_debug from openpilot.selfdrive.sunnypilot.live_map_data.osm_map_data import OsmMapData -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def excepthook(args): diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py new file mode 100755 index 0000000000..f9d3e681a5 --- /dev/null +++ b/selfdrive/test/cpp_harness.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python3 +import subprocess +import sys + +from openpilot.common.prefix import OpenpilotPrefix + + +with OpenpilotPrefix(): + ret = subprocess.call(sys.argv[1:]) + +exit(ret) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index e0ba54f058..5f77ceb10d 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,7 +17,7 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 552070f024..a8b7ca0c4d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -11,7 +11,6 @@ from openpilot.system.version import training_version, terms_version def set_params_enabled(): - os.environ['PASSIVE'] = "0" os.environ['REPLAY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['LOGPRINT'] = "debug" @@ -20,7 +19,6 @@ def set_params_enabled(): params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("Passive", False) # valid calib msg = messaging.new_message('liveCalibration') @@ -71,4 +69,11 @@ def with_processes(processes, init_time=0, ignore_stopped=None): def noop(*args, **kwargs): - pass \ No newline at end of file + pass + + +def read_segment_list(segment_list_path): + with open(segment_list_path, "r") as f: + seg_list = f.read().splitlines() + + return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index a3b307ccba..713b7801f8 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,10 +1,8 @@ #!/usr/bin/env python3 import itertools -import os -from parameterized import parameterized_class import unittest +from parameterized import parameterized_class -from openpilot.common.params import Params from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver @@ -150,17 +148,6 @@ class LongitudinalControl(unittest.TestCase): e2e: bool force_decel: bool - @classmethod - def setUpClass(cls): - os.environ['SIMULATION'] = "1" - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['NO_CAN_TIMEOUT'] = "1" - - params = Params() - params.clear_all() - params.put_bool("Passive", bool(os.getenv("PASSIVE"))) - params.put_bool("OpenpilotEnabledToggle", True) - def test_maneuver(self): for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}): with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py deleted file mode 100755 index f590b66e54..0000000000 --- a/selfdrive/test/openpilotci.py +++ /dev/null @@ -1,64 +0,0 @@ -#!/usr/bin/env python3 -import os -from datetime import datetime, timedelta -from functools import lru_cache -from pathlib import Path -from typing import IO, Union - -DATA_CI_ACCOUNT = "commadataci" -DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net" -DATA_CI_CONTAINER = "openpilotci" -BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{DATA_CI_CONTAINER}/" - -TOKEN_PATH = Path("/data/azure_token") - - -def get_url(route_name: str, segment_num, log_type="rlog") -> str: - ext = "hevc" if log_type.endswith('camera') else "bz2" - return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" - - -@lru_cache -def get_azure_credential(): - if "AZURE_TOKEN" in os.environ: - return os.environ["AZURE_TOKEN"] - elif TOKEN_PATH.is_file(): - return TOKEN_PATH.read_text().strip() - else: - from azure.identity import AzureCliCredential - return AzureCliCredential() - - -@lru_cache -def get_container_sas(account_name: str, container_name: str): - from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas - start_time = datetime.utcnow() - expiry_time = start_time + timedelta(hours=1) - blob_service = BlobServiceClient( - account_url=f"https://{account_name}.blob.core.windows.net", - credential=get_azure_credential(), - ) - return generate_container_sas( - account_name, - container_name, - user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), - permission=ContainerSasPermissions(read=True, write=True, list=True), - expiry=expiry_time, - ) - - -def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: - from azure.storage.blob import BlobClient - blob = BlobClient( - account_url=DATA_CI_ACCOUNT_URL, - container_name=DATA_CI_CONTAINER, - blob_name=blob_name, - credential=get_azure_credential(), - ) - blob.upload_blob(data) - return BASE_URL + blob_name - - -def upload_file(path: Union[str, os.PathLike], blob_name: str) -> str: - with open(path, "rb") as f: - return upload_bytes(f, blob_name) diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index bec3eb9016..008a901010 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -31,7 +31,7 @@ optional arguments: --blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd) --blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA) --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events) - --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. carEvents) + --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents) --update-refs Updates reference logs using current commit --upload-only Skips testing processes and uploads logs from previous test run ``` diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index ad5192dbba..ef74314172 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -40,7 +40,7 @@ def migrate_pandaStates(lr): # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE, + "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR, "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } @@ -85,6 +85,7 @@ def migrate_peripheralState(lr): continue new_msg = messaging.new_message("peripheralState") + new_msg.valid = msg.valid new_msg.logMonoTime = msg.logMonoTime all_msg.append(new_msg.as_reader()) @@ -149,6 +150,7 @@ def migrate_carParams(lr, old_logtime=False): for msg in lr: if msg.which() == 'carParams': CP = messaging.new_message('carParams') + CP.valid = True CP.carParams = msg.carParams.as_builder() for car_fw in CP.carParams.carFw: car_fw.brand = CP.carParams.carName diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 2841386bf4..97b7c7c46c 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -9,7 +9,7 @@ import cereal.messaging as messaging from openpilot.common.params import Params from openpilot.system.hardware import PC from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.tools.lib.openpilotci import BASE_URL, get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process from openpilot.system.version import get_commit @@ -105,11 +105,11 @@ def nav_model_replay(lr): def model_replay(lr, frs): # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"}) - dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"}) + modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}) + dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) if not SEND_EXTRA_INPUTS: - modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] - dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] + modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]] + dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]] # initial calibration cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder() cal_msg.logMonoTime = lr[0].logMonoTime @@ -143,7 +143,7 @@ if __name__ == "__main__": import requests import threading import http.server - from openpilot.selfdrive.test.openpilotci import upload_bytes + from openpilot.tools.lib.openpilotci import upload_bytes os.environ['MAPS_HOST'] = 'http://localhost:5000' class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): @@ -229,7 +229,7 @@ if __name__ == "__main__": # upload new refs if (update or failed) and not PC: - from openpilot.selfdrive.test.openpilotci import upload_file + from openpilot.tools.lib.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 977f19e7bc..a2f6896307 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -35a05ff1b68062c9478b2adfe96f1c294bee1b6c +fee90bcee1e545c7ec9a39d3c7d4e42cfefb9955 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index a26e964550..a6b2771668 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -442,8 +442,8 @@ def controlsd_config_callback(params, cfg, lr): controlsState = msg.controlsState if initialized: break - elif msg.which() == "carEvents": - initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] + elif msg.which() == "onroadEvents": + initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents] assert controlsState is not None and initialized, "controlsState never initialized" params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) @@ -461,12 +461,12 @@ CONFIGS = [ proc_name="controlsd", pubs=[ "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState", + "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope" ], - subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], - ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], + subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"], + ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"], config_callback=controlsd_config_callback, init_callback=controlsd_fingerprint_callback, should_recv_callback=controlsd_rcv_callback, @@ -478,7 +478,7 @@ CONFIGS = [ proc_name="radard", pubs=["can", "carState", "modelV2"], subs=["radarState", "liveTracks"], - ignore=["logMonoTime", "valid", "radarState.cumLagMs"], + ignore=["logMonoTime", "radarState.cumLagMs"], init_callback=get_car_params_callback, should_recv_callback=MessageBasedRcvCallback("can"), main_pub="can", @@ -486,8 +486,8 @@ CONFIGS = [ ProcessConfig( proc_name="plannerd", pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], - subs=["lateralPlan", "longitudinalPlan", "uiPlan"], - ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"], + subs=["longitudinalPlan", "uiPlan"], + ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("modelV2"), tolerance=NUMPY_TOLERANCE, @@ -496,14 +496,14 @@ CONFIGS = [ proc_name="calibrationd", pubs=["carState", "cameraOdometry", "carParams"], subs=["liveCalibration"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], should_recv_callback=calibration_rcv_callback, ), ProcessConfig( proc_name="dmonitoringd", pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"], subs=["driverMonitoringState"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), tolerance=NUMPY_TOLERANCE, ), @@ -514,7 +514,7 @@ CONFIGS = [ "liveCalibration", "carState", "carParams", "gpsLocation" ], subs=["liveLocationKalman"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, ), @@ -522,7 +522,7 @@ CONFIGS = [ proc_name="paramsd", pubs=["liveLocationKalman", "carState"], subs=["liveParameters"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"), tolerance=NUMPY_TOLERANCE, @@ -545,7 +545,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], + pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], subs=["modelV2", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), @@ -555,6 +555,7 @@ CONFIGS = [ main_pub_drained=False, vision_pubs=["roadCameraState", "wideRoadCameraState"], ignore_alive_pubs=["wideRoadCameraState"], + init_callback=get_car_params_callback, ), ProcessConfig( proc_name="dmonitoringmodeld", @@ -725,7 +726,6 @@ def _replay_multi_process( def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]: params_dict = { "OpenpilotEnabledToggle": True, - "Passive": False, "DisengageOnAccelerator": True, "DisableLogging": False, } @@ -749,6 +749,9 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non if CP.openpilotLongitudinalControl: params_dict["ExperimentalLongitudinalEnabled"] = True + if CP.notCar: + params_dict["JoystickDebugMode"] = True + return params_dict diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 40ac91ee70..bc79d3be9e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dbea36698ba48429b201b138846165eb4c329b92 \ No newline at end of file +d9a3a0d4e806b49ec537233d30926bec70308485 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index a6e6955dbf..bea1b1fb00 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -8,14 +8,13 @@ import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta from openpilot.system.hardware import PC, TICI from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.tools.lib.openpilotci import BASE_URL from openpilot.system.version import get_commit from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.filereader import FileReader -TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" -SEGMENT = 0 +TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0" FRAME_WIDTH = 1928 FRAME_HEIGHT = 1208 @@ -116,7 +115,7 @@ if __name__ == "__main__": ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit") # load logs - lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) + lr = list(LogReader(TEST_ROUTE)) # run replay frames = debayer_replay(lr) @@ -172,7 +171,7 @@ if __name__ == "__main__": # upload new refs if update or (failed and TICI): - from openpilot.selfdrive.test.openpilotci import upload_file + from openpilot.tools.lib.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 4b8629fc7d..adff06f88a 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -14,13 +14,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] + TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] class TestFuzzProcesses(unittest.TestCase): + # TODO: make this faster and increase examples @parameterized.expand(TEST_CASES) @given(st.data()) - @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) + @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) def test_fuzz_process(self, proc_name, cfg, data): msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) lr = [log.Event.new_message(**m).as_reader() for m in msgs] diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5429c9b63e..46fa93ba4d 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -8,7 +8,7 @@ from tqdm import tqdm from typing import Any, DefaultDict, Dict from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.tools.lib.openpilotci import get_url, upload_file from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process from openpilot.system.version import get_commit diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index f352205564..41d67ea376 100755 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -6,7 +6,7 @@ from parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.framereader import FrameReader diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index c34e097f73..5c85312f1a 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -29,7 +29,6 @@ sudo abctl --set_success # patch sshd config sudo mount -o rw,remount / -echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$//') | sudo tee /etc/hostname sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config sudo systemctl daemon-reload sudo systemctl restart ssh @@ -80,9 +79,7 @@ safe_checkout() { echo "git checkout done, t=$SECONDS" du -hs $SOURCE_DIR $SOURCE_DIR/.git - if [ -z "SKIP_COPY" ]; then - rsync -a --delete $SOURCE_DIR $TEST_DIR - fi + rsync -a --delete $SOURCE_DIR $TEST_DIR } unsafe_checkout() { diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh new file mode 100755 index 0000000000..a6601d0a61 --- /dev/null +++ b/selfdrive/test/setup_vsound.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +{ + #start pulseaudio daemon + sudo pulseaudio -D + + # create a virtual null audio and set it to default device + sudo pactl load-module module-null-sink sink_name=virtual_audio + sudo pactl set-default-sink virtual_audio +} > /dev/null 2>&1 diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh new file mode 100755 index 0000000000..692b84d65f --- /dev/null +++ b/selfdrive/test/setup_xvfb.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env bash + +# Sets up a virtual display for running map renderer and simulator without an X11 display + +DISP_ID=99 +export DISPLAY=:$DISP_ID + +sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null & + +# check for x11 socket for the specified display ID +while [ ! -S /tmp/.X11-unix/X$DISP_ID ] +do + echo "Waiting for Xvfb..." + sleep 1 +done + +touch ~/.Xauthority +export XDG_SESSION_TYPE="x11" +xset -q \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0e9d207da3..335da73232 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,9 +34,9 @@ PROCS = { "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, - "./mapsd": 1.5, - "selfdrive.controls.plannerd": 16.5, - "./_ui": 18.0, + "./mapsd": (0.5, 10.0), + "selfdrive.controls.plannerd": 11.0, + "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, "./sensord": 7.0, "selfdrive.controls.radard": 4.5, @@ -46,18 +46,18 @@ PROCS = { "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, - "./_soundd": (1.0, 65.0), + "selfdrive.ui.soundd": 3.5, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, "selfdrive.tombstoned": 0, "./logcatd": 0, - "system.micd": 10.0, - "system.timezoned": 0, + "system.micd": 6.0, + "system.timed": 0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, "selfdrive.navd.navd": 0.4, - "system.loggerd.uploader": 3.0, + "system.loggerd.uploader": (0.5, 10.0), "system.loggerd.deleter": 0.1, } @@ -69,7 +69,7 @@ PROCS.update({ }, "tizi": { "./boardd": 19.0, - "system.sensord.rawgps.rawgpsd": 1.0, + "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) @@ -82,7 +82,6 @@ TIMINGS = { "carState": [2.5, 0.35], "carControl": [2.5, 0.35], "controlsState": [2.5, 0.35], - "lateralPlan": [2.5, 0.5], "longitudinalPlan": [2.5, 0.5], "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], @@ -168,6 +167,15 @@ class TestOnroad(unittest.TestCase): cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog"))) cls.log_path = cls.segments[1] + cls.log_sizes = {} + for f in cls.log_path.iterdir(): + assert f.is_file() + cls.log_sizes[f] = f.stat().st_size / 1e6 + if f.name in ("qlog", "rlog"): + with open(f, 'rb') as ff: + cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6 + + @cached_property def service_msgs(self): msgs = defaultdict(list) @@ -198,14 +206,7 @@ class TestOnroad(unittest.TestCase): self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}") def test_log_sizes(self): - for f in self.log_path.iterdir(): - assert f.is_file() - - sz = f.stat().st_size / 1e6 - if f.name in ("qlog", "rlog"): - with open(f, 'rb') as ff: - sz = len(bz2.compress(ff.read())) / 1e6 - + for f, sz in self.log_sizes.items(): if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": @@ -303,7 +304,7 @@ class TestOnroad(unittest.TestCase): self.assertLessEqual(max(mems) - min(mems), 3.0) def test_gpu_usage(self): - self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"}) + self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}) def test_camera_processing_time(self): result = "\n" @@ -342,7 +343,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- MPC Timing ------------------\n" result += "------------------------------------------------\n" - cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] + cfgs = [("longitudinalPlan", 0.05, 0.05),] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") @@ -408,7 +409,7 @@ class TestOnroad(unittest.TestCase): def test_startup(self): startup_alert = None for msg in self.lrs[0]: - # can't use carEvents because the first msg can be dropped while loggerd is starting up + # can't use onroadEvents because the first msg can be dropped while loggerd is starting up if msg.which() == "controlsState": startup_alert = msg.controlsState.alertText1 break @@ -417,8 +418,8 @@ class TestOnroad(unittest.TestCase): def test_engagable(self): no_entries = Counter() - for m in self.service_msgs['carEvents']: - for evt in m.carEvents: + for m in self.service_msgs['onroadEvents']: + for evt in m.onroadEvents: if evt.noEntry: no_entries[evt.name] += 1 diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index cc2cc6514e..aec49cb13a 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -18,7 +18,7 @@ def test_time_to_onroad(): proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() - sm = messaging.SubMaster(['controlsState', 'deviceState', 'carEvents']) + sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents']) try: # wait for onroad with Timeout(20, "timed out waiting to go onroad"): @@ -40,7 +40,7 @@ def test_time_to_onroad(): # once we're enageable, must be for the next few seconds for _ in range(500): sm.update(100) - assert sm['controlsState'].engageable, f"events: {sm['carEvents']}" + assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" finally: proc.terminate() if proc.wait(60) is None: diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index a8a3463104..75520df91b 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -15,7 +15,7 @@ else: import cereal.messaging as messaging from collections import namedtuple from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.common.basedir import BASEDIR ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 326cb4fa56..5ab5042b2b 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,56 +1,39 @@ #!/usr/bin/env python3 +import os +import re import subprocess import sys -from functools import lru_cache -from typing import Iterable, Optional +from typing import Iterable, List, Optional -from azure.storage.blob import ContainerClient from tqdm import tqdm from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, - get_azure_credential, get_container_sas) +from openpilot.tools.lib.azure_container import AzureContainer +from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer -DATA_PROD_ACCOUNT = "commadata2" -DATA_PROD_CONTAINER = "commadata2" - -SOURCES = [ - (DATA_PROD_ACCOUNT, DATA_PROD_CONTAINER), - (DATA_CI_ACCOUNT, DATA_CI_CONTAINER), +SOURCES: List[AzureContainer] = [ + DataProdContainer, + DataCIContainer ] - -@lru_cache -def get_azure_keys(): - dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, credential=get_azure_credential()) - dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) - source_keys = [get_container_sas(*s) for s in SOURCES] - return dest_container, dest_key, source_keys - +DEST = OpenpilotCIContainer def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: - # TODO: use azure-storage-blob instead of azcopy, simplifies auth - dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) if exclude_patterns is None: - exclude_patterns = ['*/dcamera.hevc'] + exclude_patterns = [r'dcamera\.hevc'] r, n = path.rsplit("--", 1) r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path destpath = f"{r}/{n}" - cmd = [ - "azcopy", - "copy", - f"{path}/*", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{destpath}?{dest_key}", - "--recursive=false", - "--overwrite=false", - ] + [f"--exclude-pattern={p}" for p in exclude_patterns] - subprocess.check_call(cmd) + for file in os.listdir(path): + if any(re.search(pattern, file) for pattern in exclude_patterns): + continue + DEST.upload_file(os.path.join(path, file), f"{destpath}/{file}") def sync_to_ci_public(route: str) -> bool: - dest_container, dest_key, source_keys = get_azure_keys() + dest_container, dest_key = DEST.get_client_and_key() key_prefix = route.replace('|', '/') dongle_id = key_prefix.split('/')[0] @@ -58,14 +41,15 @@ def sync_to_ci_public(route: str) -> bool: return True print(f"Uploading {route}") - for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True): + for source_container in SOURCES: # assumes az login has been run - print(f"Trying {source_account}/{source_bucket}") + print(f"Trying {source_container.ACCOUNT}/{source_container.CONTAINER}") + _, source_key = source_container.get_client_and_key() cmd = [ "azcopy", "copy", - f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{dongle_id}?{dest_key}", + f"{source_container.BASE_URL}{key_prefix}?{source_key}", + f"{DEST.BASE_URL}{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index 64cd4c78ee..19c3292ce2 100755 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -3,7 +3,7 @@ from abc import ABC, abstractmethod from openpilot.common.realtime import DT_TRML from openpilot.common.numpy_fast import interp -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index e8c8d24891..d10d642f0b 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -3,9 +3,9 @@ import threading from typing import Optional from openpilot.common.numpy_fast import interp -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) @@ -60,7 +60,7 @@ class PowerMonitoring: self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0) self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh) if now - self.last_save_time >= 10: - put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) + self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) self.last_save_time = now # First measurement, set integration time diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index f8d43737cd..c3a890f068 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -3,7 +3,6 @@ import unittest from unittest.mock import patch from openpilot.common.params import Params -from openpilot.selfdrive.test.helpers import noop from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S @@ -26,7 +25,6 @@ def pm_patch(name, value, constant=False): @patch("time.monotonic", new=mock_time_monotonic) -@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=noop) # TODO: Remove this once nonblocking params are safer class TestPowerMonitoring(unittest.TestCase): def setUp(self): self.params = Params() diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 90388bcebf..4a14ddcf2e 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import datetime import os import json import queue @@ -15,7 +14,6 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.dict_helpers import strip_deprecated_keys -from openpilot.common.time import MIN_DATE from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_TRML @@ -23,7 +21,7 @@ from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.loggerd.config import get_available_percent from openpilot.selfdrive.statsd import statlog -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring from openpilot.selfdrive.thermald.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version @@ -81,7 +79,7 @@ def read_tz(x): def read_thermal(thermal_config): - dat = messaging.new_message('deviceState') + dat = messaging.new_message('deviceState', valid=True) dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]] dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]] dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1] @@ -295,25 +293,22 @@ def thermald_thread(end_event, hw_queue) -> None: # **** starting logic **** - # Ensure date/time are valid - now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = now > MIN_DATE - set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present) - startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 - startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \ - params.get_bool("Passive") + startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") # must be at an engageable thermal band to go onroad startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + # ensure device is fully booted + startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted() + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger extra_text = f"{offroad_comp_temp:.1f}C" @@ -446,6 +441,8 @@ def thermald_thread(end_event, hw_queue) -> None: except Exception: cloudlog.exception("failed to save offroad status") + params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered) + count += 1 should_start_prev = should_start diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 3f2fb28d23..5a81e93b28 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -9,10 +9,9 @@ import time import glob from typing import NoReturn -from openpilot.common.file_helpers import mkdirs_exists_ok import openpilot.selfdrive.sentry as sentry from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_commit MAX_SIZE = 1_000_000 * 100 # allow up to 100M @@ -128,7 +127,7 @@ def report_tombstone_apport(fn): new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] crashlog_dir = os.path.join(Paths.log_root(), "crash") - mkdirs_exists_ok(crashlog_dir) + os.makedirs(crashlog_dir, exist_ok=True) # Files could be on different filesystems, copy, then delete shutil.copy(fn, os.path.join(crashlog_dir, new_fn)) diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index cb95652191..99f9097905 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,7 +3,7 @@ moc_* translations/main_test_en.* -_mui +ui watch3 installer/installers/* qt/text diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 1c2f2235c0..160c292c92 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -12,14 +12,13 @@ if arch == 'larch64': maps = arch in ['larch64', 'aarch64', 'x86_64'] screenrecorder = arch in ['larch64'] -if maps and arch != 'larch64': - rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] - qt_env["RPATH"] += rpath - if arch == "Darwin": del base_libs[base_libs.index('OpenCL')] qt_env['FRAMEWORKS'] += ['OpenCL'] +# FIXME: remove this once we're on 5.15 (24.04) +qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", @@ -33,11 +32,12 @@ widgets_src += ["qt/offroad/sunnypilot/display_settings.cc", "qt/offroad/sunnypi "qt/offroad/sunnypilot/lane_change_settings.cc", "qt/offroad/sunnypilot/speed_limit_control_settings.cc", "qt/offroad/sunnypilot/monitoring_settings.cc", "qt/offroad/sunnypilot/osm_settings.cc", "qt/offroad/sunnypilot/custom_offsets_settings.cc", "qt/widgets/sunnypilot/drive_stats.cc", - "qt/offroad/sunnypilot/software_settings_sp.cc", "qt/offroad/sunnypilot/models_fetcher.cc"] + "qt/offroad/sunnypilot/software_settings_sp.cc", "qt/offroad/sunnypilot/models_fetcher.cc", + "qt/offroad/sunnypilot/speed_limit_warning_settings.cc", "qt/offroad/sunnypilot/speed_limit_policy_settings.cc"] qt_env['CPPDEFINES'] = [] if maps: - base_libs += ['qmapboxgl'] + base_libs += ['QMapLibre'] widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc", "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"] qt_env['CPPDEFINES'] += ["ENABLE_MAPS"] @@ -80,12 +80,6 @@ qt_env.Command(assets, [assets_src, translations_assets_src], f"rcc $SOURCES -o qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, translations_assets_src, "#selfdrive/assets/assets.o"]) + [lrelease]) asset_obj = qt_env.Object("assets", assets) -# build soundd -qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) -if GetOption('extras'): - qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs) - qt_env.Program('tests/test_sound', ['tests/test_runner.cc', 'soundd/sound.cc', 'tests/test_sound.cc'], LIBS=qt_libs) - qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) # spinner and text window @@ -100,7 +94,7 @@ if screenrecorder: qt_libs += ['OmxCore', 'gsl', 'CB', 'avformat', 'avcodec', 'swscale', 'avutil', 'yuv', 'pthread'] qt_env['CPPDEFINES'] += ["ENABLE_DASHCAM"] -qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) +qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('extras'): qt_src.remove("main.cc") # replaced by test_runner #qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) @@ -116,31 +110,22 @@ if GetOption('extras') and arch != "Darwin": # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) - # build mui - qt_env.Program("_mui", ["mui.cc"], LIBS=qt_libs) - # build installers senv = qt_env.Clone() senv['LINKFLAGS'].append('-Wl,-strip-debug') release = "release3" - dashcam = "dashcam3" installers = [ ("openpilot", release), ("openpilot_test", f"{release}-staging"), ("openpilot_nightly", "nightly"), ("openpilot_internal", "master"), - ("dashcam", dashcam), - ("dashcam_test", f"{dashcam}-staging"), ] - cont = {} - for brand in ("openpilot", "dashcam"): - cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh", - "ld -r -b binary -o $TARGET $SOURCE") + cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh", + "ld -r -b binary -o $TARGET $SOURCE") for name, branch in installers: - brand = "dashcam" if "dashcam" in branch else "openpilot" - d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"} + d = {'BRANCH': f"'\"{branch}\"'"} if "internal" in name: d['INTERNAL'] = "1" @@ -149,9 +134,9 @@ if GetOption('extras') and arch != "Darwin": r.raise_for_status() d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"' obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) - f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs) + f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs) # keep installers small - assert f[0].get_size() < 300*1e3 + assert f[0].get_size() < 350*1e3 # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): diff --git a/common/kalman/__init__.py b/selfdrive/ui/__init__.py similarity index 100% rename from common/kalman/__init__.py rename to selfdrive/ui/__init__.py diff --git a/selfdrive/ui/installer/continue_dashcam.sh b/selfdrive/ui/installer/continue_dashcam.sh deleted file mode 100755 index 25233fff11..0000000000 --- a/selfdrive/ui/installer/continue_dashcam.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/bash - -cd /data/openpilot -exec ./launch_chffrplus.sh diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 179ce60c63..d43ed37ae8 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -33,8 +33,8 @@ const QString CACHE_PATH = "/data/openpilot.cache"; #define INSTALL_PATH "/data/openpilot" #define TMP_INSTALL_PATH "/data/tmppilot" -extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_start"); -extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_end"); +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"); bool time_valid() { time_t rawtime; diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc deleted file mode 100644 index e2b4358b65..0000000000 --- a/selfdrive/ui/mui.cc +++ /dev/null @@ -1,132 +0,0 @@ -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/qt_window.h" - -class StatusBar : public QGraphicsRectItem { - private: - QLinearGradient linear_gradient; - QRadialGradient radial_gradient; - QTimer animation_timer; - const int animation_length = 10; - int animation_index = 0; - - public: - StatusBar(double x, double y, double width, double height) : QGraphicsRectItem {x, y, width, height} { - linear_gradient = QLinearGradient(0, 0, 0, height/2); - linear_gradient.setSpread(QGradient::ReflectSpread); - - radial_gradient = QRadialGradient(width/2, height/2, width/8); - QObject::connect(&animation_timer, &QTimer::timeout, [=]() { - animation_index++; - animation_index %= animation_length; - }); - animation_timer.start(50); - } - - void solidColor(QColor color) { - QColor dark_color = QColor(color); - dark_color.setAlphaF(0.5); - - linear_gradient.setColorAt(0, dark_color); - linear_gradient.setColorAt(1, color); - setBrush(QBrush(linear_gradient)); - } - - // these need to be called continuously for the animations to work. - // can probably clean that up with some more abstractions - void blinkingColor(QColor color) { - QColor dark_color = QColor(color); - dark_color.setAlphaF(0.1); - - int radius = (rect().width() / animation_length) * animation_index; - QPoint center = QPoint(rect().width()/2, rect().height()/2); - radial_gradient.setCenter(center); - radial_gradient.setFocalPoint(center); - radial_gradient.setRadius(radius); - - radial_gradient.setColorAt(1, dark_color); - radial_gradient.setColorAt(0, color); - setBrush(QBrush(radial_gradient)); - } - - void laneChange(cereal::LateralPlan::LaneChangeDirection direction) { - QColor dark_color = QColor(bg_colors[STATUS_ENGAGED]); - dark_color.setAlphaF(0.1); - - int x = (rect().width() / animation_length) * animation_index; - QPoint center = QPoint(((direction == cereal::LateralPlan::LaneChangeDirection::RIGHT) ? x : (rect().width() - x)), rect().height()/2); - radial_gradient.setCenter(center); - radial_gradient.setFocalPoint(center); - radial_gradient.setRadius(rect().width()/5); - - radial_gradient.setColorAt(1, dark_color); - radial_gradient.setColorAt(0, bg_colors[STATUS_ENGAGED]); - setBrush(QBrush(radial_gradient)); - } - - void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override { - painter->setPen(QPen()); - painter->setBrush(brush()); - - double rounding_radius = rect().height()/2; - painter->drawRoundedRect(rect(), rounding_radius, rounding_radius); - } -}; - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - w.setStyleSheet("background-color: black;"); - - // our beautiful UI - QVBoxLayout *layout = new QVBoxLayout(&w); - - QGraphicsScene *scene = new QGraphicsScene(); - StatusBar *status_bar = new StatusBar(0, 0, 1000, 50); - scene->addItem(status_bar); - - QGraphicsView *graphics_view = new QGraphicsView(scene); - layout->insertSpacing(0, 400); - layout->addWidget(graphics_view, 0, Qt::AlignCenter); - - QTimer timer; - QObject::connect(&timer, &QTimer::timeout, [=]() { - static SubMaster sm({"deviceState", "controlsState", "lateralPlan"}); - - bool onroad_prev = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - sm.update(0); - - bool onroad = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - - if (onroad) { - auto cs = sm["controlsState"].getControlsState(); - UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; - auto lp = sm["lateralPlan"].getLateralPlan(); - if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) { - status_bar->blinkingColor(bg_colors[status]); - } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING || - lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) { - status_bar->laneChange(lp.getLaneChangeDirection()); - } else { - status_bar->solidColor(bg_colors[status]); - } - } - - if ((onroad != onroad_prev) || sm.frame < 2) { - Hardware::set_brightness(50); - Hardware::set_display_power(onroad); - } - }); - timer.start(50); - - return a.exec(); -} diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index ab776ccd8b..d505e4f5ff 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -18,7 +18,7 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) { +MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) { QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState); map_overlay = new QWidget (this); @@ -57,10 +57,10 @@ void MapWindow::initLayers() { if (!m_map->layerExists("modelPathLayer")) { qDebug() << "Initializing modelPathLayer"; QVariantMap modelPath; - modelPath["id"] = "modelPathLayer"; + //modelPath["id"] = "modelPathLayer"; modelPath["type"] = "line"; modelPath["source"] = "modelPathSource"; - m_map->addLayer(modelPath); + m_map->addLayer("modelPathLayer", modelPath); m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red")); m_map->setPaintProperty("modelPathLayer", "line-width", 5.0); m_map->setLayoutProperty("modelPathLayer", "line-cap", "round"); @@ -68,10 +68,9 @@ void MapWindow::initLayers() { if (!m_map->layerExists("navLayer")) { qDebug() << "Initializing navLayer"; QVariantMap nav; - nav["id"] = "navLayer"; nav["type"] = "line"; nav["source"] = "navSource"; - m_map->addLayer(nav, "road-intersection"); + m_map->addLayer("navLayer", nav, "road-intersection"); QVariantMap transition; transition["duration"] = 400; // ms @@ -84,10 +83,9 @@ void MapWindow::initLayers() { qDebug() << "Initializing pinLayer"; m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg")); QVariantMap pin; - pin["id"] = "pinLayer"; pin["type"] = "symbol"; pin["source"] = "pinSource"; - m_map->addLayer(pin); + m_map->addLayer("pinLayer", pin); m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport"); m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker"); m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true); @@ -100,10 +98,9 @@ void MapWindow::initLayers() { m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg")); QVariantMap carPos; - carPos["id"] = "carPosLayer"; carPos["type"] = "symbol"; carPos["source"] = "carPosSource"; - m_map->addLayer(carPos); + m_map->addLayer("carPosLayer", carPos); m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map"); m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow"); m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5); @@ -120,7 +117,7 @@ void MapWindow::initLayers() { buildings["source-layer"] = "building"; buildings["type"] = "fill-extrusion"; buildings["minzoom"] = 15; - m_map->addLayer(buildings); + m_map->addLayer("buildingsLayer", buildings); m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"})); QVariantList fillExtrusionHeight = { // scale buildings as you zoom in @@ -192,7 +189,7 @@ void MapWindow::updateState(const UIState &s) { locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough); if (locationd_valid) { - last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); + last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); last_bearing = RAD2DEG(locationd_orientation.getValue()[2]); velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0])); } @@ -229,10 +226,10 @@ void MapWindow::updateState(const UIState &s) { if (locationd_valid) { // Update current location marker auto point = coordinate_to_collection(*last_position); - QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {}); + QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {}); QVariantMap carPosSource; carPosSource["type"] = "geojson"; - carPosSource["data"] = QVariant::fromValue(feature1); + carPosSource["data"] = QVariant::fromValue(feature1); m_map->updateSource("carPosSource", carPosSource); // Map bearing isn't updated when interacting, keep location marker up to date @@ -273,10 +270,10 @@ void MapWindow::updateState(const UIState &s) { qWarning() << "Updating navLayer with new route"; auto route = sm["navRoute"].getNavRoute(); auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates()); - QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {}); + QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {}); QVariantMap navSource; navSource["type"] = "geojson"; - navSource["data"] = QVariant::fromValue(feature); + navSource["data"] = QVariant::fromValue(feature); m_map->updateSource("navSource", navSource); m_map->setLayoutProperty("navLayer", "visibility", "visible"); @@ -299,24 +296,24 @@ void MapWindow::resizeGL(int w, int h) { } void MapWindow::initializeGL() { - m_map.reset(new QMapboxGL(this, m_settings, size(), 1)); + m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1)); if (last_position) { m_map->setCoordinateZoom(*last_position, MAX_ZOOM); } else { - m_map->setCoordinateZoom(QMapbox::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM); + m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM); } m_map->setMargins({0, 350, 0, 50}); m_map->setPitch(MIN_PITCH); m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"); - QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { + QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) { // set global animation duration to 0 ms so visibility changes are instant - if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingStyle) { + if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) { m_map->setTransitionOptions(0, 0); } - if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) { + if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) { loaded_once = true; } }); @@ -424,10 +421,10 @@ void MapWindow::updateDestinationMarker() { auto nav_dest = coordinate_from_param("NavDestination"); if (nav_dest.has_value()) { auto point = coordinate_to_collection(*nav_dest); - QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {}); + QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {}); QVariantMap pinSource; pinSource["type"] = "geojson"; - pinSource["data"] = QVariant::fromValue(feature); + pinSource["data"] = QVariant::fromValue(feature); m_map->updateSource("pinSource", pinSource); m_map->setPaintProperty("pinLayer", "visibility", "visible"); } else { diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 5fe79f8b15..81ba50037a 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -6,7 +6,8 @@ #include #include #include -#include +#include +#include #include #include #include @@ -27,7 +28,7 @@ class MapWindow : public QOpenGLWidget { Q_OBJECT public: - MapWindow(const QMapboxGLSettings &); + MapWindow(const QMapLibre::Settings &); ~MapWindow(); private: @@ -35,8 +36,8 @@ private: void paintGL() final; void resizeGL(int w, int h) override; - QMapboxGLSettings m_settings; - QScopedPointer m_map; + QMapLibre::Settings m_settings; + QScopedPointer m_map; void initLayers(); @@ -56,8 +57,8 @@ private: int interaction_counter = 0; // Position - std::optional last_valid_nav_dest; - std::optional last_position; + std::optional last_valid_nav_dest; + std::optional last_position; std::optional last_bearing; FirstOrderFilter velocity_filter; bool locationd_valid = false; diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc index 322861ed15..161844c618 100644 --- a/selfdrive/ui/qt/maps/map_eta.cc +++ b/selfdrive/ui/qt/maps/map_eta.cc @@ -20,7 +20,7 @@ void MapETA::paintEvent(QPaintEvent *event) { QPainter p(this); p.setRenderHint(QPainter::Antialiasing); p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 150)); + p.setBrush(QColor(0, 0, 0, 255)); QSizeF txt_size = eta_doc.size(); p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25); p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2); diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 022355e3ce..3907ff7b05 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -16,24 +16,25 @@ QString get_mapbox_token() { return MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN; } -QMapboxGLSettings get_mapbox_settings() { - QMapboxGLSettings settings; +QMapLibre::Settings get_mapbox_settings() { + QMapLibre::Settings settings; + settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider); if (!Hardware::PC()) { settings.setCacheDatabasePath(MAPS_CACHE_PATH); settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024); } settings.setApiBaseUrl(MAPS_HOST); - settings.setAccessToken(get_mapbox_token()); + settings.setApiKey(get_mapbox_token()); return settings; } -QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) { +QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in) { return QGeoCoordinate(in.first, in.second); } -QMapbox::CoordinatesCollections model_to_collection( +QMapLibre::CoordinatesCollections model_to_collection( const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, const cereal::XYZTData::Reader &line){ @@ -42,7 +43,7 @@ QMapbox::CoordinatesCollections model_to_collection( Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]); Eigen::Matrix3d ecef_from_local = euler2rot(orient); - QMapbox::Coordinates coordinates; + QMapLibre::Coordinates coordinates; auto x = line.getX(); auto y = line.getY(); auto z = line.getZ(); @@ -52,28 +53,28 @@ QMapbox::CoordinatesCollections model_to_collection( coordinates.push_back({point_geodetic.lat, point_geodetic.lon}); } - return {QMapbox::CoordinatesCollection{coordinates}}; + return {QMapLibre::CoordinatesCollection{coordinates}}; } -QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c) { - QMapbox::Coordinates coordinates{c}; - return {QMapbox::CoordinatesCollection{coordinates}}; +QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c) { + QMapLibre::Coordinates coordinates{c}; + return {QMapLibre::CoordinatesCollection{coordinates}}; } -QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { - QMapbox::Coordinates coordinates; +QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { + QMapLibre::Coordinates coordinates; for (auto const &c : coordinate_list) { coordinates.push_back({c.getLatitude(), c.getLongitude()}); } - return {QMapbox::CoordinatesCollection{coordinates}}; + return {QMapLibre::CoordinatesCollection{coordinates}}; } -QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list) { - QMapbox::Coordinates coordinates; +QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list) { + QMapLibre::Coordinates coordinates; for (auto &c : coordinate_list) { coordinates.push_back({c.latitude(), c.longitude()}); } - return {QMapbox::CoordinatesCollection{coordinates}}; + return {QMapLibre::CoordinatesCollection{coordinates}}; } QList polyline_to_coordinate_list(const QString &polylineString) { @@ -118,7 +119,7 @@ QList polyline_to_coordinate_list(const QString &polylineString) return path; } -std::optional coordinate_from_param(const std::string ¶m) { +std::optional coordinate_from_param(const std::string ¶m) { QString json_str = QString::fromStdString(Params().get(param)); if (json_str.isEmpty()) return {}; @@ -127,7 +128,7 @@ std::optional coordinate_from_param(const std::string ¶ QJsonObject json = doc.object(); if (json["latitude"].isDouble() && json["longitude"].isDouble()) { - QMapbox::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble()); + QMapLibre::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble()); return coord; } else { return {}; diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index b72c301f4f..b9cb1f9469 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -3,8 +3,9 @@ #include #include #include +#include +#include #include -#include #include #include "common/util.h" @@ -18,15 +19,15 @@ const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "ht const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db"; QString get_mapbox_token(); -QMapboxGLSettings get_mapbox_settings(); -QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in); -QMapbox::CoordinatesCollections model_to_collection( +QMapLibre::Settings get_mapbox_settings(); +QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in); +QMapLibre::CoordinatesCollections model_to_collection( const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, const cereal::XYZTData::Reader &line); -QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c); -QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); -QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); +QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c); +QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); +QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); QList polyline_to_coordinate_list(const QString &polylineString); -std::optional coordinate_from_param(const std::string ¶m); +std::optional coordinate_from_param(const std::string ¶m); std::pair map_format_distance(float d, bool is_metric); diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc index 0a2286ff6f..c4cc20e21d 100644 --- a/selfdrive/ui/qt/maps/map_panel.cc +++ b/selfdrive/ui/qt/maps/map_panel.cc @@ -8,7 +8,7 @@ #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/ui.h" -MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : QFrame(parent) { +MapPanel::MapPanel(const QMapLibre::Settings &mapboxSettings, QWidget *parent) : QFrame(parent) { content_stack = new QStackedLayout(this); content_stack->setContentsMargins(0, 0, 0, 0); diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h index 43a2cc7c89..190bb63446 100644 --- a/selfdrive/ui/qt/maps/map_panel.h +++ b/selfdrive/ui/qt/maps/map_panel.h @@ -1,14 +1,14 @@ #pragma once #include -#include +#include #include class MapPanel : public QFrame { Q_OBJECT public: - explicit MapPanel(const QMapboxGLSettings &settings, QWidget *parent = nullptr); + explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr); signals: void mapPanelRequested(); diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index ce88ab964a..1924cbf0fe 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -48,6 +48,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { an = new AdvancedNetworking(this, wifi); connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); }); + connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); }); main_layout->addWidget(an); QPalette pal = palette(); @@ -194,6 +195,25 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid }); list->addItem(meteredToggle); + // Hidden Network + hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT")); + connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() { + QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1); + if (!ssid.isEmpty()) { + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1); + Network hidden_network; + hidden_network.ssid = ssid.toUtf8(); + if (!pass.isEmpty()) { + hidden_network.security_type = SecurityType::WPA; + wifi->connect(hidden_network, pass); + } else { + wifi->connect(hidden_network); + } + emit requestWifiScreen(); + } + }); + list->addItem(hiddenNetworkButton); + // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 2fc7807bdc..7444e9c28d 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -62,6 +62,7 @@ private: ToggleControl* tetheringToggle; ToggleControl* roamingToggle; ButtonControl* editApnButton; + ButtonControl* hiddenNetworkButton; ToggleControl* meteredToggle; WifiManager* wifi = nullptr; Params params; @@ -70,6 +71,7 @@ private: signals: void backPress(); + void requestWifiScreen(); public slots: void toggleTethering(bool enabled); diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index 03c6896f7a..ebb5cb8736 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -59,6 +59,8 @@ WifiManager::WifiManager(QObject *parent) : QObject(parent) { } timer.callOnTimeout(this, &WifiManager::requestScan); + + initConnections(); } void WifiManager::setup() { @@ -72,7 +74,6 @@ void WifiManager::setup() { raw_adapter_state = call(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "State"); activeAp = call(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE_WIRELESS, "ActiveAccessPoint").path(); - initConnections(); requestScan(); } diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 693a0253b4..df9bb24651 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -3,62 +3,39 @@ #include #include -#include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - layout = new QStackedLayout(this); - layout->setStackingMode(QStackedLayout::StackAll); - - cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); - layout->addWidget(cameraView); - - scene = new DriverViewScene(this); - connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); - layout->addWidget(scene); - layout->setCurrentWidget(scene); - - QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView); -} - -void DriverViewWindow::closeView() { - if (isVisible()) { - cameraView->stopVipcThread(); - emit done(); - } -} - -void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { - closeView(); -} - -DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); + QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); + QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { + if (isVisible()) { + emit done(); + } + }); } -void DriverViewScene::showEvent(QShowEvent* event) { - frame_updated = false; +void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); + CameraWidget::showEvent(event); } -void DriverViewScene::hideEvent(QHideEvent* event) { +void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); + stopVipcThread(); + CameraWidget::hideEvent(event); } -void DriverViewScene::frameUpdated() { - frame_updated = true; - update(); -} +void DriverViewWindow::paintGL() { + CameraWidget::paintGL(); -void DriverViewScene::paintEvent(QPaintEvent* event) { + std::lock_guard lk(frame_lock); QPainter p(this); - // startup msg - if (!frame_updated) { + if (frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -68,10 +45,8 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { const auto &sm = *(uiState()->sm); cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); - cereal::DriverStateV2::DriverData::Reader driver_data; - - is_rhd = driver_state.getWheelOnRightProb() > 0.5; - driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; + auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 8bfc7a4b7b..155e4ede32 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,31 +1,8 @@ #pragma once -#include - #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewScene : public QWidget { - Q_OBJECT - -public: - explicit DriverViewScene(QWidget *parent); - -public slots: - void frameUpdated(); - -protected: - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; - void paintEvent(QPaintEvent *event) override; - -private: - Params params; - QPixmap face_img; - bool is_rhd = false; - bool frame_updated = false; -}; - -class DriverViewWindow : public QWidget { +class DriverViewWindow : public CameraWidget { Q_OBJECT public: @@ -35,10 +12,10 @@ signals: void done(); protected: - void mouseReleaseEvent(QMouseEvent* e) override; - void closeView(); + void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; + void paintGL() override; - CameraWidget *cameraView; - DriverViewScene *scene; - QStackedLayout *layout; + Params params; + QPixmap face_img; }; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index c7c22f0ea3..d4fcee55ce 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -183,7 +183,7 @@ void DeclinePage::showEvent(QShowEvent *event) { void OnboardingWindow::updateActiveScreen() { if (!accepted_terms) { setCurrentIndex(0); - } else if (!training_done && !params.getBool("Passive")) { + } else if (!training_done) { setCurrentIndex(1); } else { emit onboardingDone(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 2c1469c1e9..1d25b9e9ab 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -87,12 +87,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Disable uploads completely when onroad. Necessary to avoid high data usage when connected to Wi-Fi hotspot. Turn on this feature if you are looking to utilize map-based features, such as Speed Limit Control (SLC) and Map-based Turn Speed Control (MTSC)."), "../assets/offroad/icon_blank.png", }, - { - "EnableDebugSnapshot", - tr("Debug snapshot on screen center tap"), - tr("Stores snapshot file with current state of some modules."), - "../assets/offroad/icon_blank.png" - }, { "IsMetric", tr("Use Metric System"), @@ -345,15 +339,13 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(resetParamsBtn); - if (!params.getBool("Passive")) { - auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of sunnypilot")); - connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { - emit reviewTrainingGuide(); - } - }); - addItem(retrainingBtn); - } + auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of sunnypilot")); + connect(retrainingBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { + emit reviewTrainingGuide(); + } + }); + addItem(retrainingBtn); if (Hardware::TICI()) { auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); @@ -501,7 +493,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { // setup two main layouts sidebar_widget = new QWidget; QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); - sidebar_layout->setMargin(0); panel_widget = new QStackedWidget(); // setup layout for close button @@ -514,7 +505,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton { font-size: 140px; padding-bottom: 20px; - border 1px grey solid; border-radius: 76px; background-color: #292929; font-weight: 400; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.cc b/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.cc index 4d3504bf96..4f2aaf724f 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.cc +++ b/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.cc @@ -4,15 +4,51 @@ ModelsFetcher::ModelsFetcher(QObject* parent) : QObject(parent) { manager = new QNetworkAccessManager(this); } -void ModelsFetcher::download(const QUrl& url, const QString& filename, const QString& destinationPath) { - if (!QDir(destinationPath).exists() && !QDir().mkpath(destinationPath)) { - LOGE("Failed to create directory: [%s]", destinationPath.toStdString().c_str()); +QByteArray ModelsFetcher::verifyFileHash(const QString& filePath, const QString& expectedHash, bool& hashMatches) { + hashMatches = false; // Default to false + QByteArray fileData; + + if (expectedHash.isEmpty()) { + // If no hash is provided, assume verification isn't required but return the file data + hashMatches = true; + } else { + QFile file(filePath); + if (file.open(QIODevice::ReadOnly)) { + QCryptographicHash hash(QCryptographicHash::Sha256); // Or your chosen algorithm + fileData = file.readAll(); // Read the file data once + hash.addData(fileData); + file.close(); + + QString currentHash = QString(hash.result().toHex()); + hashMatches = (currentHash == expectedHash); + } } - const QNetworkRequest request(url); + + // Return the file data if hash matches or no hash was provided; empty otherwise + return hashMatches ? fileData : QByteArray(); +} + + +void ModelsFetcher::download(const DownloadInfo& downloadInfo, const QString& filename, const QString& destinationPath) { + QString fullPath = destinationPath + "/" + filename; + QFileInfo fileInfo(fullPath); + bool hashMatches = false; + QByteArray data = verifyFileHash(fullPath, downloadInfo.sha256, hashMatches); + + if (fileInfo.exists() && hashMatches) { + // Hash matches or no hash provided, and we have the file data + LOGD("File already downloaded and verified: %s", filename.toStdString().c_str()); + emit downloadProgress(100); + emit downloadComplete(data, true); // Use the data returned from verifyFileHash + return; // Exit early + } + + // Proceed with download if file does not exist or hash verification failed + QNetworkRequest request(downloadInfo.url); QNetworkReply* reply = manager->get(request); connect(reply, &QNetworkReply::downloadProgress, this, &ModelsFetcher::onDownloadProgress); - connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename]() { - onFinished(reply, destinationPath, filename); + connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename, downloadInfo]() { + onFinished(reply, destinationPath, filename, downloadInfo.sha256); }); } @@ -31,10 +67,10 @@ QString extractFileName(const QString& contentDisposition) { return filename; } -void ModelsFetcher::onFinished(QNetworkReply* reply, const QString& destinationPath, const QString& filename) { +void ModelsFetcher::onFinished(QNetworkReply* reply, const QString& destinationPath, const QString& filename, const QString& expectedHash) { // Handle download error if (reply->error()) { - return; + return; // Possibly emit a signal or log an error as per your error handling policy } const QByteArray data = reply->readAll(); @@ -46,16 +82,30 @@ void ModelsFetcher::onFinished(QNetworkReply* reply, const QString& destinationP QString finalPath = QDir(destinationPath).filePath(finalFilename); - // handle file open error + // Save the downloaded file QFile file(finalPath); if (!file.open(QIODevice::WriteOnly)) { - return; + return; // Consider emitting a signal or logging an error here as well } file.write(data); file.close(); - emit downloadComplete(data); + bool hashMatches = false; + verifyFileHash(finalPath, expectedHash, hashMatches); + + // Verify the file hash if expectedHash is provided + if (!expectedHash.isEmpty() && !hashMatches) { + LOGE("The downloaded file didn't pass the hash validation!: %s", filename.toStdString().c_str()); + // Hash verification failed, handle accordingly + // This could involve deleting the file, logging an error, or emitting a failure signal + QFile::remove(finalPath); // Example action: Remove the invalid file + emit downloadFailed(filename); + return; // Stop further processing + } + + + emit downloadComplete(data, false); // Emit your success signal } void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) { @@ -78,5 +128,5 @@ std::vector ModelsFetcher::getModelsFromURL(const QString&url) { } std::vector ModelsFetcher::getModelsFromURL() { - return getModelsFromURL("https://docs.sunnypilot.ai/models.json"); + return getModelsFromURL("https://docs.sunnypilot.ai/models_v3.json"); } diff --git a/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.h b/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.h index 07d76169c8..22ab81e541 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.h +++ b/selfdrive/ui/qt/offroad/sunnypilot/models_fetcher.h @@ -17,30 +17,91 @@ static const QString MODELS_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/models/" : "/data/media/0/models/"; +struct DownloadInfo { + QString url; + QString sha256; +}; + // New class ModelsFetcher with a new function that handles web requests and JSON parsing for the new JSON structure class Model { - public: - explicit Model(const QJsonObject&json) { + explicit Model(const QJsonObject &json) { displayName = json["display_name"].toString(); fullName = json["full_name"].toString(); fileName = json["file_name"].toString(); - downloadUri = json["download_uri"].toString(); + + // Parse downloadUri as an object + QJsonObject downloadUriObj = json["download_uri"].toObject(); + downloadUri.url = downloadUriObj["url"].toString(); + downloadUri.sha256 = downloadUriObj["sha256"].toString(); + + fullNameNav = json["full_name_nav"].toString(); + fileNameNav = json["file_name_nav"].toString(); + + // Parse downloadUriNav as an object + QJsonObject downloadUriNavObj = json["download_uri_nav"].toObject(); + downloadUriNav.url = downloadUriNavObj["url"].toString(); + downloadUriNav.sha256 = downloadUriNavObj["sha256"].toString(); + + fullNameMetadata = json["full_name_metadata"].toString(); + fileNameMetadata = json["file_name_metadata"].toString(); + + // Parse downloadUriMetadata as an object + QJsonObject downloadUriMetadataObj = json["download_uri_metadata"].toObject(); + downloadUriMetadata.url = downloadUriMetadataObj["url"].toString(); + downloadUriMetadata.sha256 = downloadUriMetadataObj["sha256"].toString(); + + index = json["index"].toString(); + environment = json["environment"].toString(); + generation = json["generation"].toString(); } + // Method to convert model back to QJsonObject, if needed QJsonObject toJson() const { QJsonObject json; json["display_name"] = displayName; json["full_name"] = fullName; json["file_name"] = fileName; - json["download_uri"] = downloadUri; + + QJsonObject uriObj; + uriObj["url"] = downloadUri.url; + uriObj["sha256"] = downloadUri.sha256; + json["download_uri"] = uriObj; + + QJsonObject uriNavObj; + uriNavObj["url"] = downloadUriNav.url; + uriNavObj["sha256"] = downloadUriNav.sha256; + json["download_uri_nav"] = uriNavObj; + + QJsonObject uriMetadataObj; + uriMetadataObj["url"] = downloadUriMetadata.url; + uriMetadataObj["sha256"] = downloadUriMetadata.sha256; + json["download_uri_metadata"] = uriMetadataObj; + + json["full_name_nav"] = fullNameNav; + json["file_name_nav"] = fileNameNav; + json["full_name_metadata"] = fullNameMetadata; + json["file_name_metadata"] = fileNameMetadata; + json["index"] = index; + json["environment"] = environment; + json["generation"] = generation; return json; } QString displayName; QString fullName; QString fileName; - QString downloadUri; + DownloadInfo downloadUri; + DownloadInfo downloadUriNav; + DownloadInfo downloadUriMetadata; + + QString fullNameNav; + QString fileNameNav; + QString fullNameMetadata; + QString fileNameMetadata; + QString index; + QString environment; + QString generation; }; class ModelsFetcher : public QObject { @@ -48,18 +109,21 @@ class ModelsFetcher : public QObject { public: explicit ModelsFetcher(QObject* parent = nullptr); - void download(const QUrl&url, const QString& filename = "", const QString&destinationPath = MODELS_PATH); + void download(const DownloadInfo&url, const QString& filename = "", const QString&destinationPath = MODELS_PATH); static std::vector getModelsFromURL(const QUrl&url); static std::vector getModelsFromURL(const QString&url); static std::vector getModelsFromURL(); signals: void downloadProgress(double percentage); - void downloadComplete(const QByteArray&data); + void downloadComplete(const QByteArray&data, bool fromCache = false); + void downloadFailed(const QString &filename); private: +// static bool verifyFileHash(const QString& filePath, const QString& expectedHash); + static QByteArray verifyFileHash(const QString& filePath, const QString& expectedHash, bool& hashMatches); void onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal); - void onFinished(QNetworkReply* reply, const QString&destinationPath, const QString&filename); + void onFinished(QNetworkReply* reply, const QString&destinationPath, const QString&filename, const QString& expectedHash); QNetworkAccessManager* manager; }; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc b/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc index 6a79cd363f..616bee253d 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc +++ b/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc @@ -1,23 +1,68 @@ #include "selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.h" -SoftwarePanelSP::SoftwarePanelSP(QWidget* parent) : SoftwarePanel(parent) { +SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) { // Get current model name and create new ButtonControl const auto current_model = GetModelName(); currentModelLblBtn = new ButtonControl(tr("Driving Model"), tr("SELECT"), current_model); currentModelLblBtn->setValue(current_model); - // Connect downloadProgress from models_fetcher to local slot - connect(&models_fetcher, &ModelsFetcher::downloadProgress, this, [=](const double progress) { - modelDownloadProgress = progress; - HandleModelDownloadProgressReport(); + connect(&models_fetcher, &ModelsFetcher::downloadProgress, this, [this](const double progress) { + handleDownloadProgress(progress, "driving"); }); + connect(&nav_models_fetcher, &ModelsFetcher::downloadProgress, this, [this](const double progress) { + handleDownloadProgress(progress, "navigation"); + }); + + connect(&metadata_fetcher, &ModelsFetcher::downloadProgress, this, [this](const double progress) { + handleDownloadProgress(progress, "metadata"); + }); + + connect(&models_fetcher, &ModelsFetcher::downloadComplete, this, [this](const QByteArray&data, bool fromCache = false) { + modelFromCache = fromCache; + updateLabels(); + }); + + connect(&nav_models_fetcher, &ModelsFetcher::downloadComplete, this, [this](const QByteArray&data, bool fromCache = false) { + navModelFromCache = fromCache; + updateLabels(); + }); + + connect(&metadata_fetcher, &ModelsFetcher::downloadComplete, this, [this](const QByteArray&data, bool fromCache = false) { + metadataFromCache = fromCache; + updateLabels(); + }); + + connect(&models_fetcher, &ModelsFetcher::downloadFailed, this, &SoftwarePanelSP::handleDownloadFailed); + connect(&nav_models_fetcher, &ModelsFetcher::downloadFailed, this, &SoftwarePanelSP::handleDownloadFailed); + connect(&metadata_fetcher, &ModelsFetcher::downloadFailed, this, &SoftwarePanelSP::handleDownloadFailed); + + // Connect click event from currentModelLblBtn to local slot connect(currentModelLblBtn, &ButtonControl::clicked, this, &SoftwarePanelSP::handleCurrentModelLblBtnClicked); ReplaceOrAddWidget(currentModelLbl, currentModelLblBtn); } +void SoftwarePanelSP::handleDownloadFailed(const QString &modelType) { + model_download_failed = true; + LOGE("Download failed reported for [%s]", modelType.toStdString().c_str()); + failed_downloads_description += "["+ modelType +"]\n"; + HandleModelDownloadProgressReport(); // Call to update UI based on the new status +} + +void SoftwarePanelSP::handleDownloadProgress(const double progress, const QString &modelType) { + if (modelType == "driving") { + modelDownloadProgress = progress; + } else if (modelType == "navigation") { + navModelDownloadProgress = progress; + } else if (modelType == "metadata") { + metadataDownloadProgress = progress; + } + + HandleModelDownloadProgressReport(); +} + QString SoftwarePanelSP::GetModelName() { if (selectedModelToDownload.has_value()) { return selectedModelToDownload->displayName; @@ -30,23 +75,104 @@ QString SoftwarePanelSP::GetModelName() { return CURRENT_MODEL; } -void SoftwarePanelSP::HandleModelDownloadProgressReport() { - const auto _progress_str = QString::number(modelDownloadProgress, 'f', 2); - const auto description = isDownloadingModel() ? QString("Downloading [%1]... (%2%)") : QString("%1 downloaded"); +QString SoftwarePanelSP::GetNavModelName() { + if (selectedNavModelToDownload.has_value()) { + return selectedNavModelToDownload->fullNameNav; + } - // Update UI with new description - currentModelLblBtn->setDescription(description.arg(GetModelName(), _progress_str)); + return QString::fromStdString(params.get("NavModelText")); +} + +QString SoftwarePanelSP::GetMetadataName() { + if (selectedMetadataToDownload.has_value()) { + // Assuming your metadata structure has a 'name' or similar field + return selectedMetadataToDownload->fullNameMetadata; + } + + // Return a default name or an empty string if there's no metadata selected + return QString::fromStdString(params.get("DrivingModelMetadataText")); +} + +void SoftwarePanelSP::HandleModelDownloadProgressReport() { + // Template strings for download status + const QString downloadingTemplate = "Downloading %1 model [%2]... (%3%)"; + const QString downloadedTemplate = "%1 model [%2] downloaded"; + + // Get model names + QString drivingModelName = GetModelName(); + QString navModelName = GetNavModelName(); + QString metadataName = GetMetadataName(); + QString description; + + // Driving model status + if (isDownloadingModel()) { + description += downloadingTemplate.arg("Driving", drivingModelName, QString::number(modelDownloadProgress.value_or(0.0), 'f', 2)); + } else { + if (modelFromCache) drivingModelName += " (CACHED)"; + description += downloadedTemplate.arg("Driving", drivingModelName); + } + + // Navigation model status + if (isDownloadingNavModel()) { + if (!description.isEmpty()) description += "\n"; // Add newline if driving model status is already appended + description += downloadingTemplate.arg("Navigation", navModelName, + QString::number(navModelDownloadProgress.value_or(0.0), 'f', 2)); + } else { + if (navModelFromCache) navModelName += " (CACHED)"; + if (!description.isEmpty()) description += "\n"; // Ensure newline separation + description += downloadedTemplate.arg("Navigation", navModelName); + } + + if (isDownloadingMetadata()) { + if (!description.isEmpty()) description += "\n"; + description += downloadingTemplate.arg("Metadata", metadataName, QString::number(metadataDownloadProgress.value_or(0.0), 'f', 2)); + } else { + if (metadataFromCache) metadataName += " (CACHED)"; + if (!description.isEmpty()) description += "\n"; + description += downloadedTemplate.arg("Metadata", metadataName); + } + + if (model_download_failed) { + description = "Downloads have failed, please try swapping the model!\n" + "Failed:\n" + failed_downloads_description; + LOGE("MODEL DOWNLOADS FAILED!!!"); + } + + currentModelLblBtn->setDescription(description); currentModelLblBtn->showDescription(); - currentModelLblBtn->setEnabled(!(is_onroad || isDownloadingModel())); + currentModelLblBtn->setEnabled( + !(is_onroad || (isDownloadingModel() || isDownloadingMetadata() || isDownloadingNavModel()))); // If not downloading and there is a selected model, update parameters - if (!isDownloadingModel() && selectedModelToDownload.has_value()) { + if (!isDownloadingModel() && modelDownloadProgress.has_value()) { params.put("DrivingModelText", selectedModelToDownload->fullName.toStdString()); params.put("DrivingModelName", selectedModelToDownload->displayName.toStdString()); - //params.put("DrivingModelUrl", selectedModelToDownload->downloadUri.toStdString()); // TODO: Placeholder for future implementations + //params.put("DrivingModelUrl", selectedModelToDownload->downloadUri.toStdString()); // TODO: Placeholder for future implementation + LOGD("Resetting selectedModelToDownload"); selectedModelToDownload.reset(); - params.putBool("CustomDrivingModel", true); + modelDownloadProgress.reset(); + modelFromCache = false; + params.putBool("CustomDrivingModel", !model_download_failed); } + + // If not downloading and there is a selected model, update parameters + if (!isDownloadingNavModel() && navModelDownloadProgress.has_value()) { + params.put("DrivingModelGeneration", selectedNavModelToDownload->generation.toStdString()); + params.put("NavModelText", selectedNavModelToDownload->fullNameNav.toStdString()); + LOGD("Resetting selectedNavModelToDownload"); + selectedNavModelToDownload.reset(); + navModelDownloadProgress.reset(); + navModelFromCache = false; + } + + if (!isDownloadingMetadata() && metadataDownloadProgress.has_value()) { + params.put("DrivingModelMetadataText", selectedMetadataToDownload->fullNameMetadata.toStdString()); + LOGD("Resetting selectedMetadataToDownload"); + selectedMetadataToDownload.reset(); + metadataDownloadProgress.reset(); + metadataFromCache = false; + } + } void SoftwarePanelSP::handleCurrentModelLblBtnClicked() { @@ -56,21 +182,36 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() { checkNetwork(); const auto currentModelName = QString::fromStdString(params.get("DrivingModelName")); - const auto models = models_fetcher.getModelsFromURL(); - QStringList modelNames; + const bool is_release_sp = params.getBool("IsReleaseSPBranch"); + const auto models = ModelsFetcher::getModelsFromURL(); - // Collecting model names + QMap index_to_model; + + // Collecting indices with display names for (const auto &model: models) { - modelNames.push_back(model.displayName); + if ((is_release_sp && model.environment == "release") || !is_release_sp) { + index_to_model.insert(model.index, model.displayName); + } + } + + QStringList modelNames; + QStringList indices = index_to_model.keys(); + std::sort(indices.begin(), indices.end(), [&](const QString &index1, const QString &index2) { + return index1.toInt() > index2.toInt(); + }); + + for (const QString &index: indices) { + modelNames.push_back(index_to_model[index]); } currentModelLblBtn->setEnabled(!is_onroad); currentModelLblBtn->setValue(GetModelName()); - const QString selectedModelName = MultiOptionDialog::getSelection(tr("Select a Driving Model"), modelNames, currentModelName, this); + const QString selectedModelName = MultiOptionDialog::getSelection(tr("Select a Driving Model"), modelNames, + currentModelName, this); - // Bail if the user doesn't want to continue while on metered - if (!canContinueOnMeteredDialog()) { + // Bail if no selected model or the user doesn't want to continue while on metered + if (selectedModelName.isEmpty() || !canContinueOnMeteredDialog()) { return; } @@ -78,6 +219,8 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() { for (auto &model: models) { if (model.displayName == selectedModelName) { selectedModelToDownload = model; + selectedNavModelToDownload = model; + selectedMetadataToDownload = model; params.putBool("CustomDrivingModel", false); break; } @@ -85,14 +228,19 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() { // If decision is to download and there is a selected model, update UI and begin downloading if (selectedModelToDownload.has_value()) { + model_download_failed = false; currentModelLblBtn->setValue(selectedModelToDownload->displayName); currentModelLblBtn->setDescription(selectedModelToDownload->displayName); models_fetcher.download(selectedModelToDownload->downloadUri, selectedModelToDownload->fileName); + nav_models_fetcher.download(selectedNavModelToDownload->downloadUriNav, selectedNavModelToDownload->fileNameNav); + metadata_fetcher.download(selectedMetadataToDownload->downloadUriMetadata, + selectedMetadataToDownload->fileNameMetadata); // Disable select button until download completes currentModelLblBtn->setEnabled(false); showResetParamsDialog(); } + updateLabels(); } void SoftwarePanelSP::checkNetwork() { @@ -108,13 +256,17 @@ void SoftwarePanelSP::updateLabels() { return; } + if(!model_download_failed) + failed_downloads_description = ""; + checkNetwork(); - currentModelLblBtn->setEnabled(!is_onroad); + currentModelLblBtn->setEnabled(!(is_onroad || (isDownloadingModel() || isDownloadingMetadata() || isDownloadingNavModel()))); SoftwarePanel::updateLabels(); } void SoftwarePanelSP::showResetParamsDialog() { - const auto confirmMsg = tr("Download has started in the background.\nWe STRONGLY suggest you to reset calibration, would you like to do that now?"); + const auto confirmMsg = tr( + "Download has started in the background.\nWe STRONGLY suggest you to reset calibration, would you like to do that now?"); const auto button_text = tr("Reset Calibration"); // If user confirms, remove specified parameters diff --git a/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.h b/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.h index ca5c06c2ea..6c39e502a6 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.h +++ b/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.h @@ -11,17 +11,35 @@ class SoftwarePanelSP final : public SoftwarePanel { public: explicit SoftwarePanelSP(QWidget *parent = nullptr); + private: QString GetModelName(); + QString GetNavModelName(); + QString GetMetadataName(); + void checkNetwork(); bool isDownloadingModel() const { - return selectedModelToDownload.has_value() && modelDownloadProgress > 0.0 && modelDownloadProgress < 100.0; + LOGD("isDownloadingModel: selectedModelToDownload.has_value() [%s] && modelDownloadProgress [%f]",selectedModelToDownload.has_value() ?"true": "false", modelDownloadProgress.value_or(0.0)); + return selectedModelToDownload.has_value() && modelDownloadProgress.value_or(0.0) > 0.0 && modelDownloadProgress.value_or(0.0) < 100.0; + } + + bool isDownloadingNavModel() const { + LOGD("isDownloadingNavModel: selectedNavModelToDownload.has_value() [%s] && navModelDownloadProgress [%f]",selectedNavModelToDownload.has_value() ?"true": "false", navModelDownloadProgress.value_or(0.0)); + return selectedNavModelToDownload.has_value() && navModelDownloadProgress.value_or(0.0) > 0.0 && navModelDownloadProgress.value_or(0.0) < 100.0; + } + + bool isDownloadingMetadata() const { + LOGD("isDownloadingMetadata: selectedMetadataToDownload.has_value() [%s] && metadataDownloadProgress [%f]",selectedMetadataToDownload.has_value() ?"true": "false", metadataDownloadProgress.value_or(0.0)); + return selectedMetadataToDownload.has_value() && metadataDownloadProgress.value_or(0.0) > 0.0 && metadataDownloadProgress.value_or(0.0) < 100.0; } // UI update related methods void updateLabels() override; void handleCurrentModelLblBtnClicked(); void HandleModelDownloadProgressReport(); + void handleDownloadProgress(double progress, const QString&modelType); + void HandleNavModelDownloadProgressReport(); + void handleDownloadFailed(const QString &modelType); void showResetParamsDialog(); bool canContinueOnMeteredDialog() { if (!is_metered) return true; @@ -40,10 +58,21 @@ private: return ConfirmationDialog::confirm(final_message, final_buttonText, parent); } - bool is_metered; - bool is_wifi; - double modelDownloadProgress = 0.0; + bool is_metered{}; + bool is_wifi{}; + bool modelFromCache; + bool navModelFromCache; + bool metadataFromCache; + std::optional modelDownloadProgress; + std::optional navModelDownloadProgress; + std::optional metadataDownloadProgress; std::optional selectedModelToDownload; + std::optional selectedNavModelToDownload; + std::optional selectedMetadataToDownload; ButtonControl *currentModelLblBtn; ModelsFetcher models_fetcher; + ModelsFetcher nav_models_fetcher; + ModelsFetcher metadata_fetcher; + bool model_download_failed; + QString failed_downloads_description = ""; }; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.cc index fd56b8871d..ca69c49bf8 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.cc +++ b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.cc @@ -12,7 +12,7 @@ SlcSettings::SlcSettings(QWidget* parent) : QWidget(parent) { ListWidget *list = new ListWidget(this, false); - std::vector speed_limit_engage_texts{tr("Warning Only"), tr("Auto"), tr("User Confirm")}; + std::vector speed_limit_engage_texts{tr("Auto"), tr("User Confirm")}; speed_limit_engage_settings = new ButtonParamControl( "SpeedLimitEngageType", tr("Engage Mode"), "", @@ -25,7 +25,7 @@ SlcSettings::SlcSettings(QWidget* parent) : QWidget(parent) { std::vector speed_limit_offset_settings_texts{tr("Default"), tr("Fixed"), tr("Percentage")}; speed_limit_offset_settings = new ButtonParamControl( - "SpeedLimitOffsetType", tr("Offset"), tr("Set speed limit slightly higher than actual speed limit for a more natural drive."), + "SpeedLimitOffsetType", tr("Limit Offset"), tr("Set speed limit slightly higher than actual speed limit for a more natural drive."), "../assets/offroad/icon_blank.png", speed_limit_offset_settings_texts, 380 @@ -39,18 +39,6 @@ SlcSettings::SlcSettings(QWidget* parent) : QWidget(parent) { connect(speed_limit_offset_settings, &ButtonParamControl::buttonToggled, this, &SlcSettings::updateToggles); connect(speed_limit_offset_settings, &ButtonParamControl::buttonToggled, slvo, &SpeedLimitValueOffset::refresh); - speed_limit_control_policy = new ButtonParamControl( - "SpeedLimitControlPolicy", - tr("Source Policy"), - "", - "../assets/offroad/icon_blank.png", - speed_limit_control_policy_texts, - 250 - ); - speed_limit_control_policy->showDescription(); - connect(speed_limit_control_policy, &ButtonParamControl::buttonToggled, this, &SlcSettings::updateToggles); - list->addItem(speed_limit_control_policy); - param_watcher = new ParamWatcher(this); QObject::connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { @@ -65,22 +53,22 @@ void SlcSettings::showEvent(QShowEvent *event) { } void SlcSettings::updateToggles() { - param_watcher->addParam("SpeedLimitControlPolicy"); param_watcher->addParam("SpeedLimitEngageType"); if (!isVisible()) { return; } - speed_limit_control_policy->setButton("SpeedLimitControlPolicy"); + if (QString::fromStdString(params.get("SpeedLimitEngageType")) == "2") { + params.put("SpeedLimitEngageType", "1"); + } + speed_limit_engage_settings->setButton("SpeedLimitEngageType"); auto cp_bytes = params.get("CarParamsPersistent"); auto custom_stock_long_param = params.getBool("CustomStockLong"); auto speed_limit_control = params.getBool("EnableSlc"); - speed_limit_control_policy->setDescription(slcDescriptionBuilder("SpeedLimitControlPolicy", speed_limit_control_policy_descriptions)); - if (!cp_bytes.empty()) { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); @@ -90,24 +78,21 @@ void SlcSettings::updateToggles() { if (hasLongitudinalControl(CP) || custom_stock_long_param) { speed_limit_offset_settings->setEnabled(speed_limit_control); - speed_limit_control_policy->setEnabled(true); slvo->setEnabled(speed_limit_control && QString::fromStdString(params.get("SpeedLimitOffsetType")) != "0"); QString speed_limit_engage_condition_text = pcm_cruise_op_long ? "This platform defaults to Auto mode. User Confirm mode is not supported on this platform.

" : ""; - QString speed_limit_engage_condition_param = pcm_cruise_op_long ? "1" : "SpeedLimitEngageType"; + QString speed_limit_engage_condition_param = pcm_cruise_op_long ? "0" : "SpeedLimitEngageType"; if (pcm_cruise_op_long) { - speed_limit_engage_settings->setDisabledSelectedButton("2"); // "User Confirm" disabled + speed_limit_engage_settings->setDisabledSelectedButton("1"); // "User Confirm" disabled } speed_limit_engage_settings->setDescription(speed_limit_engage_condition_text + slcDescriptionBuilder(speed_limit_engage_condition_param, speed_limit_engage_descriptions)); } else { slvo->setEnabled(false); - speed_limit_control_policy->setEnabled(false); speed_limit_offset_settings->setEnabled(false); speed_limit_engage_settings->setEnabled(false); } } else { slvo->setEnabled(false); - speed_limit_control_policy->setEnabled(false); speed_limit_offset_settings->setEnabled(false); speed_limit_engage_settings->setEnabled(false); speed_limit_engage_settings->setDescription(slcDescriptionBuilder("SpeedLimitEngageType", speed_limit_engage_descriptions)); diff --git a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.h index aad0db0fce..877064e577 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.h +++ b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.h @@ -23,8 +23,6 @@ class SlcSettings : public QWidget { public: explicit SlcSettings(QWidget* parent = nullptr); void showEvent(QShowEvent *event) override; - static const std::vector speed_limit_control_policy_texts; - static const std::vector speed_limit_control_policy_descriptions; static const std::vector speed_limit_engage_descriptions; signals: @@ -38,7 +36,6 @@ private: std::map toggles; SpeedLimitValueOffset *slvo; - ButtonParamControl *speed_limit_control_policy; ButtonParamControl *speed_limit_offset_settings; ButtonParamControl *speed_limit_engage_settings; ParamWatcher *param_watcher; @@ -69,29 +66,8 @@ private: } }; -// Add this line outside the class definition -inline const std::vector SlcSettings::speed_limit_control_policy_texts{ - tr("Nav\nOnly"), - tr("Map\nOnly"), - tr("Car\nOnly"), - tr("Nav\nFirst"), - tr("Map\nFirst"), - tr("Car\nFirst"), -}; - -inline const std::vector SlcSettings::speed_limit_control_policy_descriptions{ - tr("Select the precedence order of sources used to adapt cruise speed to road limits:"), - tr("Nav Only: Data from Mapbox active navigation only."), - tr("Map Only: Data from OpenStreetMap only."), - tr("Car Only: Data from the car's built-in sources (if available)."), - tr("Nav First: Nav -> Map -> Car"), - tr("Map First: Map -> Nav -> Car"), - tr("Car First: Car -> Nav -> Map"), -}; - inline const std::vector SlcSettings::speed_limit_engage_descriptions{ tr("Select the desired mode to set the cruising speed to the speed limit:"), - tr("Warning Only: Warn the driver when the vehicle is driven faster than the speed limit."), tr("Auto: Automatic speed adjustment on motorways based on speed limit data."), tr("User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit."), }; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.cc new file mode 100644 index 0000000000..63840923c9 --- /dev/null +++ b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.cc @@ -0,0 +1,50 @@ +#include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.h" + +SpeedLimitPolicySettings::SpeedLimitPolicySettings(QWidget* parent) : QWidget(parent) { + QVBoxLayout* main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(50, 20, 50, 20); + main_layout->setSpacing(20); + + // Back button + PanelBackButton* back = new PanelBackButton(); + connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); + main_layout->addWidget(back, 0, Qt::AlignLeft); + + ListWidget *list = new ListWidget(this, false); + + speed_limit_policy = new ButtonParamControl( + "SpeedLimitControlPolicy", + tr("Speed Limit Source Policy"), + "", + "../assets/offroad/icon_blank.png", + speed_limit_policy_texts, + 250 + ); + speed_limit_policy->showDescription(); + connect(speed_limit_policy, &ButtonParamControl::buttonToggled, this, &SpeedLimitPolicySettings::updateToggles); + list->addItem(speed_limit_policy); + + param_watcher = new ParamWatcher(this); + + QObject::connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { + updateToggles(); + }); + + main_layout->addWidget(new ScrollView(list, this)); +} + +void SpeedLimitPolicySettings::showEvent(QShowEvent *event) { + updateToggles(); +} + +void SpeedLimitPolicySettings::updateToggles() { + param_watcher->addParam("SpeedLimitControlPolicy"); + + if (!isVisible()) { + return; + } + + speed_limit_policy->setButton("SpeedLimitControlPolicy"); + + speed_limit_policy->setDescription(speedLimitPolicyDescriptionBuilder("SpeedLimitControlPolicy", speed_limit_policy_descriptions)); +} diff --git a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.h new file mode 100644 index 0000000000..4544d2e8ef --- /dev/null +++ b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.h @@ -0,0 +1,73 @@ +#pragma once + +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/widgets/controls.h" +#include "selfdrive/ui/qt/widgets/scrollview.h" +#include "selfdrive/ui/qt/util.h" + +class SpeedLimitPolicySettings : public QWidget { + Q_OBJECT + +public: + explicit SpeedLimitPolicySettings(QWidget* parent = nullptr); + void showEvent(QShowEvent *event) override; + static const std::vector speed_limit_policy_texts; + static const std::vector speed_limit_policy_descriptions; + +signals: + void backPress(); + +public slots: + void updateToggles(); + +private: + Params params; + + ButtonParamControl *speed_limit_policy; + ParamWatcher *param_watcher; + + QString speedLimitPolicyDescriptionBuilder(QString param, std::vector descriptions) { + std::string key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + value += 1; // always bump one due to first line being generic description + QString description = ""; + + for (int i = 0; i < descriptions.size(); i++) { + if (i == 1) { + description += "

"; + } + + if (i == value) { + description += "" + descriptions[i] + ""; + } else { + description += descriptions[i]; + } + + if ((i > 0) && (i < descriptions.size() - 1)) { + description += "
"; + } + } + + return description; + } +}; + +// Add this line outside the class definition +inline const std::vector SpeedLimitPolicySettings::speed_limit_policy_texts{ + tr("Nav\nOnly"), + tr("Map\nOnly"), + tr("Car\nOnly"), + tr("Nav\nFirst"), + tr("Map\nFirst"), + tr("Car\nFirst"), +}; + +inline const std::vector SpeedLimitPolicySettings::speed_limit_policy_descriptions{ + tr("Select the precedence order of sources. Utilized by Speed Limit Control and Speed Limit Warning"), + tr("Nav Only: Data from Mapbox active navigation only."), + tr("Map Only: Data from OpenStreetMap only."), + tr("Car Only: Data from the car's built-in sources (if available)."), + tr("Nav First: Nav -> Map -> Car"), + tr("Map First: Map -> Nav -> Car"), + tr("Car First: Car -> Nav -> Map"), +}; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.cc new file mode 100644 index 0000000000..5116bf38c7 --- /dev/null +++ b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.cc @@ -0,0 +1,117 @@ +#include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.h" + +SpeedLimitWarningSettings::SpeedLimitWarningSettings(QWidget* parent) : QWidget(parent) { + QVBoxLayout* main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(50, 20, 50, 20); + main_layout->setSpacing(20); + + // Back button + PanelBackButton* back = new PanelBackButton(); + connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); + main_layout->addWidget(back, 0, Qt::AlignLeft); + + ListWidget *list = new ListWidget(this, false); + + std::vector speed_limit_warning_texts{tr("Off"), tr("Display"), tr("Chime")}; + speed_limit_warning_settings = new ButtonParamControl( + "SpeedLimitWarningType", tr("Speed Limit Warning"), + "", + "../assets/offroad/icon_blank.png", + speed_limit_warning_texts, + 380 + ); + speed_limit_warning_settings->showDescription(); + list->addItem(speed_limit_warning_settings); + + speed_limit_warning_flash = new ParamControl( + "SpeedLimitWarningFlash", + tr("Warning with speed limit flash"), + tr("When Speed Limit Warning is enabled, the speed limit sign will alert the driver when the cruising speed is faster than then speed limit plus the offset."), + "../assets/offroad/icon_blank.png" + ); + list->addItem(speed_limit_warning_flash); + + std::vector speed_limit_warning_offset_settings_texts{tr("Default"), tr("Fixed"), tr("Percentage")}; + speed_limit_warning_offset_settings = new ButtonParamControl( + "SpeedLimitWarningOffsetType", tr("Warning Offset"), + tr("Select the desired offset to warn the driver when the vehicle is driving faster than the speed limit."), + "../assets/offroad/icon_blank.png", + speed_limit_warning_offset_settings_texts, + 380 + ); + list->addItem(speed_limit_warning_offset_settings); + + slwvo = new SpeedLimitWarningValueOffset(); + connect(slwvo, &SPOptionControl::updateLabels, slwvo, &SpeedLimitWarningValueOffset::refresh); + list->addItem(slwvo); + + connect(speed_limit_warning_settings, &ButtonParamControl::buttonToggled, this, &SpeedLimitWarningSettings::updateToggles); + + connect(speed_limit_warning_offset_settings, &ButtonParamControl::buttonToggled, this, &SpeedLimitWarningSettings::updateToggles); + connect(speed_limit_warning_offset_settings, &ButtonParamControl::buttonToggled, slwvo, &SpeedLimitWarningValueOffset::refresh); + + param_watcher = new ParamWatcher(this); + + QObject::connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { + updateToggles(); + }); + + main_layout->addWidget(new ScrollView(list, this)); +} + +void SpeedLimitWarningSettings::showEvent(QShowEvent *event) { + updateToggles(); +} + +void SpeedLimitWarningSettings::updateToggles() { + param_watcher->addParam("SpeedLimitWarningType"); + + if (!isVisible()) { + return; + } + + auto speed_limit_warning_type_param = QString::fromStdString(params.get("SpeedLimitWarningType")); + + speed_limit_warning_settings->setDescription(speedLimitWarningDescriptionBuilder("SpeedLimitWarningType", speed_limit_warning_descriptions)); + speed_limit_warning_flash->setEnabled(speed_limit_warning_type_param != "0"); + if (speed_limit_warning_type_param == "0") { + params.remove("SpeedLimitWarningFlash"); + speed_limit_warning_flash->refresh(); + } + slwvo->setEnabled(QString::fromStdString(params.get("SpeedLimitWarningOffsetType")) != "0"); + + speed_limit_warning_offset_settings->setEnabled(speed_limit_warning_type_param != "0"); + slwvo->setEnabled(speed_limit_warning_type_param != "0"); +} + +// Speed Limit Control Custom Offset +SpeedLimitWarningValueOffset::SpeedLimitWarningValueOffset() : SPOptionControl ( + "SpeedLimitWarningValueOffset", + "", + "", + "../assets/offroad/icon_blank.png", + {-30, 30}) { + + refresh(); +} + +void SpeedLimitWarningValueOffset::refresh() { + QString option = QString::fromStdString(params.get("SpeedLimitWarningValueOffset")); + QString offset_type = QString::fromStdString(params.get("SpeedLimitWarningOffsetType")); + bool is_metric = params.getBool("IsMetric"); + QString unit = ""; + + if (option.toInt() >= 0) { + option = "+" + option; + } + + if (offset_type == "0") { + option = ""; + unit = "N/A"; + } else if (offset_type == "1") { + unit = is_metric ? " km/h" : " mph"; + } else if (offset_type == "2") { + unit = " %"; + } + setLabel(option + unit); +} diff --git a/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.h new file mode 100644 index 0000000000..ce3c48ac3f --- /dev/null +++ b/selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.h @@ -0,0 +1,69 @@ +#pragma once + +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/widgets/controls.h" +#include "selfdrive/ui/qt/widgets/scrollview.h" +#include "selfdrive/ui/qt/util.h" + +class SpeedLimitWarningValueOffset : public SPOptionControl { + Q_OBJECT + +public: + SpeedLimitWarningValueOffset(); + + void refresh(); + +private: + Params params; +}; + +class SpeedLimitWarningSettings : public QWidget { + Q_OBJECT + +public: + explicit SpeedLimitWarningSettings(QWidget* parent = nullptr); + void showEvent(QShowEvent *event) override; + static const std::vector speed_limit_warning_descriptions; + +signals: + void backPress(); + +public slots: + void updateToggles(); + +private: + Params params; + std::map toggles; + + SpeedLimitWarningValueOffset *slwvo; + ButtonParamControl *speed_limit_warning_offset_settings; + ParamControl *speed_limit_warning_flash; + ButtonParamControl *speed_limit_warning_settings; + ParamWatcher *param_watcher; + + QString speedLimitWarningDescriptionBuilder(QString param, std::vector descriptions) { + std::string key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + QString description = ""; + + for (int i = 0; i < descriptions.size(); i++) { + if (i == value) { + description += "" + descriptions[i] + ""; + } else { + description += descriptions[i]; + } + + if ((i >= 0) && (i < descriptions.size() - 1)) { + description += "
"; + } + } + + return description; + } +}; + +inline const std::vector SpeedLimitWarningSettings::speed_limit_warning_descriptions{ + tr("Off: When the cruising speed is faster than the speed limit plus the offset, there will be no warning."), + tr("Display: The speed on the speed limit sign turns red to alert the driver when the cruising speed is faster than the speed limit plus the offset."), + tr("Chime: The speed on the speed limit sign turns red and chimes to alert the driver when the cruising speed is faster than the speed limit plus the offset."), +}; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.cc index 447c1e19bb..ef95855722 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.cc +++ b/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.cc @@ -20,7 +20,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { }, { "EnableSlc", - tr("Enable Speed Limit Control (SLC)"), + tr("Speed Limit Control (SLC)"), tr("When you engage ACC, you will be prompted to set the cruising speed to the speed limit of the road adjusted by the Offset and Source Policy specified, or the current driving speed. The maximum cruising speed will always be the MAX set speed."), "../assets/offroad/icon_blank.png", }, @@ -32,7 +32,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { }, { "TurnSpeedControl", - tr("Enable Map Data Turn Speed Control (M-TSC)"), + tr("Enable Map Data Turn Speed Control (M-TSC) (Beta)"), tr("Use curvature information from map data to define speed limits to take turns ahead."), "../assets/offroad/icon_blank.png", }, @@ -50,7 +50,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { { "CustomOffsets", tr("Custom Offsets"), - tr("Add custom offsets to Camera and Path in sunnypilot."), + "", "../assets/offroad/icon_blank.png", }, { @@ -170,7 +170,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { }); // SLC. Settings - slcSettings = new SubPanelButton(tr("Customize Speed Limit Control"), 900, this); + slcSettings = new SubPanelButton(tr("Customize Speed Limit Control"), 980, this); slcSettings->setObjectName("slc_btn"); // Set margin on the outside of the button QVBoxLayout* slcSettingsLayout = new QVBoxLayout; @@ -187,6 +187,42 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { main_layout->setCurrentWidget(sunnypilotScreen); }); + // Speed Limit Warning Settings + slwSettings = new SubPanelButton(tr("Customize Warning"), 720, this); + slwSettings->setObjectName("slw_btn"); + connect(slwSettings, &QPushButton::clicked, [=]() { + scrollView->setLastScrollPosition(); + main_layout->setCurrentWidget(slw_settings); + }); + + slw_settings = new SpeedLimitWarningSettings(this); + connect(slw_settings, &SpeedLimitWarningSettings::backPress, [=]() { + scrollView->restoreScrollPosition(); + main_layout->setCurrentWidget(sunnypilotScreen); + }); + + // Speed Limit Warning Settings + slpSettings = new SubPanelButton(tr("Customize Source"), 720, this); + slpSettings->setObjectName("slp_btn"); + connect(slpSettings, &QPushButton::clicked, [=]() { + scrollView->setLastScrollPosition(); + main_layout->setCurrentWidget(slp_settings); + }); + + slp_settings = new SpeedLimitPolicySettings(this); + connect(slp_settings, &SpeedLimitPolicySettings::backPress, [=]() { + scrollView->restoreScrollPosition(); + main_layout->setCurrentWidget(sunnypilotScreen); + }); + + // Speed Limit Warning and Speed Limit Policy in the same horizontal space + QHBoxLayout *warning_policy_layout = new QHBoxLayout; + warning_policy_layout->setContentsMargins(0, 0, 0, 30); + warning_policy_layout->addWidget(slwSettings); + warning_policy_layout->addSpacing(10); + warning_policy_layout->addWidget(slpSettings); + warning_policy_layout->setAlignment(Qt::AlignLeft); + // toggle names to trigger updateToggles() when toggleFlipped std::vector updateTogglesNames{ "EnforceTorqueLateral", "CustomTorqueLateral", "LiveTorque", "TorquedOverride", "NNFF" @@ -207,7 +243,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { std::vector dlp_settings_texts{tr("Laneful"), tr("Laneless"), tr("Auto")}; dlp_settings = new ButtonParamControl( - "DynamicLaneProfile", "Dynamic Lane Profile", "Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.", + "DynamicLaneProfile", "Dynamic Lane Profile", "", "../assets/offroad/icon_blank.png", dlp_settings_texts, 340 @@ -232,10 +268,14 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { if (param == "VisionCurveLaneless") { list->addItem(laneChangeSettingsLayout); list->addItem(horizontal_line()); + + list->addItem(new LabelControl(tr("Speed Limit Assist"))); } if (param == "EnableSlc") { list->addItem(slcSettingsLayout); + + list->addItem(warning_policy_layout); list->addItem(horizontal_line()); } @@ -292,6 +332,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { toggles["EnableMads"]->setConfirmation(true, false); toggles["EndToEndLongAlertLight"]->setConfirmation(true, false); + toggles["CustomOffsets"]->showDescription(); connect(toggles["EnableMads"], &ToggleControl::toggleFlipped, mads_settings, &MadsSettings::updateToggles); connect(toggles["EnableMads"], &ToggleControl::toggleFlipped, [=](bool state) { @@ -302,8 +343,10 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { connect(toggles["EnableSlc"], &ToggleControl::toggleFlipped, slc_settings, &SlcSettings::updateToggles); connect(toggles["EnableSlc"], &ToggleControl::toggleFlipped, [=](bool state) { slcSettings->setEnabled(state); + slcSettings->setVisible(state); }); slcSettings->setEnabled(toggles["EnableSlc"]->isToggled()); + slcSettings->setVisible(toggles["EnableSlc"]->isToggled()); connect(toggles["CustomOffsets"], &ToggleControl::toggleFlipped, [=](bool state) { customOffsetsSettings->setEnabled(state); @@ -348,6 +391,8 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { main_layout->addWidget(lane_change_settings); main_layout->addWidget(custom_offsets_settings); main_layout->addWidget(slc_settings); + main_layout->addWidget(slw_settings); + main_layout->addWidget(slp_settings); setStyleSheet(R"( #back_btn { @@ -390,6 +435,18 @@ void SunnypilotPanel::updateToggles() { toggles["VisionCurveLaneless"]->setEnabled(dynamic_lane_profile_param == "2"); toggles["VisionCurveLaneless"]->refresh(); + bool custom_driving_model = params.getBool("CustomDrivingModel"); + auto driving_model_gen = QString::fromStdString(params.get("DrivingModelGeneration")); + bool model_use_lateral_planner = custom_driving_model && driving_model_gen == "1"; + auto driving_model_name = custom_driving_model && driving_model_gen != "0" ? QString::fromStdString(params.get("DrivingModelName")) : CURRENT_MODEL; + QString driving_model_text = QString("" + driving_model_name + ""); + dlp_settings->setEnabled(model_use_lateral_planner); + toggles["VisionCurveLaneless"]->setVisible(model_use_lateral_planner); + auto dlp_incompatible_desc = tr("Dynamic Lane Profile is not available with the current Driving Model [") + driving_model_text + tr("]."); + + toggles["CustomOffsets"]->setEnabled(model_use_lateral_planner); + auto custom_offsets_incompatible_desc = tr("Custom Offsets is not available with the current Driving Model [") + driving_model_text + tr("]."); + auto enforce_torque_lateral = toggles["EnforceTorqueLateral"]; auto custom_torque_lateral = toggles["CustomTorqueLateral"]; auto live_torque = toggles["LiveTorque"]; @@ -413,6 +470,7 @@ void SunnypilotPanel::updateToggles() { QString nnff_loaded = tr("✅ NNLC Loaded"); auto _car_model = QString::fromStdString(params.get("NNFFCarModel")); + const bool is_release_sp = params.getBool("IsReleaseSPBranch"); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { AlignedBuffer aligned_buf; @@ -445,6 +503,11 @@ void SunnypilotPanel::updateToggles() { } } + if (is_release_sp) { + params.remove("TurnSpeedControl"); + } + m_tsc->setVisible(!is_release_sp); + if (hasLongitudinalControl(CP) || custom_stock_long_param) { v_tsc->setEnabled(true); m_tsc->setEnabled(true); @@ -462,9 +525,10 @@ void SunnypilotPanel::updateToggles() { enforce_torque_lateral->refresh(); slc_toggle->refresh(); nnff_toggle->refresh(); + m_tsc->refresh(); } else { v_tsc->setEnabled(false); - m_tsc->setEnabled(false); + m_tsc->setVisible(false); // TODO: temporarily disable M-TSC until the reimplementation is in place. Remove this line to re-enable the toggle. reverse_acc->setEnabled(false); slc_toggle->setEnabled(false); slcSettings->setEnabled(false); @@ -512,6 +576,9 @@ void SunnypilotPanel::updateToggles() { toggles["CustomTorqueLateral"]->setEnabled(is_offroad); toggles["LiveTorque"]->setEnabled(is_offroad); toggles["LiveTorqueRelaxed"]->setEnabled(is_offroad); + + toggles["CustomOffsets"]->setDescription((model_use_lateral_planner ? "" : custom_offsets_incompatible_desc + "

") + custom_offsets_description); + dlp_settings->setDescription((model_use_lateral_planner ? "" : dlp_incompatible_desc + "

") + dlp_description); } TorqueFriction::TorqueFriction() : SPOptionControl ( diff --git a/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.h index 2a0b1b4734..31e67bf96a 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.h +++ b/selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.h @@ -1,10 +1,13 @@ #pragma once +#include "common/model.h" #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/offroad/sunnypilot/custom_offsets_settings.h" #include "selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.h" #include "selfdrive/ui/qt/offroad/sunnypilot/mads_settings.h" #include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.h" +#include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_warning_settings.h" +#include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/scrollview.h" @@ -50,6 +53,10 @@ private: MadsSettings* mads_settings = nullptr; SubPanelButton *slcSettings = nullptr; SlcSettings* slc_settings = nullptr; + SubPanelButton *slwSettings = nullptr; + SpeedLimitWarningSettings* slw_settings = nullptr; + SubPanelButton *slpSettings = nullptr; + SpeedLimitPolicySettings* slp_settings = nullptr; LaneChangeSettings* lane_change_settings = nullptr; CustomOffsetsSettings* custom_offsets_settings = nullptr; Params params; @@ -71,4 +78,7 @@ private: QString description = "" + custom_description + "

" + nnff_description; return description; } + + const QString custom_offsets_description = QString(tr("Add custom offsets to Camera and Path in sunnypilot.")); + const QString dlp_description = QString(tr("Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.")); }; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index b2999d050a..1a424d45a7 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -9,9 +9,9 @@ #include #include -#include #include +#include "common/swaglog.h" #include "common/timing.h" #include "selfdrive/ui/qt/util.h" #ifdef ENABLE_MAPS @@ -106,7 +106,7 @@ void OnroadWindow::updateState(const UIState &s) { } QColor bgColor = bg_colors[s.status]; - Alert alert = Alert::get(*(s.sm), s.scene.started_frame, s.scene.display_debug_alert_frame); + Alert alert = Alert::get(*(s.sm), s.scene.started_frame); alerts->updateAlert(alert); if (s.scene.map_on_left || s.scene.mapbox_fullscreen) { @@ -125,98 +125,25 @@ void OnroadWindow::updateState(const UIState &s) { } -void issue_debug_snapshot(SubMaster &sm) { - auto longitudinal_plan_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP(); - auto live_map_data_sp = sm["liveMapDataSP"].getLiveMapDataSP(); - auto car_state = sm["carState"].getCarState(); - - auto t = std::time(nullptr); - auto tm = *std::localtime(&t); - std::ostringstream param_name_os; - param_name_os << std::put_time(&tm, "%Y-%m-%d--%H-%M-%S"); - - std::ostringstream os; - os.setf(std::ios_base::fixed); - os.precision(2); - os << "Datetime: " << param_name_os.str() << ", vEgo: " << car_state.getVEgo() * 3.6 << "\n\n"; - os.precision(6); - os << "Location: (" << live_map_data_sp.getLastGpsLatitude() << ", " << live_map_data_sp.getLastGpsLongitude() << ")\n"; - os.precision(2); - os << "Bearing: " << live_map_data_sp.getLastGpsBearingDeg() << "; "; - os << "GPSSpeed: " << live_map_data_sp.getLastGpsSpeed() * 3.6 << "\n\n"; - os.precision(1); - os << "Speed Limit: " << live_map_data_sp.getSpeedLimit() * 3.6 << ", "; - os << "Valid: " << live_map_data_sp.getSpeedLimitValid() << "\n"; - os << "Speed Limit Ahead: " << live_map_data_sp.getSpeedLimitAhead() * 3.6 << ", "; - os << "Valid: " << live_map_data_sp.getSpeedLimitAheadValid() << ", "; - os << "Distance: " << live_map_data_sp.getSpeedLimitAheadDistance() << "\n"; - os << "Turn Speed Limit: " << live_map_data_sp.getTurnSpeedLimit() * 3.6 << ", "; - os << "Valid: " << live_map_data_sp.getTurnSpeedLimitValid() << ", "; - os << "End Distance: " << live_map_data_sp.getTurnSpeedLimitEndDistance() << ", "; - os << "Sign: " << live_map_data_sp.getTurnSpeedLimitSign() << "\n\n"; - - const auto turn_speeds = live_map_data_sp.getTurnSpeedLimitsAhead(); - os << "Turn Speed Limits Ahead:\n"; - os << "VALUE\tDIST\tSIGN\n"; - - if (turn_speeds.size() == 0) { - os << "-\t-\t-" << "\n\n"; - } else { - const auto distances = live_map_data_sp.getTurnSpeedLimitsAheadDistances(); - const auto signs = live_map_data_sp.getTurnSpeedLimitsAheadSigns(); - for(int i = 0; i < turn_speeds.size(); i++) { - os << turn_speeds[i] * 3.6 << "\t" << distances[i] << "\t" << signs[i] << "\n"; - } - os << "\n"; - } - - os << "SPEED LIMIT CONTROLLER:\n"; - os << "sl: " << longitudinal_plan_sp.getSpeedLimit() * 3.6 << ", "; - os << "state: " << int(longitudinal_plan_sp.getSpeedLimitControlState()) << ", "; - os << "isMap: " << longitudinal_plan_sp.getIsMapSpeedLimit() << "\n\n"; - - os << "TURN SPEED CONTROLLER:\n"; - os << "speed: " << longitudinal_plan_sp.getTurnSpeed() * 3.6 << ", "; - os << "state: " << int(longitudinal_plan_sp.getTurnSpeedControlState()) << "\n\n"; - - os << "VISION TURN CONTROLLER:\n"; - os << "speed: " << longitudinal_plan_sp.getVisionTurnSpeed() * 3.6 << ", "; - os << "state: " << int(longitudinal_plan_sp.getVisionTurnControllerState()); - - Params().put(param_name_os.str().c_str(), os.str().c_str(), os.str().length()); - uiState()->scene.display_debug_alert_frame = sm.frame; -} - - void OnroadWindow::mousePressEvent(QMouseEvent* e) { bool propagate_event = true; +#ifdef ENABLE_MAPS UIState *s = uiState(); UIScene &scene = s->scene; - SubMaster &sm = *(s->sm); - - QRect debug_tap_rect = QRect(rect().center().x() - 200, rect().center().y() - 200, 400, 400); - - if (scene.debug_snapshot_enabled && debug_tap_rect.contains(e->x(), e->y())) { - issue_debug_snapshot(sm); - propagate_event = false; - } - else { -#ifdef ENABLE_MAPS - if (map != nullptr && !isOnroadSettingsVisible()) { - if (wakeScreenTimeout()) { - // Switch between map and sidebar when using navigate on openpilot - bool sidebarVisible = geometry().x() > 0; - bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible; - updateMapSize(scene); - map->setVisible(show_map && !map->isVisible()); - } + if (map != nullptr && !isOnroadSettingsVisible()) { + if (wakeScreenTimeout()) { + // Switch between map and sidebar when using navigate on openpilot + bool sidebarVisible = geometry().x() > 0; + bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible; + updateMapSize(scene); + map->setVisible(show_map && !map->isVisible()); } + } #endif - if (onroad_settings != nullptr && !isMapVisible()) { - if (wakeScreenTimeout()) { - onroad_settings->setVisible(false); - } + if (onroad_settings != nullptr && !isMapVisible()) { + if (wakeScreenTimeout()) { + onroad_settings->setVisible(false); } } // propagation event to parent(HomeWindow) @@ -547,7 +474,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1; const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation(); const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters(); - const auto lateral_plan_sp = sm["lateralPlanSP"].getLateralPlanSP(); + const auto lateral_plan_sp = sm["lateralPlanSPDEPRECATED"].getLateralPlanSPDEPRECATED(); // Handle older routes where vCruiseCluster is not set float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); @@ -622,7 +549,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { left_blinker = car_state.getLeftBlinker(); right_blinker = car_state.getRightBlinker(); - lane_change_edge_block = lateral_plan_sp.getLaneChangeEdgeBlock(); + lane_change_edge_block = lateral_plan_sp.getLaneChangeEdgeBlockDEPRECATED(); // update engageability/experimental mode button experimental_btn->updateState(s); @@ -702,7 +629,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const QString sl_offset_str(speed_limit_offset > 0.0 ? speed_limit_offset < 0.0 ? "-" + QString::number(std::nearbyint(std::abs(speed_limit_offset))) : "+" + QString::number(std::nearbyint(speed_limit_offset)) : ""); - const QString sl_inactive_str(sl_temp_inactive && s.scene.speed_limit_control_engage_type == 1 ? "TEMP" : ""); + const QString sl_inactive_str(sl_temp_inactive && s.scene.speed_limit_control_engage_type == 0 ? "TEMP" : ""); const QString sl_substring(sl_inactive || sl_temp_inactive || sl_pre_active ? sl_inactive_str : sl_distance > 0 ? sl_distance_str : sl_offset_str); @@ -713,7 +640,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { slcSubTextSize = sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0; mapSourcedSpeedLimit = lp_sp.getIsMapSpeedLimit(); slcActive = !sl_inactive && !sl_temp_inactive; - overSpeedLimit = showSpeedLimit && (std::nearbyint(speed_limit_slc + speed_limit_offset) < std::nearbyint(speed)); + overSpeedLimit = showSpeedLimit && s.scene.speed_limit_warning_type != 0 && + (std::nearbyint(speed_limit_slc + s.scene.speed_limit_warning_value_offset) < std::nearbyint(speed)); plus_arrow_up_img = loadPixmap("../assets/img_plus_arrow_up", {105, 105}); minus_arrow_down_img = loadPixmap("../assets/img_minus_arrow_down", {105, 105}); @@ -722,15 +650,16 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const int t_distance = int(lp_sp.getDistToTurn() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10; const QString t_distance_str(QString::number(t_distance) + (s.scene.is_metric ? "m" : "f")); - showTurnSpeedLimit = tsc_speed > 0.0 && (tsc_speed < speed || s.scene.show_debug_ui); + showTurnSpeedLimit = tsc_speed > 0.0 && std::round(tsc_speed) < 224 && (tsc_speed < speed || s.scene.show_debug_ui); turnSpeedLimit = QString::number(std::nearbyint(tsc_speed)); tscSubText = t_distance > 0 ? t_distance_str : QString(""); tscActive = tscState > cereal::LongitudinalPlanSP::SpeedLimitControlState::TEMP_INACTIVE; curveSign = lp_sp.getTurnSign(); } - longitudinalPersonality = int(lp_sp.getPersonality()); - dynamicLaneProfile = int(lateral_plan_sp.getDynamicLaneProfile()); + // TODO: Add toggle variables to cereal, and parse from cereal + longitudinalPersonality = s.scene.longitudinal_personality; + dynamicLaneProfile = s.scene.dynamic_lane_profile; mpcMode = QString::fromStdString(lp_sp.getE2eBlended()); mpcMode = (mpcMode == "blended") ? mpcMode.replace(0, 1, mpcMode[0].toUpper()) : mpcMode.toUpper(); @@ -1097,8 +1026,8 @@ void AnnotatedCameraWidget::drawTrunSpeedSign(QPainter &p, QRect rc, const QStri const QColor text_color = QColor(0, 0, 0, is_active ? 255 : 85); const int x = rc.center().x(); - const int y = rc.center().y(); - const int width = rc.width(); + const int y = 184 * 2 + UI_BORDER_SIZE + 202; + const int width = 184; const float stroke_w = 15.0; const float cS = stroke_w / 2.0 + 4.5; // half width of the stroke on the corners of the triangle @@ -1650,7 +1579,9 @@ void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) { } // Dynamic Lane Profile - drawFeatureStatusElement(dynamicLaneProfile, feature_text.dlp_list_text, feature_color.dlp_list_color, true, "OFF", "DLP"); + if (uiState()->scene.driving_model_gen == 1) { + drawFeatureStatusElement(dynamicLaneProfile, feature_text.dlp_list_text, feature_color.dlp_list_color, true, "OFF", "DLP"); + } // TODO: Add toggle variables to cereal, and parse from cereal if (longitudinal) { @@ -1676,23 +1607,7 @@ void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) { // TODO: Add toggle variables to cereal, and parse from cereal // Speed Limit Control - if (uiState()->scene.speed_limit_control_engage_type == 0) { - QColor slc_color("#ffffff"); - QRect slc_btn(x - eclipse_x_offset, y - eclipse_y_offset, w, h); - QRect slc_btn_shadow(x - eclipse_x_offset + drop_shadow_size, y - eclipse_y_offset + drop_shadow_size, w, h); - p.setPen(Qt::NoPen); - p.setBrush(shadow_color); - p.drawEllipse(slc_btn_shadow); - p.setBrush(slc_color); - p.drawEllipse(slc_btn); - QString slc_status_text; - slc_status_text.sprintf("SLC: %s\n", QString("Warn Only").toStdString().c_str()); - p.setPen(QPen(shadow_color, 2)); - p.drawText(x + drop_shadow_size, y + drop_shadow_size, slc_status_text); - p.setPen(QPen(text_color, 2)); - p.drawText(x, y, slc_status_text); - y += text_height; - } else if (longitudinal || !cp.getPcmCruiseSpeed()) { + if (longitudinal || !cp.getPcmCruiseSpeed()) { drawFeatureStatusElement(int(slcState), feature_text.slc_list_text, feature_color.slc_list_color, uiState()->scene.speed_limit_control_enabled, "OFF", "SLC"); } } @@ -1720,7 +1635,7 @@ void AnnotatedCameraWidget::speedLimitWarning(QPainter &p, QRect sign_rect, cons } // current speed over speed limit - else if (overSpeedLimit && uiState()->scene.speed_limit_control_engage_type == 0) { + else if (overSpeedLimit && uiState()->scene.speed_limit_warning_flash) { speed_limit_frame++; speedLimitSignPulse(speed_limit_frame); } @@ -2010,7 +1925,6 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) { SubMaster &sm = *(s->sm); const double start_draw_t = millis_since_boot(); const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); - const cereal::RadarState::Reader &radar_state = sm["radarState"].getRadarState(); QPainter painter(this); @@ -2067,17 +1981,13 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) { painter.setRenderHint(QPainter::Antialiasing); painter.setPen(Qt::NoPen); - if (s->worldObjectsVisible()) { - if (sm.rcv_frame("modelV2") > s->scene.started_frame) { - update_model(s, model, sm["uiPlan"].getUiPlan()); - if (sm.rcv_frame("radarState") > s->scene.started_frame) { - update_leads(s, radar_state, model.getPosition()); - } - } - + if (s->scene.world_objects_visible) { + update_model(s, model, sm["uiPlan"].getUiPlan()); drawLaneLines(painter, s); - if (s->scene.longitudinal_control) { + if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) { + auto radar_state = sm["radarState"].getRadarState(); + update_leads(s, radar_state, model.getPosition()); auto lead_one = radar_state.getLeadOne(); auto lead_two = radar_state.getLeadTwo(); float v_ego = sm["carState"].getCarState().getVEgo(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index a64700fd6d..091a47da88 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -181,6 +181,7 @@ private: bool showSpeedLimit = false; float speedLimitSLC; float speedLimitSLCOffset; + float speedLimitWarningOffset; QString slcSubText; float slcSubTextSize = 0.0; bool overSpeedLimit; diff --git a/selfdrive/ui/qt/onroad_settings.cc b/selfdrive/ui/qt/onroad_settings.cc index 4efd5d6c48..e33e769f7e 100644 --- a/selfdrive/ui/qt/onroad_settings.cc +++ b/selfdrive/ui/qt/onroad_settings.cc @@ -7,7 +7,7 @@ #include "common/util.h" #include "selfdrive/ui/qt/widgets/scrollview.h" -#include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_control_settings.h" +#include "selfdrive/ui/qt/offroad/sunnypilot/speed_limit_policy_settings.h" OnroadSettings::OnroadSettings(bool closeable, QWidget *parent) : QFrame(parent) { setContentsMargins(0, 0, 0, 0); @@ -147,7 +147,7 @@ void OnroadSettings::changeSpeedLimitControl() { UIScene &scene = uiState()->scene; const auto cp = (*uiState()->sm)["carParams"].getCarParams(); bool can_change = hasLongitudinalControl(cp) || !cp.getPcmCruiseSpeed(); - int max_policy = SlcSettings::speed_limit_control_policy_texts.size() - 1; + int max_policy = SpeedLimitPolicySettings::speed_limit_policy_texts.size() - 1; if (can_change) { if (!scene.speed_limit_control_enabled) { @@ -194,7 +194,7 @@ void OnroadSettings::refresh() { // Dynamic Lane Profile dlp_widget->updateDynamicLaneProfile("DynamicLaneProfile"); - dlp_widget->setVisible(true); + dlp_widget->setVisible(scene.driving_model_gen == 1); // Gap Adjust Cruise gac_widget->updateGapAdjustCruise("LongitudinalPersonality"); @@ -336,12 +336,12 @@ void OptionWidget::updateSpeedLimitControl(QString param) { auto subtitle_text = "Speed Limit Control"; std::string icon_color; // Declare icon_color here - // Define the speed_limit_control_policy_texts - const auto& speed_limit_control_policy_texts = SlcSettings::speed_limit_control_policy_texts; + // Define the speed_limit_policy_texts + const auto& speed_limit_policy_texts = SpeedLimitPolicySettings::speed_limit_policy_texts; auto enable_slc_status = atoi(params.get(param.toStdString()).c_str()); auto speed_limit_control_policy_status = atoi(params.get("SpeedLimitControlPolicy").c_str()); - auto title_text = QString(speed_limit_control_policy_texts.at(speed_limit_control_policy_status)).replace("\n", " "); + auto title_text = QString(speed_limit_policy_texts.at(speed_limit_control_policy_status)).replace("\n", " "); std::map color_map = { {0, "#1f77b4"}, // Muted blue for "Nav Only" diff --git a/selfdrive/ui/qt/onroad_settings_panel.h b/selfdrive/ui/qt/onroad_settings_panel.h index 4c7050e736..8b81aef25a 100644 --- a/selfdrive/ui/qt/onroad_settings_panel.h +++ b/selfdrive/ui/qt/onroad_settings_panel.h @@ -1,7 +1,9 @@ #pragma once #include -#include +#ifdef ENABLE_MAPS +#include +#endif #include class OnroadSettingsPanel : public QFrame { diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 7999dd640b..c9e0525784 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -57,7 +57,7 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { main_layout->addSpacing(60); - body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot.")); + body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -97,11 +97,6 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); } - // automatically start if we're just finishing up an ABL reset - if (mode == ResetMode::FORMAT) { - startReset(); - } - setStyleSheet(R"( * { font-family: Inter; @@ -129,8 +124,6 @@ int main(int argc, char *argv[]) { if (argc > 1) { if (strcmp(argv[1], "--recover") == 0) { mode = ResetMode::RECOVER; - } else if (strcmp(argv[1], "--format") == 0) { - mode = ResetMode::FORMAT; } } diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h index 04a191d829..8bf368e3e8 100644 --- a/selfdrive/ui/qt/setup/reset.h +++ b/selfdrive/ui/qt/setup/reset.h @@ -5,7 +5,6 @@ enum ResetMode { USER_RESET, // user initiated a factory reset from openpilot RECOVER, // userdata is corrupt for some reason, give a chance to recover - FORMAT, // finish up an ABL factory reset }; class Reset : public QWidget { diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 3b3666b19a..4f2e4f48cb 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -20,7 +20,7 @@ #include "selfdrive/ui/qt/widgets/input.h" const std::string USER_AGENT = "AGNOSSetup-"; -const QString DASHCAM_URL = "https://dashcam.comma.ai"; +const QString TEST_URL = "https://openpilot.comma.ai"; bool is_elf(char *fname) { FILE *fp = fopen(fname, "rb"); @@ -34,6 +34,11 @@ bool is_elf(char *fname) { } void Setup::download(QString url) { + // autocomplete incomplete urls + if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) { + url.prepend("https://installer.comma.ai/"); + } + CURL *curl = curl_easy_init(); if (!curl) { emit finished(url, tr("Something went wrong. Reboot the device.")); @@ -224,11 +229,11 @@ QWidget * Setup::network_setup() { } repaint(); }); - request->sendRequest(DASHCAM_URL); + request->sendRequest(TEST_URL); QTimer *timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, [=]() { if (!request->active() && cont->isVisible()) { - request->sendRequest(DASHCAM_URL); + request->sendRequest(TEST_URL); } }); timer->start(1000); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 4dd4acf56d..f111453dbe 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -25,7 +25,7 @@ QString getVersion() { } QString getBrand() { - return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("sunnypilot"); + return QObject::tr("sunnypilot"); } QString getUserAgent() { @@ -125,6 +125,8 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { #endif } + qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); + setQtSurfaceFormat(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index bc3817a601..8a42be1e2b 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -31,8 +31,8 @@ const char frame_vertex_shader[] = " vTexCoord = aTexCoord;\n" "}\n"; -#ifdef QCOM2 const char frame_fragment_shader[] = +#ifdef QCOM2 "#version 300 es\n" "#extension GL_OES_EGL_image_external_essl3 : enable\n" "precision mediump float;\n" @@ -43,7 +43,6 @@ const char frame_fragment_shader[] = " colorOut = texture(uTexture, vTexCoord);\n" "}\n"; #else -const char frame_fragment_shader[] = #ifdef __APPLE__ "#version 330 core\n" #else @@ -189,12 +188,23 @@ void CameraWidget::showEvent(QShowEvent *event) { } void CameraWidget::stopVipcThread() { + makeCurrent(); if (vipc_thread) { vipc_thread->requestInterruption(); vipc_thread->quit(); vipc_thread->wait(); vipc_thread = nullptr; } + +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + assert(eglGetError() == EGL_SUCCESS); + } + egl_images.clear(); +#endif } void CameraWidget::availableStreamsUpdated(std::set streams) { @@ -325,8 +335,8 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { stream_stride = vipc_client->buffers[0].stride; #ifdef QCOM2 - egl_display = eglGetCurrentDisplay(); - + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); for (auto &pair : egl_images) { eglDestroyImageKHR(egl_display, pair.second); } @@ -417,13 +427,6 @@ void CameraWidget::vipcThread() { } } } - -#ifdef QCOM2 - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); -#endif } void CameraWidget::clearFrames() { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 6f2ebcac6a..0ce780c2d1 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -70,7 +70,6 @@ protected: QColor bg = QColor("#000000"); #ifdef QCOM2 - EGLDisplay egl_display; std::map egl_images; #endif diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 77f6b8786a..238051cf5e 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -24,13 +24,14 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->setSpacing(20); // left icon - icon_label = new QLabel(); + icon_label = new QLabel(this); + hlayout->addWidget(icon_label); if (!icon.isEmpty()) { icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); icon_label->setPixmap(icon_pixmap); icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - hlayout->addWidget(icon_label); } + icon_label->setVisible(!icon.isEmpty()); // title title_label = new QPushButton(title); @@ -170,3 +171,37 @@ void ElidedLabel::paintEvent(QPaintEvent *event) { opt.initFrom(this); style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole()); } + +// ParamControl + +ParamControl::ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent) + : ToggleControl(title, desc, icon, false, parent) { + key = param.toStdString(); + QObject::connect(this, &ParamControl::toggleFlipped, this, &ParamControl::toggleClicked); + + hlayout->removeWidget(&toggle); + hlayout->insertWidget(0, &toggle); + + hlayout->removeWidget(this->icon_label); + this->icon_pixmap = QPixmap(icon).scaledToWidth(20, Qt::SmoothTransformation); + this->icon_label->setPixmap(this->icon_pixmap); + this->icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + hlayout->insertWidget(1, this->icon_label); +} + +void ParamControl::toggleClicked(bool state) { + auto do_confirm = [this]() { + QString content("

" + title_label->text() + "


" + "

" + getDescription() + "

"); + return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec(); + }; + + bool confirmed = store_confirm && params.getBool(key + "Confirmed"); + if (!confirm || confirmed || !state || do_confirm()) { + if (store_confirm && state) params.putBool(key + "Confirmed", true); + params.putBool(key, state); + setIcon(state); + } else { + toggle.togglePosition(); + } +} diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 636cfba830..583d7e2d79 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -151,33 +151,7 @@ class ParamControl : public ToggleControl { Q_OBJECT public: - ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { - key = param.toStdString(); - QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { - QString content("

" + title + "


" - "

" + getDescription() + "

"); - ConfirmationDialog dialog(content, tr("Enable"), tr("Cancel"), true, this); - - bool confirmed = store_confirm && params.getBool(key + "Confirmed"); - if (!confirm || confirmed || !state || dialog.exec()) { - if (store_confirm && state) params.putBool(key + "Confirmed", true); - params.putBool(key, state); - setIcon(state); - } else { - toggle.togglePosition(); - } - }); - - hlayout->removeWidget(&toggle); - hlayout->insertWidget(0, &toggle); - - hlayout->removeWidget(this->icon_label); - this->icon_pixmap = QPixmap(icon).scaledToWidth(20, Qt::SmoothTransformation); - this->icon_label->setPixmap(this->icon_pixmap); - this->icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - hlayout->insertWidget(1, this->icon_label); - } - + ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr); void setConfirmation(bool _confirm, bool _store_confirm) { confirm = _confirm; store_confirm = _store_confirm; @@ -202,6 +176,7 @@ public: bool isToggled() { return params.getBool(key); } private: + void toggleClicked(bool state); void setIcon(bool state) { if (state && !active_icon_pixmap.isNull()) { icon_label->setPixmap(active_icon_pixmap); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 52d0c5cd6e..4ff0de29f9 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -129,7 +129,8 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s line->setEchoMode(QLineEdit::Normal); } }); - eye_btn->setChecked(true); + eye_btn->toggle(); + eye_btn->setChecked(false); textbox_layout->addWidget(eye_btn); } diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py new file mode 100644 index 0000000000..de7f67209e --- /dev/null +++ b/selfdrive/ui/soundd.py @@ -0,0 +1,187 @@ +import math +import numpy as np +import time +import wave + +from typing import Dict, Optional, Tuple + +from cereal import car, messaging +from openpilot.common.basedir import BASEDIR +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper +from openpilot.common.retry import retry +from openpilot.common.swaglog import cloudlog + +from openpilot.system import micd + +SAMPLE_RATE = 48000 +SAMPLE_BUFFER = 4096 # (approx 100ms) +MAX_VOLUME = 1.0 +MIN_VOLUME = 0.1 +CONTROLS_TIMEOUT = 5 # 5 seconds +FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES) + +AMBIENT_DB = 30 # DB where MIN_VOLUME is applied +DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied + +AudibleAlert = car.CarControl.HUDControl.AudibleAlert + + +sound_list: Dict[int, Tuple[str, Optional[int], float]] = { + # AudibleAlert, file name, play count (none for infinite) + AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME), + AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME), + AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME), + + AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME), + AudibleAlert.promptSingleLow: ("prompt_single_low.wav", None, MAX_VOLUME), + AudibleAlert.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME), + AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME), + AudibleAlert.promptStarting: ("prompt.wav", 1, MAX_VOLUME), + AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME), + + AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME), + AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), +} + +def check_controls_timeout_alert(sm): + controls_missing = time.monotonic() - sm.rcv_time['controlsState'] + + if controls_missing > CONTROLS_TIMEOUT: + if sm['controlsState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10: + return True + + return False + + +class Soundd: + def __init__(self): + self.load_sounds() + + self.current_alert = AudibleAlert.none + self.current_volume = MIN_VOLUME + self.current_sound_frame = 0 + + self.controls_timeout_alert = False + + self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) + + self.param_s = Params() + self.quiet_drive = self.param_s.get_bool("QuietDrive") + + self._frame = 0 + + def load_param(self): + self._frame += 1 + if self._frame == 50: + self.quiet_drive = self.param_s.get_bool("QuietDrive") + + def should_play_sound(self): + return (self.current_alert == AudibleAlert.warningSoft or self.current_alert == AudibleAlert.warningImmediate or + self.current_alert == AudibleAlert.promptDistracted or self.current_alert == AudibleAlert.promptRepeat or + self.current_alert == AudibleAlert.promptStarting or self.current_alert == AudibleAlert.promptSingleLow or + self.current_alert == AudibleAlert.promptSingleHigh) or (not self.quiet_drive and self.current_alert != AudibleAlert.none) + + def load_sounds(self): + self.loaded_sounds: Dict[int, np.ndarray] = {} + + # Load all sounds + for sound in sound_list: + filename, play_count, volume = sound_list[sound] + + wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') + + assert wavefile.getnchannels() == 1 + assert wavefile.getsampwidth() == 2 + assert wavefile.getframerate() == SAMPLE_RATE + + length = wavefile.getnframes() + self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2) + + def get_sound_data(self, frames): # get "frames" worth of data from the current alert sound, looping when required + + ret = np.zeros(frames, dtype=np.float32) + + if self.should_play_sound(): + num_loops = sound_list[self.current_alert][1] + sound_data = self.loaded_sounds[self.current_alert] + written_frames = 0 + + current_sound_frame = self.current_sound_frame % len(sound_data) + loops = self.current_sound_frame // len(sound_data) + + while written_frames < frames and (num_loops is None or loops < num_loops): + available_frames = sound_data.shape[0] - current_sound_frame + frames_to_write = min(available_frames, frames - written_frames) + ret[written_frames:written_frames+frames_to_write] = sound_data[current_sound_frame:current_sound_frame+frames_to_write] + written_frames += frames_to_write + self.current_sound_frame += frames_to_write + + return ret * self.current_volume + + def callback(self, data_out: np.ndarray, frames: int, time, status) -> None: + if status: + cloudlog.warning(f"soundd stream over/underflow: {status}") + data_out[:frames, 0] = self.get_sound_data(frames) + + def update_alert(self, new_alert): + current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert]) + if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once): + self.current_alert = new_alert + self.current_sound_frame = 0 + + def get_audible_alert(self, sm): + if sm.updated['controlsState']: + new_alert = sm['controlsState'].alertSound.raw + self.update_alert(new_alert) + elif check_controls_timeout_alert(sm): + self.update_alert(AudibleAlert.warningImmediate) + self.controls_timeout_alert = True + elif self.controls_timeout_alert: + self.update_alert(AudibleAlert.none) + self.controls_timeout_alert = False + + def calculate_volume(self, weighted_db): + volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME + return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1)) + + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + + def soundd_thread(self): + # sounddevice must be imported after forking processes + import sounddevice as sd + + sm = messaging.SubMaster(['controlsState', 'microphone']) + + with self.get_stream(sd) as stream: + rk = Ratekeeper(20) + + cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") + while True: + self.load_param() + sm.update(0) + + if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert + self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb) + self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) + + self.get_audible_alert(sm) + + rk.keep_time() + + assert stream.active + + +def main(): + s = Soundd() + s.soundd_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/soundd/.gitignore b/selfdrive/ui/soundd/.gitignore deleted file mode 100644 index c47f949d37..0000000000 --- a/selfdrive/ui/soundd/.gitignore +++ /dev/null @@ -1 +0,0 @@ -_soundd diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc deleted file mode 100644 index c6c7434ca4..0000000000 --- a/selfdrive/ui/soundd/main.cc +++ /dev/null @@ -1,18 +0,0 @@ -#include - -#include - -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/soundd/sound.h" - -int main(int argc, char **argv) { - qInstallMessageHandler(swagLogMessageHandler); - setpriority(PRIO_PROCESS, 0, -20); - - QApplication a(argc, argv); - std::signal(SIGINT, sigTermHandler); - std::signal(SIGTERM, sigTermHandler); - - Sound sound; - return a.exec(); -} diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc deleted file mode 100644 index 79bbd1653d..0000000000 --- a/selfdrive/ui/soundd/sound.cc +++ /dev/null @@ -1,75 +0,0 @@ -#include "selfdrive/ui/soundd/sound.h" - -#include - -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/util.h" - -// TODO: detect when we can't play sounds -// TODO: detect when we can't display the UI - -Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { - qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); - - for (auto &[alert, fn, loops, volume] : sound_list) { - QSoundEffect *s = new QSoundEffect(this); - QObject::connect(s, &QSoundEffect::statusChanged, [=]() { - assert(s->status() != QSoundEffect::Error); - }); - s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); - s->setVolume(volume); - sounds[alert] = {s, loops}; - } - - QTimer *timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, this, &Sound::update); - timer->start(1000 / UI_FREQ); -} - -void Sound::update() { - sm.update(0); - - // scale volume using ambient noise level - if (sm.updated("microphone")) { - float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 60.f, 0.f, 1.f); - volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); - // set volume on changes - if (std::exchange(current_volume, std::nearbyint(volume * 10)) != current_volume) { - Hardware::set_volume(volume); - } - } - - setAlert(Alert::get(sm, 0)); -} - -void Sound::setAlert(const Alert &alert) { - if (!current_alert.equal(alert)) { - current_alert = alert; - // stop sounds - for (auto &[s, loops] : sounds) { - // Only stop repeating sounds - if (s->loopsRemaining() > 1 || s->loopsRemaining() == QSoundEffect::Infinite) { - s->stop(); - } - } - - // play sound - if (shouldPlaySound(alert)) { - auto &[s, loops] = sounds[alert.sound]; - s->setLoopCount(loops); - s->play(); - } - } -} - -bool Sound::shouldPlaySound(const Alert &alert) { - bool isQuietDrive = params.getBool("QuietDrive"); - return (alert.sound == AudibleAlert::WARNING_SOFT || alert.sound == AudibleAlert::WARNING_IMMEDIATE || - alert.sound == AudibleAlert::PROMPT_DISTRACTED || alert.sound == AudibleAlert::PROMPT_REPEAT || - alert.sound == AudibleAlert::PROMPT_STARTING || alert.sound == AudibleAlert::PROMPT_SINGLE_LOW || - alert.sound == AudibleAlert::PROMPT_SINGLE_HIGH) || (!isQuietDrive && alert.sound != AudibleAlert::NONE); -} diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h deleted file mode 100644 index 82f2c2253e..0000000000 --- a/selfdrive/ui/soundd/sound.h +++ /dev/null @@ -1,48 +0,0 @@ -#pragma once - -#include - -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/ui.h" - - -const float MAX_VOLUME = 1.0; - -const std::tuple sound_list[] = { - // AudibleAlert, file name, loop count - {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME}, - {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME}, - {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME}, - - {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT_SINGLE_LOW, "prompt_single_low.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT_SINGLE_HIGH, "prompt_single_high.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::PROMPT_STARTING, "prompt.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME}, - - {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME}, -}; - -class Sound : public QObject { -public: - explicit Sound(QObject *parent = 0); - -protected: - void update(); - void setAlert(const Alert &alert); - bool shouldPlaySound(const Alert &alert); - - SubMaster sm; - Alert current_alert = {}; - QMap> sounds; - int current_volume = -1; - -private: - Params params; -}; diff --git a/selfdrive/ui/soundd/soundd b/selfdrive/ui/soundd/soundd deleted file mode 100755 index 9b7a32fec9..0000000000 --- a/selfdrive/ui/soundd/soundd +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export QT_QPA_PLATFORM="offscreen" -exec ./_soundd diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 94ba9a3a97..6c624b66d3 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -3,3 +3,4 @@ playsound test_sound test_translations ui_snapshot +test_ui/report \ No newline at end of file diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc deleted file mode 100644 index d9cb5c0a7f..0000000000 --- a/selfdrive/ui/tests/test_sound.cc +++ /dev/null @@ -1,75 +0,0 @@ -#include -#include -#include - -#include "catch2/catch.hpp" -#include "selfdrive/ui/soundd/sound.h" - -class TestSound : public Sound { -public: - TestSound() : Sound() { - for (auto i = sounds.constBegin(); i != sounds.constEnd(); ++i) { - sound_stats[i.key()] = {0, 0}; - QObject::connect(i.value().first, &QSoundEffect::playingChanged, [=, s = i.value().first, a = i.key()]() { - if (s->isPlaying()) { - sound_stats[a].first++; - } else { - sound_stats[a].second++; - } - }); - } - } - - QMap> sound_stats; -}; - -void controls_thread(int loop_cnt) { - PubMaster pm({"controlsState", "deviceState"}); - MessageBuilder deviceStateMsg; - auto deviceState = deviceStateMsg.initEvent().initDeviceState(); - deviceState.setStarted(true); - - const int DT_CTRL = 10; // ms - for (int i = 0; i < loop_cnt; ++i) { - for (auto &[alert, fn, loops, volume] : sound_list) { - printf("testing %s\n", qPrintable(fn)); - for (int j = 0; j < 1000 / DT_CTRL; ++j) { - MessageBuilder msg; - auto cs = msg.initEvent().initControlsState(); - cs.setAlertSound(alert); - cs.setAlertType(fn.toStdString()); - pm.send("controlsState", msg); - pm.send("deviceState", deviceStateMsg); - QThread::msleep(DT_CTRL); - } - } - } - - // send no alert sound - for (int j = 0; j < 1000 / DT_CTRL; ++j) { - MessageBuilder msg; - msg.initEvent().initControlsState(); - pm.send("controlsState", msg); - QThread::msleep(DT_CTRL); - } - - QThread::currentThread()->quit(); -} - -TEST_CASE("test soundd") { - QEventLoop loop; - TestSound test_sound; - const int test_loop_cnt = 2; - - QThread t; - QObject::connect(&t, &QThread::started, [=]() { controls_thread(test_loop_cnt); }); - QObject::connect(&t, &QThread::finished, [&]() { loop.quit(); }); - t.start(); - loop.exec(); - - for (const AudibleAlert alert : test_sound.sound_stats.keys()) { - auto [play, stop] = test_sound.sound_stats[alert]; - REQUIRE(play == test_loop_cnt); - REQUIRE(stop == test_loop_cnt); - } -} diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index 80a261e6d9..94ce26eb47 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -1,75 +1,41 @@ #!/usr/bin/env python3 -import subprocess -import time import unittest -from cereal import log, car -import cereal.messaging as messaging -from openpilot.selfdrive.test.helpers import phone_only, with_processes -# TODO: rewrite for unittest -from openpilot.common.realtime import DT_CTRL -from openpilot.system.hardware import HARDWARE +from cereal import car +from cereal import messaging +from cereal.messaging import SubMaster, PubMaster +from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert + +import time AudibleAlert = car.CarControl.HUDControl.AudibleAlert -SOUNDS = { - # sound: total writes - AudibleAlert.none: 0, - AudibleAlert.engage: 184, - AudibleAlert.disengage: 186, - AudibleAlert.refuse: 194, - AudibleAlert.prompt: 184, - AudibleAlert.promptRepeat: 487, - AudibleAlert.promptDistracted: 508, - AudibleAlert.warningSoft: 471, - AudibleAlert.warningImmediate: 470, -} - -def get_total_writes(): - audio_flinger = subprocess.check_output('dumpsys media.audio_flinger', shell=True, encoding='utf-8').strip() - write_lines = [l for l in audio_flinger.split('\n') if l.strip().startswith('Total writes')] - return sum(int(l.split(':')[1]) for l in write_lines) class TestSoundd(unittest.TestCase): - def test_sound_card_init(self): - assert HARDWARE.get_sound_card_online() + def test_check_controls_timeout_alert(self): + sm = SubMaster(['controlsState']) + pm = PubMaster(['controlsState']) - @phone_only - @with_processes(['soundd']) - def test_alert_sounds(self): - pm = messaging.PubMaster(['deviceState', 'controlsState']) + for _ in range(100): + cs = messaging.new_message('controlsState') + cs.controlsState.enabled = True - # make sure they're all defined - alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()} - diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys()) - assert len(diff) == 0, f"not all sounds defined in test: {diff}" + pm.send("controlsState", cs) - # wait for procs to init - time.sleep(1) + time.sleep(0.01) - for sound, expected_writes in SOUNDS.items(): - print(f"testing {alert_sounds[sound]}") - start_writes = get_total_writes() + sm.update(0) - for i in range(int(10 / DT_CTRL)): - msg = messaging.new_message('deviceState') - msg.deviceState.started = True - pm.send('deviceState', msg) + self.assertFalse(check_controls_timeout_alert(sm)) - msg = messaging.new_message('controlsState') - if i < int(6 / DT_CTRL): - msg.controlsState.alertSound = sound - msg.controlsState.alertType = str(sound) - msg.controlsState.alertText1 = "Testing Sounds" - msg.controlsState.alertText2 = f"playing {alert_sounds[sound]}" - msg.controlsState.alertSize = log.ControlsState.AlertSize.mid - pm.send('controlsState', msg) - time.sleep(DT_CTRL) + for _ in range(CONTROLS_TIMEOUT * 110): + sm.update(0) + time.sleep(0.01) + + self.assertTrue(check_controls_timeout_alert(sm)) + + # TODO: add test with micd for checking that soundd actually outputs sounds - tolerance = expected_writes / 8 - actual_writes = get_total_writes() - start_writes - print(f" expected {expected_writes} writes, got {actual_writes}") - assert abs(expected_writes - actual_writes) <= tolerance, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}" if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 622d198f7d..9ba9054ea1 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -2,30 +2,28 @@ import json import os import re -import shutil import unittest +import shutil +import tempfile import xml.etree.ElementTree as ET +import string +import requests +from parameterized import parameterized_class from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations -TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f) + UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, - f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + self.assertTrue("" not in cur_translations, + f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") def test_finished_translations(self): """ @@ -78,48 +66,68 @@ class TestTranslations(unittest.TestCase): - that translation is not empty - that translation format arguments are consistent """ - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) + tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")) - for context in tr_xml.getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - source_text = message.find("source").text + for context in tr_xml.getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + source_text = message.find("source").text - # Do not test unfinished translations - if translation.get("type") == "unfinished": - continue + # Do not test unfinished translations + if translation.get("type") == "unfinished": + continue - if message.get("numerus") == "yes": - numerusform = [t.text for t in translation.findall("numerusform")] + if message.get("numerus") == "yes": + numerusform = [t.text for t in translation.findall("numerusform")] - for nf in numerusform: - self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") - self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") - self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) + for nf in numerusform: + self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") + self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") + self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) - else: - self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + else: + self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") - source_args = FORMAT_ARG.findall(source_text) - translation_args = FORMAT_ARG.findall(translation.text) - self.assertEqual(sorted(source_args), sorted(translation_args), - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") + source_args = FORMAT_ARG.findall(source_text) + translation_args = FORMAT_ARG.findall(translation.text) + self.assertEqual(sorted(source_args), sorted(translation_args), + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") def test_no_locations(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines(): - self.assertFalse(line.strip().startswith(LOCATION_TAG), - f"Line contains location tag: {line.strip()}, remove all line numbers.") + for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): + self.assertFalse(line.strip().startswith(LOCATION_TAG), + f"Line contains location tag: {line.strip()}, remove all line numbers.") def test_entities_error(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) - matches = re.findall(r'@(\w+);', cur_translations) - self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + matches = re.findall(r'@(\w+);', cur_translations) + self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + + def test_bad_language(self): + IGNORED_WORDS = {'pédale'} + + match = re.search(r'_([a-zA-Z]{2,3})', self.file) + assert match, f"{self.name} - could not parse language" + + response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") + response.raise_for_status() + + banned_words = {line.strip() for line in response.text.splitlines()} + + for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + if translation.get("type") == "unfinished": + continue + + translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text + + if not translation_text: + continue + + words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) + bad_words_found = words & (banned_words - IGNORED_WORDS) + assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" if __name__ == "__main__": diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py new file mode 100644 index 0000000000..7a2ac9a110 --- /dev/null +++ b/selfdrive/ui/tests/test_ui/run.py @@ -0,0 +1,197 @@ +from collections import namedtuple +import pathlib +import shutil +import sys +import jinja2 +import matplotlib.pyplot as plt +import numpy as np +import os +import pywinctl +import time +import unittest + +from parameterized import parameterized +from cereal import messaging, car, log +from cereal.visionipc import VisionIpcServer, VisionStreamType + +from cereal.messaging import SubMaster, PubMaster +from openpilot.common.mock import mock_messages +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.common.transformations.camera import tici_f_frame_size +from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state +from openpilot.tools.webcam.camera import Camera + +UI_DELAY = 0.5 # may be slower on CI? + +NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength + +EventName = car.CarEvent.EventName +EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()} + + +def setup_common(click, pm: PubMaster): + Params().put("DongleId", "123456789012345") + dat = messaging.new_message('deviceState') + dat.deviceState.started = True + dat.deviceState.networkType = NetworkType.cell4G + dat.deviceState.networkStrength = NetworkStrength.moderate + dat.deviceState.freeSpacePercent = 80 + dat.deviceState.memoryUsagePercent = 2 + dat.deviceState.cpuTempC = [2,]*3 + dat.deviceState.gpuTempC = [2,]*3 + dat.deviceState.cpuUsagePercent = [2,]*8 + + pm.send("deviceState", dat) + +def setup_homescreen(click, pm: PubMaster): + setup_common(click, pm) + +def setup_settings_device(click, pm: PubMaster): + setup_common(click, pm) + + click(100, 100) + +def setup_settings_network(click, pm: PubMaster): + setup_common(click, pm) + + setup_settings_device(click, pm) + click(300, 600) + +def setup_onroad(click, pm: PubMaster): + setup_common(click, pm) + + dat = messaging.new_message('pandaStates', 1) + dat.pandaStates[0].ignitionLine = True + dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno + + pm.send("pandaStates", dat) + + server = VisionIpcServer("camerad") + server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size) + server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) + server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) + server.start_listener() + + time.sleep(0.5) # give time for vipc server to start + + IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8)) + IMG_BYTES = IMG.flatten().tobytes() + + cams = ('roadCameraState', 'wideRoadCameraState') + + frame_id = 0 + for cam in cams: + msg = messaging.new_message(cam) + cs = getattr(msg, cam) + cs.frameId = frame_id + cs.timestampSof = int((frame_id * DT_MDL) * 1e9) + cs.timestampEof = int((frame_id * DT_MDL) * 1e9) + cam_meta = meta_from_camera_state(cam) + + pm.send(msg.which(), msg) + server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof) + +@mock_messages(['liveLocationKalman']) +def setup_onroad_map(click, pm: PubMaster): + setup_onroad(click, pm) + + click(500, 500) + + time.sleep(UI_DELAY) # give time for the map to render + +def setup_onroad_sidebar(click, pm: PubMaster): + setup_onroad_map(click, pm) + click(500, 500) + +CASES = { + "homescreen": setup_homescreen, + "settings_device": setup_settings_device, + "settings_network": setup_settings_network, + "onroad": setup_onroad, + "onroad_map": setup_onroad_map, + "onroad_sidebar": setup_onroad_sidebar +} + +TEST_DIR = pathlib.Path(__file__).parent + +TEST_OUTPUT_DIR = TEST_DIR / "report" +SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" + + +class TestUI(unittest.TestCase): + @classmethod + def setUpClass(cls): + os.environ["SCALE"] = "1" + sys.modules["mouseinfo"] = False + + @classmethod + def tearDownClass(cls): + del sys.modules["mouseinfo"] + + def setup(self): + self.sm = SubMaster(["uiDebug"]) + self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman']) + while not self.sm.valid["uiDebug"]: + self.sm.update(1) + time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering + try: + self.ui = pywinctl.getWindowsWithTitle("ui")[0] + except Exception as e: + print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}") + self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080) + + def screenshot(self): + import pyautogui + im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) + self.assertEqual(im.width, 2160) + self.assertEqual(im.height, 1080) + img = np.array(im) + im.close() + return img + + def click(self, x, y, *args, **kwargs): + import pyautogui + pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) + time.sleep(UI_DELAY) # give enough time for the UI to react + + @parameterized.expand(CASES.items()) + @with_processes(["ui"]) + def test_ui(self, name, setup_case): + self.setup() + + setup_case(self.click, self.pm) + + time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering + + im = self.screenshot() + plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) + + +def create_html_report(): + OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html" + + with open(TEST_DIR / "template.html") as f: + template = jinja2.Template(f.read()) + + cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")} + cases = dict(sorted(cases.items())) + + with open(OUTPUT_FILE, "w") as f: + f.write(template.render(cases=cases)) + +def create_screenshots(): + if TEST_OUTPUT_DIR.exists(): + shutil.rmtree(TEST_OUTPUT_DIR) + + SCREENSHOTS_DIR.mkdir(parents=True) + unittest.main(exit=False) + +if __name__ == "__main__": + print("creating test screenshots") + create_screenshots() + + print("creating html report") + create_html_report() diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html new file mode 100644 index 0000000000..68df5879e6 --- /dev/null +++ b/selfdrive/ui/tests/test_ui/template.html @@ -0,0 +1,34 @@ + + + + +{% for name, (image, ref_image) in cases.items() %} + +

{{name}}

+
+
+ +
+
+ +
+ +{% endfor %} + \ No newline at end of file diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py new file mode 100755 index 0000000000..8613feb245 --- /dev/null +++ b/selfdrive/ui/translations/auto_translate.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 + +import argparse +import json +import os +import pathlib +import xml.etree.ElementTree as ET +from typing import cast + +import requests + +TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent +TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json" + +OPENAI_MODEL = "gpt-4" +OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY") +OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \ + "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." + + +def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: + files = {} + + with open(TRANSLATIONS_LANGUAGES) as fp: + language_dict = json.load(fp) + + for filename in language_dict.values(): + path = TRANSLATIONS_DIR / f"{filename}.ts" + language = path.stem.split("main_")[1] + + if languages is None or language in languages: + files[language] = path + + return files + + +def translate_phrase(text: str, language: str) -> str: + response = requests.post( + "https://api.openai.com/v1/chat/completions", + json={ + "model": OPENAI_MODEL, + "messages": [ + { + "role": "system", + "content": OPENAI_PROMPT.format(language=language), + }, + { + "role": "user", + "content": text, + }, + ], + "temperature": 0.8, + "max_tokens": 1024, + "top_p": 1, + }, + headers={ + "Authorization": f"Bearer {OPENAI_API_KEY}", + "Content-Type": "application/json", + }, + ) + + if 400 <= response.status_code < 600: + raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response) + + data = response.json() + + return cast(str, data["choices"][0]["message"]["content"]) + + +def translate_file(path: pathlib.Path, language: str, all_: bool) -> None: + tree = ET.parse(path) + + root = tree.getroot() + + for context in root.findall("./context"): + name = context.find("name") + if name is None: + raise ValueError("name not found") + + print(f"Context: {name.text}") + + for message in context.findall("./message"): + source = message.find("source") + translation = message.find("translation") + + if source is None or translation is None: + raise ValueError("source or translation not found") + + if not all_ and translation.attrib.get("type") != "unfinished": + continue + + llm_translation = translate_phrase(cast(str, source.text), language) + + print(f"Source: {source.text}\n" + + f"Current translation: {translation.text}\n" + + f"LLM translation: {llm_translation}") + + translation.text = llm_translation + + with path.open("w", encoding="utf-8") as fp: + fp.write('\n' + + '\n' + + ET.tostring(root, encoding="utf-8").decode()) + + +def main(): + arg_parser = argparse.ArgumentParser("Auto translate") + + group = arg_parser.add_mutually_exclusive_group(required=True) + group.add_argument("-a", "--all-files", action="store_true", help="Translate all files") + group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)") + + arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)") + + args = arg_parser.parse_args() + + if OPENAI_API_KEY is None: + print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" + + "If you don't have one go to: https://beta.openai.com/account/api-keys.") + exit(1) + + files = get_language_files(None if args.all_files else args.file) + + if args.file: + missing_files = set(args.file) - set(files) + if len(missing_files): + print(f"No language files found: {missing_files}") + exit(1) + + print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}") + + for lang, path in files.items(): + print(f"Translate {lang} ({path})") + translate_file(path, lang, args.all_translations) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index a1b2ecb289..f6c8aae448 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -54,8 +54,8 @@ if __name__ == "__main__": badge_svg.extend([f'', content_svg, ""]) - badge_svg.insert(0, f'') + badge_svg.insert(0, '') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 4159f28c31..eb6a580c01 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً + + Hidden Network + شبكة مخفية + + + CONNECT + الاتصال + + + Enter SSID + أدخل SSID + + + Enter password + أدخل كلمة المرور + + + for "%1" + من أجل "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting بدء تشغيل الكاميرا @@ -542,10 +562,6 @@ Exit إغلاق - - dashcam - dashcam - openpilot openpilot @@ -632,14 +648,14 @@ This may take up to a minute. يتم إعادة ضبط الجهاز... قد يستغرق الأمر حوالي الدقيقة. - - Press confirm to erase all content and settings. Press cancel to resume boot. - اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لمتابعة التشغيل. - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index e2e5771905..6d814b9625 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting Kamera startet @@ -537,10 +557,6 @@ Exit Verlassen - - dashcam - dashcam - openpilot openpilot @@ -614,12 +630,12 @@ - Press confirm to erase all content and settings. Press cancel to resume boot. + Resetting device... +This may take up to a minute. - Resetting device... -This may take up to a minute. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 456efe6366..cd96c466e9 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Éviter les transferts de données importants sur une connexion limitée + + Hidden Network + Réseau Caché + + + CONNECT + CONNECTER + + + Enter SSID + Entrer le SSID + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting démarrage de la caméra @@ -538,10 +558,6 @@ Exit Quitter - - dashcam - dashcam - openpilot openpilot @@ -604,10 +620,6 @@ Cela peut prendre jusqu'à une minute. System Reset Réinitialisation du système - - Press confirm to erase all content and settings. Press cancel to resume boot. - Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage. - Cancel Annuler @@ -624,6 +636,10 @@ Cela peut prendre jusqu'à une minute. Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 63de8f0471..d07c7d525a 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 大量のデータのアップロードを防止します。 + + Hidden Network + + + + CONNECT + 接続 + + + Enter SSID + SSID を入力 + + + Enter password + パスワードを入力 + + + for "%1" + ﾈｯﾄﾜｰｸ名：%1 + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting ｶﾒﾗを起動しています @@ -536,10 +556,6 @@ Exit 閉じる - - dashcam - ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - openpilot openpilot @@ -610,12 +626,12 @@ - Press confirm to erase all content and settings. Press cancel to resume boot. + Resetting device... +This may take up to a minute. - Resetting device... -This may take up to a minute. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index bc0c5f2b0e..a903978329 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 + + Hidden Network + 숨겨진 네트워크 + + + CONNECT + 연결됨 + + + Enter SSID + SSID 입력 + + + Enter password + 비밀번호를 입력하세요 + + + for "%1" + "%1"에 접속하려면 비밀번호가 필요합니다 + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting 카메라 시작 중 @@ -537,10 +557,6 @@ Exit 종료 - - dashcam - 블랙박스 - openpilot openpilot @@ -610,16 +626,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요. - - Press confirm to erase all content and settings. Press cancel to resume boot. - 모든 콘텐츠와 설정을 삭제하려면 확인을 누르세요. 계속 부팅하려면 취소를 누르세요. - Resetting device... This may take up to a minute. 장치를 초기화하는 중... 최대 1분이 소요될 수 있습니다. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4cf37cc585..fce5a8a8ff 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Evite grandes uploads de dados quando estiver em uma conexão limitada + + Hidden Network + Rede Oculta + + + CONNECT + CONECTE + + + Enter SSID + Digite o SSID + + + Enter password + Insira a senha + + + for "%1" + para "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting câmera iniciando @@ -538,10 +558,6 @@ Exit Sair - - dashcam - dashcam - openpilot openpilot @@ -614,16 +630,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. - - Press confirm to erase all content and settings. Press cancel to resume boot. - Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. - Resetting device... This may take up to a minute. Redefinindo o dispositivo Isso pode levar até um minuto. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização. + SettingsWindow diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index a1748a6951..f4d097b2a2 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ + + Hidden Network + + + + CONNECT + เชื่อมต่อ + + + Enter SSID + ป้อนค่า SSID + + + Enter password + ใส่รหัสผ่าน + + + for "%1" + สำหรับ "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting กำลังเปิดกล้อง @@ -537,10 +557,6 @@ Exit ปิด - - dashcam - กล้องติดรถยนต์ - openpilot openpilot @@ -612,14 +628,14 @@ This may take up to a minute. กำลังรีเซ็ตอุปกรณ์... อาจใช้เวลาถึงหนึ่งนาที - - Press confirm to erase all content and settings. Press cancel to resume boot. - กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 51fdddd5ce..ec6f71f5b0 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection + + Hidden Network + + + + CONNECT + BAĞLANTI + + + Enter SSID + APN Gir + + + Enter password + Parolayı girin + + + for "%1" + için "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting kamera başlatılıyor @@ -536,10 +556,6 @@ Exit Çık - - dashcam - araç yol kamerası - openpilot openpilot @@ -611,11 +627,11 @@ This may take up to a minute. - Press confirm to erase all content and settings. Press cancel to resume boot. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 7b682535ce..91f55c6e94 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 当使用按流量计费的连接时，避免上传大流量数据 + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + 输入SSID + + + Enter password + 输入密码 + + + for "%1" + 网络名称："%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting 正在启动相机 @@ -537,10 +557,6 @@ Exit 退出 - - dashcam - 行车记录仪 - openpilot openpilot @@ -610,16 +626,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。 - - Press confirm to erase all content and settings. Press cancel to resume boot. - 按下确认以删除所有内容及设置。按下取消来继续开机。 - Resetting device... This may take up to a minute. 设备重置中… 这可能需要一分钟的时间。 + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1794cc78ac..e8c8854d0e 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 防止使用行動網路上傳大量的數據 + + Hidden Network + + + + CONNECT + 雲端服務 + + + Enter SSID + 輸入 SSID + + + Enter password + 輸入密碼 + + + for "%1" + 給 "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting 開啟相機中 @@ -537,10 +557,6 @@ Exit 離開 - - dashcam - 行車記錄器 - openpilot openpilot @@ -610,16 +626,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。 - - Press confirm to erase all content and settings. Press cancel to resume boot. - 按下確認以刪除所有內容及設定。按下取消來繼續開機。 - Resetting device... This may take up to a minute. 設備重設中… 這可能需要一分鐘的時間。 + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui deleted file mode 100755 index acb2a705a8..0000000000 --- a/selfdrive/ui/ui +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export QT_DBL_CLICK_DIST=150 -exec ./_ui diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index d688954d34..b5f1d67fd9 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { const auto line_x = line.getX(); int max_idx = 0; - for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { + for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { max_idx = i; } return max_idx; @@ -84,10 +84,10 @@ void update_model(UIState *s, const cereal::UiPlan::Reader &plan) { UIScene &scene = s->scene; auto plan_position = plan.getPosition(); - if (plan_position.getX().size() < TRAJECTORY_SIZE){ + if (plan_position.getX().size() < model.getPosition().getX().size()) { plan_position = model.getPosition(); } - float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1], + float max_distance = std::clamp(*(plan_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines @@ -214,8 +214,15 @@ static void update_state(UIState *s) { scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; - if (sm.updated("lateralPlanSP")) { - scene.dynamic_lane_profile_status = sm["lateralPlanSP"].getLateralPlanSP().getDynamicLaneProfileStatus(); + + scene.world_objects_visible = scene.world_objects_visible || + (scene.started && + sm.rcv_frame("liveCalibration") > scene.started_frame && + sm.rcv_frame("modelV2") > scene.started_frame && + sm.rcv_frame("uiPlan") > scene.started_frame); + // TODO: SP - Set this dynamically on init with manual toggle or driving model selection + if (sm.updated("lateralPlanSPDEPRECATED")) { + scene.dynamic_lane_profile_status = sm["lateralPlanSPDEPRECATED"].getLateralPlanSPDEPRECATED().getDynamicLaneProfileStatus(); } if (sm.updated("controlsState")) { scene.controlsState = sm["controlsState"].getControlsState(); @@ -239,7 +246,6 @@ void ui_update_params(UIState *s) { s->scene.brightness = std::atoi(params.get("BrightnessControl").c_str()); s->scene.stand_still_timer = params.getBool("StandStillTimer"); s->scene.show_debug_ui = params.getBool("ShowDebugUI"); - s->scene.debug_snapshot_enabled = params.getBool("EnableDebugSnapshot"); s->scene.hide_vego_ui = params.getBool("HideVEgoUi"); s->scene.true_vego_ui = params.getBool("TrueVEgoUi"); s->scene.chevron_data = std::atoi(params.get("ChevronInfo").c_str()); @@ -254,6 +260,10 @@ void ui_update_params(UIState *s) { s->scene.torqued_override = params.getBool("TorquedOverride"); s->scene.speed_limit_control_engage_type = std::atoi(params.get("SpeedLimitEngageType").c_str()); s->scene.mapbox_fullscreen = params.getBool("MapboxFullScreen"); + s->scene.speed_limit_warning_flash = params.getBool("SpeedLimitWarningFlash"); + s->scene.speed_limit_warning_type = std::atoi(params.get("SpeedLimitWarningType").c_str()); + s->scene.speed_limit_warning_value_offset = std::atoi(params.get("SpeedLimitWarningValueOffset").c_str()); + s->scene.driving_model_gen = std::atoi(params.get("DrivingModelGeneration").c_str()); // Handle Onroad Screen Off params if (s->scene.onroadScreenOff > 0) { @@ -308,6 +318,7 @@ void UIState::updateStatus() { scene.started_frame = sm->frame; } started_prev = scene.started; + scene.world_objects_visible = false; emit offroadTransition(!scene.started); } @@ -371,10 +382,10 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ - "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", + "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "longitudinalPlanSP", "liveMapDataSP", - "carControl", "lateralPlanSP", "gpsLocation", "gpsLocationExternal", "liveParameters", "liveTorqueParameters", "controlsStateSP" + "carControl", "lateralPlanSPDEPRECATED", "gpsLocation", "gpsLocationExternal", "liveParameters", "liveTorqueParameters", "controlsStateSP" }); Params params; diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 3f7bbcb5f8..9595357fab 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -13,9 +12,10 @@ #include #include "cereal/messaging/messaging.h" -#include "common/modeldata.h" +#include "common/mat.h" #include "common/params.h" #include "common/timing.h" +#include "system/hardware/hw.h" const int UI_BORDER_SIZE = 30; const int UI_HEADER_HEIGHT = 420; @@ -41,7 +41,18 @@ const int UI_FREQ = 20; // Hz const int BACKLIGHT_OFFROAD = 50; typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; -const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +const float MIN_DRAW_DISTANCE = 10.0; +const float MAX_DRAW_DISTANCE = 100.0; +constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; +// tici ecam focal probably wrong? magnification is not consistent across frame +// Need to retrain model before this can be changed +constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, + 0.0, 567.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + constexpr vec3 default_face_kpts_3d[] = { {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, @@ -65,17 +76,12 @@ struct Alert { return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound; } - static Alert get(const SubMaster &sm, uint64_t started_frame, uint64_t display_debug_alert_frame = 0) { + static Alert get(const SubMaster &sm, uint64_t started_frame) { const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); const uint64_t controls_frame = sm.rcv_frame("controlsState"); Alert alert = {}; - if (display_debug_alert_frame > 0 && (sm.frame - display_debug_alert_frame) <= 1 * UI_FREQ) { - return {"Debug snapshot collected", "", - "debugTapDetected", cereal::ControlsState::AlertSize::SMALL, - cereal::ControlsState::AlertStatus::NORMAL, - AudibleAlert::WARNING_SOFT}; - } else if (controls_frame >= started_frame) { // Don't get old alert. + if (controls_frame >= started_frame) { // Don't get old alert. alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus(), @@ -126,6 +132,7 @@ enum PrimeType { LITE = 2, BLUE = 3, MAGENTA_NEW = 4, + PURPLE = 5, }; const QColor bg_colors [] = { @@ -159,8 +166,6 @@ typedef struct UIScene { // Debug UI bool show_debug_ui; - bool debug_snapshot_enabled; - uint64_t display_debug_alert_frame; // Speed limit control bool speed_limit_control_enabled; @@ -190,6 +195,7 @@ typedef struct UIScene { float light_sensor; bool started, ignition, is_metric, map_on_left, longitudinal_control; + bool world_objects_visible = false; uint64_t started_frame; int dynamic_lane_profile; @@ -245,6 +251,12 @@ typedef struct UIScene { int speed_limit_control_engage_type; bool mapbox_fullscreen; + + bool speed_limit_warning_flash; + int speed_limit_warning_type; + int speed_limit_warning_value_offset; + + int driving_model_gen; } UIScene; class UIState : public QObject { @@ -253,9 +265,6 @@ class UIState : public QObject { public: UIState(QObject* parent = 0); void updateStatus(); - inline bool worldObjectsVisible() const { - return sm->rcv_frame("liveCalibration") > scene.started_frame; - } inline bool engaged() const { return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); } diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 004c6425dc..e988a13b7f 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -9,6 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") +PLURAL_ONLY = ["main_en"] # base language, only create entries for strings with plural forms def generate_translations_include(): @@ -22,21 +23,20 @@ def generate_translations_include(): with open(TRANSLATIONS_INCLUDE_FILE, "w") as f: f.write(content) -def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): + +def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR): generate_translations_include() - if plural_only is None: - plural_only = [] + if translation_files is None: + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f).values() - with open(LANGUAGES_FILE, "r") as f: - translation_files = json.load(f) - - for file in translation_files.values(): + for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" - if file in plural_only: + if file in PLURAL_ONLY: args += " -pluralonly" ret = os.system(args) assert ret == 0 @@ -46,8 +46,6 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], - help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() - update_translations(args.vanish, args.plural_only) + update_translations(args.vanish) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 86a4071c19..4ac21eb292 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -18,7 +18,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.time import system_time_valid from openpilot.system.hardware import AGNOS, HARDWARE -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.version import is_tested_branch @@ -35,26 +35,42 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days +class UserRequest: + NONE = 0 + CHECK = 1 + FETCH = 2 + class WaitTimeHelper: def __init__(self): self.ready_event = threading.Event() - self.only_check_for_update = False + self.user_request = UserRequest.NONE signal.signal(signal.SIGHUP, self.update_now) signal.signal(signal.SIGUSR1, self.check_now) def update_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGHUP, attempting to downloading update") - self.only_check_for_update = False + self.user_request = UserRequest.FETCH self.ready_event.set() def check_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGUSR1, checking for updates") - self.only_check_for_update = True + self.user_request = UserRequest.CHECK self.ready_event.set() def sleep(self, t: float) -> None: self.ready_event.wait(timeout=t) +def write_time_to_param(params, param) -> None: + t = datetime.datetime.utcnow() + params.put(param, t.isoformat().encode('utf8')) + +def read_time_from_param(params, param) -> Optional[datetime.datetime]: + t = params.get(param, encoding='utf8') + try: + return datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass + return None def run(cmd: List[str], cwd: Optional[str] = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -230,7 +246,6 @@ class Updater: b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') if b is None: b = self.get_branch(BASEDIR) - self.params.put("UpdaterTargetBranch", b) return b @property @@ -245,7 +260,7 @@ class Updater: @property def update_available(self) -> bool: - if os.path.isdir(OVERLAY_MERGED): + if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch return hash_mismatch or branch_mismatch @@ -259,20 +274,19 @@ class Updater: def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: self.params.put("UpdateFailedCount", str(failed_count)) + self.params.put("UpdaterTargetBranch", self.target_branch) self.params.put_bool("UpdaterFetchAvailable", self.update_available) - self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + if len(self.branches): + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) last_update = datetime.datetime.utcnow() if update_success: - t = last_update.isoformat() - self.params.put("LastUpdateTime", t.encode('utf8')) + write_time_to_param(self.params, "LastUpdateTime") else: - try: - t = self.params.get("LastUpdateTime", encoding='utf8') - last_update = datetime.datetime.fromisoformat(t) - except (TypeError, ValueError): - pass + t = read_time_from_param(self.params, "LastUpdateTime") + if t is not None: + last_update = t if exception is None: self.params.remove("LastUpdateException") @@ -328,7 +342,7 @@ class Updater: def check_for_update(self) -> None: cloudlog.info("checking for updates") - excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + excluded_branches = ('release2', 'release2-staging') try: run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) @@ -420,15 +434,16 @@ def main() -> None: updater = Updater() update_failed_count = 0 # TODO: Load from param? - - # no fetch on the first time wait_helper = WaitTimeHelper() - wait_helper.only_check_for_update = True # invalidate old finalized update set_consistent_flag(False) + # set initial state + params.put("UpdaterState", "idle") + # Run the update loop + first_run = True while True: wait_helper.ready_event.clear() @@ -441,7 +456,8 @@ def main() -> None: # ensure we have some params written soon after startup updater.set_params(False, update_failed_count, exception) - if not system_time_valid(): + if not system_time_valid() or first_run: + first_run = False wait_helper.sleep(60) continue @@ -452,10 +468,16 @@ def main() -> None: updater.check_for_update() # download update - if wait_helper.only_check_for_update: - cloudlog.info("skipping fetch this cycle") + last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") + timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3)) + user_requested_fetch = wait_helper.user_request == UserRequest.FETCH + if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: + cloudlog.info("skipping fetch, connection metered") + elif wait_helper.user_request == UserRequest.CHECK: + cloudlog.info("skipping fetch, only checking") else: updater.fetch_update() + write_time_to_param(params, "UpdaterLastFetchTime") update_failed_count = 0 except subprocess.CalledProcessError as e: cloudlog.event( @@ -479,7 +501,7 @@ def main() -> None: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") # infrequent attempts if we successfully updated recently - wait_helper.only_check_for_update = False + wait_helper.user_request = UserRequest.NONE wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index ffd7278bbb..8f19e7ee19 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -2,13 +2,9 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] -camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc']) -env.Program('camerad', [ - 'main.cc', - camera_obj, - ], LIBS=libs) +camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', + 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) +env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": - env.Program('test/ae_gray_test', - ['test/ae_gray_test.cc', camera_obj], - LIBS=libs) + env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 23b28357da..91c6d44f84 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -1,22 +1,14 @@ #include "system/camerad/cameras/camera_common.h" -#include - #include -#include -#include #include -#include #include "third_party/libyuv/include/libyuv.h" #include -#include "system/camerad/imgproc/utils.h" #include "common/clutil.h" -#include "common/modeldata.h" #include "common/swaglog.h" #include "common/util.h" -#include "system/hardware/hw.h" #include "third_party/linux/include/msm_media_info.h" #include "system/camerad/cameras/camera_qcom2.h" @@ -30,15 +22,15 @@ class Debayer { public: Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) { char args[4096]; - const CameraInfo *ci = &s->ci; + const SensorInfo *ci = s->ci.get(); snprintf(args, sizeof(args), "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " - "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " + "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " "-DIS_OX=%d -DCAM_NUM=%d%s", ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset, - b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset, - s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); + b->rgb_width, b->rgb_height, buf_width, uv_offset, + ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); const char *cl_file = "cameras/real_debayer.cl"; cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err)); @@ -63,12 +55,12 @@ private: cl_kernel krnl_; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; - this->yuv_type = init_yuv_type; + stream_type = type; frame_buf_count = frame_cnt; - const CameraInfo *ci = &s->ci; + const SensorInfo *ci = s->ci.get(); // RAW frame const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride; camera_bufs = std::make_unique(frame_buf_count); @@ -89,17 +81,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height)); size_t nv12_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage size_t nv12_uv_offset = nv12_width * nv12_height; - vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset); -#ifdef __APPLE__ - q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); -#else const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); -#endif } CameraBuf::~CameraBuf() { @@ -119,7 +107,7 @@ bool CameraBuf::acquire() { } cur_frame_data = camera_bufs_metadata[cur_buf_idx]; - cur_yuv_buf = vipc_server->get_buffer(yuv_type); + cur_yuv_buf = vipc_server->get_buffer(stream_type); cur_camera_buf = &camera_bufs[cur_buf_idx]; double start_time = millis_since_boot(); @@ -148,6 +136,7 @@ void CameraBuf::queue(size_t buf_idx) { void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { framed.setFrameId(frame_data.frame_id); + framed.setRequestId(frame_data.request_id); framed.setTimestampEof(frame_data.timestamp_eof); framed.setTimestampSof(frame_data.timestamp_sof); framed.setIntegLines(frame_data.integ_lines); @@ -158,14 +147,9 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setProcessingTime(frame_data.processing_time); const float ev = c->cur_ev[frame_data.frame_id % 3]; - const float perc = util::map_val(ev, c->min_ev, c->max_ev, 0.0f, 100.0f); + const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f); framed.setExposureValPercent(perc); - - if (c->camera_id == CAMERA_ID_AR0231) { - framed.setSensor(cereal::FrameData::ImageSensor::AR0231); - } else if (c->camera_id == CAMERA_ID_OX03C10) { - framed.setSensor(cereal::FrameData::ImageSensor::OX03C10); - } + framed.setSensor(c->ci->image_sensor); } kj::Array get_raw_frame_image(const CameraBuf *b) { @@ -282,7 +266,6 @@ float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip } } - // Find mean lumimance value unsigned int lum_cur = 0; for (lum_med = 255; lum_med >= 0; lum_med--) { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 0f69aa3774..f98691ef00 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -1,30 +1,12 @@ #pragma once -#include -#include +#include #include #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionbuf.h" -#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" -#include "common/mat.h" #include "common/queue.h" -#include "common/swaglog.h" -#include "system/hardware/hw.h" - -#define CAMERA_ID_IMX298 0 -#define CAMERA_ID_IMX179 1 -#define CAMERA_ID_S5K3P8SP 2 -#define CAMERA_ID_OV8865 3 -#define CAMERA_ID_IMX298_FLIPPED 4 -#define CAMERA_ID_OV10640 5 -#define CAMERA_ID_LGC920 6 -#define CAMERA_ID_LGC615 7 -#define CAMERA_ID_AR0231 8 -#define CAMERA_ID_OX03C10 9 -#define CAMERA_ID_MAX 10 const int YUV_BUFFER_COUNT = 20; @@ -42,20 +24,12 @@ const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; -typedef struct CameraInfo { - uint32_t frame_width, frame_height; - uint32_t frame_stride; - uint32_t frame_offset = 0; - uint32_t extra_height = 0; - int registers_offset = -1; - int stats_offset = -1; -} CameraInfo; - typedef struct FrameMetadata { uint32_t frame_id; + uint32_t request_id; // Timestamps - uint64_t timestamp_sof; // only set on tici + uint64_t timestamp_sof; uint64_t timestamp_eof; // Exposure @@ -76,7 +50,7 @@ class CameraBuf { private: VisionIpcServer *vipc_server; Debayer *debayer = nullptr; - VisionStreamType yuv_type; + VisionStreamType stream_type; int cur_buf_idx; SafeQueue safe_queue; int frame_buf_count; @@ -88,11 +62,11 @@ public: VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs; std::unique_ptr camera_bufs_metadata; - int rgb_width, rgb_height, rgb_stride; + int rgb_width, rgb_height; CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type); bool acquire(); void queue(size_t buf_idx); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 3a9ecb467b..e17203a7dd 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1,17 +1,12 @@ #include "system/camerad/cameras/camera_qcom2.h" -#include #include #include -#include -#include #include -#include #include #include #include -#include #include #include #include @@ -19,105 +14,18 @@ #include "media/cam_defs.h" #include "media/cam_isp.h" #include "media/cam_isp_ife.h" -#include "media/cam_sensor.h" +#include "media/cam_req_mgr.h" #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" #include "common/swaglog.h" -#include "system/camerad/cameras/sensor2_i2c.h" + +const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl extern ExitHandler do_exit; -const size_t FRAME_WIDTH = 1928; -const size_t FRAME_HEIGHT = 1208; -const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) - -const size_t AR0231_REGISTERS_HEIGHT = 2; -// TODO: this extra height is universal and doesn't apply per camera -const size_t AR0231_STATS_HEIGHT = 2+8; - -const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py - -CameraInfo cameras_supported[CAMERA_ID_MAX] = { - [CAMERA_ID_AR0231] = { - .frame_width = FRAME_WIDTH, - .frame_height = FRAME_HEIGHT, - .frame_stride = FRAME_STRIDE, - .extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT, - - .registers_offset = 0, - .frame_offset = AR0231_REGISTERS_HEIGHT, - .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT, - }, - [CAMERA_ID_OX03C10] = { - .frame_width = FRAME_WIDTH, - .frame_height = FRAME_HEIGHT, - .frame_stride = FRAME_STRIDE, // (0xa80*12//8) - .extra_height = 16, // top 2 + bot 14 - .frame_offset = 2, - }, -}; - -const float DC_GAIN_AR0231 = 2.5; -const float DC_GAIN_OX03C10 = 7.32; - -const float DC_GAIN_ON_GREY_AR0231 = 0.2; -const float DC_GAIN_OFF_GREY_AR0231 = 0.3; -const float DC_GAIN_ON_GREY_OX03C10 = 0.9; -const float DC_GAIN_OFF_GREY_OX03C10 = 1.0; - -const int DC_GAIN_MIN_WEIGHT_AR0231 = 0; -const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; -const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine -const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1; - -const float TARGET_GREY_FACTOR_AR0231 = 1.0; -const float TARGET_GREY_FACTOR_OX03C10 = 0.01; - -const float sensor_analog_gains_AR0231[] = { - 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 - 3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7 - 5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11 - 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass - -const float sensor_analog_gains_OX03C10[] = { - 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, - 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, - 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, - 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, - 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; - -const uint32_t ox03c10_analog_gains_reg[] = { - 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, - 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, - 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, - 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, - 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; - -const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x -const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x -const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x -const int ANALOG_GAIN_COST_DELTA_AR0231 = 0; -const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1; -const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0; - -const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x -const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; -const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; -const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4; -const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4; - -const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss -const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms - -const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x -const int EXPOSURE_TIME_MAX_OX03C10 = 2016; -const uint32_t VS_TIME_MIN_OX03C10 = 1; -const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 - int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; req_mgr_flush_request.session_hdl = session_handle; @@ -134,13 +42,7 @@ int CameraState::clear_req_queue() { void CameraState::sensors_start() { if (!enabled) return; LOGD("starting sensor %d", camera_num); - if (camera_id == CAMERA_ID_AR0231) { - sensors_i2c(start_reg_array_ar0231, std::size(start_reg_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_OX03C10) { - sensors_i2c(start_reg_array_ox03c10, std::size(start_reg_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); - } else { - assert(false); - } + sensors_i2c(ci->start_reg_array.data(), ci->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); } void CameraState::sensors_poke(int request_id) { @@ -161,7 +63,7 @@ void CameraState::sensors_poke(int request_id) { } } -void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { +void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { // LOGD("sensors_i2c: %d", len); uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; @@ -215,21 +117,7 @@ int CameraState::sensors_init() { auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); probe->camera_id = camera_num; - switch (camera_num) { - case 0: - // port 0 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2 - break; - case 1: - // port 1 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20; - break; - case 2: - // port 2 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; - break; - } - + i2c_info->slave_addr = ci->getSlaveAddress(camera_num); // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE; i2c_info->i2c_freq_mode = I2C_FAST_MODE; @@ -239,22 +127,14 @@ int CameraState::sensors_init() { probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; probe->op_code = 3; // don't care? probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE; - if (camera_id == CAMERA_ID_AR0231) { - probe->reg_addr = 0x3000; - probe->expected_data = 0x354; - } else if (camera_id == CAMERA_ID_OX03C10) { - probe->reg_addr = 0x300a; - probe->expected_data = 0x5803; - } else { - assert(false); - } + probe->reg_addr = ci->probe_reg_addr; + probe->expected_data = ci->probe_expected_data; probe->data_mask = 0; //buf_desc[1].size = buf_desc[1].length = 148; buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].type = CAM_CMD_BUF_I2C; auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memset(power_settings.get(), 0, buf_desc[1].size); // power on struct cam_cmd_power *power = power_settings.get(); @@ -270,7 +150,7 @@ int CameraState::sensors_init() { power->count = 1; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = (camera_id == CAMERA_ID_AR0231) ? 19200000 : 24000000; //Hz + power->power_settings[0].config_val_low = ci->mclk_frequency; power = power_set_wait(power, 1); // reset high @@ -423,10 +303,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (io_mem_handle != 0) { io_cfg[0].mem_handle[0] = io_mem_handle; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = ci.frame_width, - .height = ci.frame_height + ci.extra_height, - .plane_stride = ci.frame_stride, - .slice_height = ci.frame_height + ci.extra_height, + .width = ci->frame_width, + .height = ci->frame_height + ci->extra_height, + .plane_stride = ci->frame_stride, + .slice_height = ci->frame_height + ci->extra_height, .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) .meta_size = 0x0, .meta_offset = 0x0, @@ -436,10 +316,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b .h_init = 0x0, .v_init = 0x0, }; - io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12; // CAM_FORMAT_UBWC_TP10 for YUV + io_cfg[0].format = ci->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = 0xc; + io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV io_cfg[0].fence = fence; io_cfg[0].direction = CAM_BUF_OUTPUT; @@ -516,57 +396,14 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { // ******************* camera ******************* -void CameraState::camera_set_parameters() { - if (camera_id == CAMERA_ID_AR0231) { - dc_gain_factor = DC_GAIN_AR0231; - dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231; - dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231; - dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231; - dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231; - exposure_time_min = EXPOSURE_TIME_MIN_AR0231; - exposure_time_max = EXPOSURE_TIME_MAX_AR0231; - analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231; - analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; - analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; - analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231; - analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231; - analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231; - for (int i=0; i<=analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; - } - min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; - target_grey_factor = TARGET_GREY_FACTOR_AR0231; - } else if (camera_id == CAMERA_ID_OX03C10) { - dc_gain_factor = DC_GAIN_OX03C10; - dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10; - dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10; - dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10; - dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10; - exposure_time_min = EXPOSURE_TIME_MIN_OX03C10; - exposure_time_max = EXPOSURE_TIME_MAX_OX03C10; - analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10; - analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; - analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; - analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10; - analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10; - analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10; - for (int i=0; i<=analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; - } - min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; - target_grey_factor = TARGET_GREY_FACTOR_OX03C10; - } else { - assert(false); - } - - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; +void CameraState::sensor_set_parameters() { target_grey_fraction = 0.3; dc_gain_enabled = false; - dc_gain_weight = dc_gain_min_weight; - gain_idx = analog_gain_rec_idx; + dc_gain_weight = ci->dc_gain_min_weight; + gain_idx = ci->analog_gain_rec_idx; exposure_time = 5; - cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time; + cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; } void CameraState::camera_map_bufs(MultiCameraState *s) { @@ -584,20 +421,13 @@ void CameraState::camera_map_bufs(MultiCameraState *s) { enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } -void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { +void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { if (!enabled) return; - camera_id = camera_id_; LOGD("camera init %d", camera_num); - assert(camera_id < std::size(cameras_supported)); - ci = cameras_supported[camera_id]; - assert(ci.frame_width != 0); - request_id_last = 0; skipped = true; - camera_set_parameters(); - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); camera_map_bufs(s); } @@ -616,22 +446,26 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num // init memorymanager for this camera mm.init(multi_cam_state->video0_fd); - // probe the sensor LOGD("-- Probing sensor %d", camera_num); - camera_id = CAMERA_ID_AR0231; - ret = sensors_init(); - if (ret != 0) { - // TODO: use build flag instead? - LOGD("AR0231 init failed, trying OX03C10"); - camera_id = CAMERA_ID_OX03C10; - ret = sensors_init(); - } - LOGD("-- Probing sensor %d done with %d", camera_num, ret); - if (ret != 0) { + + auto init_sensor_lambda = [this](SensorInfo *sensor) { + ci.reset(sensor); + int ret = sensors_init(); + if (ret == 0) { + sensor_set_parameters(); + } + return ret == 0; + }; + + // Try different sensors one by one until it success. + if (!init_sensor_lambda(new AR0231) && + !init_sensor_lambda(new OX03C10) && + !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", camera_num); enabled = false; return; } + LOGD("-- Probing sensor %d success", camera_num); // create session struct cam_req_mgr_session_info session_info = {}; @@ -647,69 +481,58 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num LOGD("acquire sensor dev"); LOG("-- Configuring sensor"); - uint32_t dt; - if (camera_id == CAMERA_ID_AR0231) { - sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - dt = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - } else if (camera_id == CAMERA_ID_OX03C10) { - sensors_i2c(init_array_ox03c10, std::size(init_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); - // one is 0x2a, two are 0x2b - dt = 0x2c; - } else { - assert(false); - } - printf("dt is %x\n", dt); + sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) if (!enabled) return; struct cam_isp_in_port_info in_port_info = { - .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num], + .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num], - .lane_type = CAM_ISP_LANE_TYPE_DPHY, - .lane_num = 4, - .lane_cfg = 0x3210, + .lane_type = CAM_ISP_LANE_TYPE_DPHY, + .lane_num = 4, + .lane_cfg = 0x3210, - .vc = 0x0, - .dt = dt, - .format = CAM_FORMAT_MIPI_RAW_12, + .vc = 0x0, + .dt = ci->frame_data_type, + .format = ci->mipi_format, - .test_pattern = 0x2, // 0x3? - .usage_type = 0x0, + .test_pattern = 0x2, // 0x3? + .usage_type = 0x0, - .left_start = 0, - .left_stop = ci.frame_width - 1, - .left_width = ci.frame_width, + .left_start = 0, + .left_stop = ci->frame_width - 1, + .left_width = ci->frame_width, - .right_start = 0, - .right_stop = ci.frame_width - 1, - .right_width = ci.frame_width, + .right_start = 0, + .right_stop = ci->frame_width - 1, + .right_width = ci->frame_width, - .line_start = 0, - .line_stop = ci.frame_height + ci.extra_height - 1, - .height = ci.frame_height + ci.extra_height, + .line_start = 0, + .line_stop = ci->frame_height + ci->extra_height - 1, + .height = ci->frame_height + ci->extra_height, - .pixel_clk = 0x0, - .batch_size = 0x0, - .dsp_mode = CAM_ISP_DSP_MODE_NONE, - .hbi_cnt = 0x0, - .custom_csid = 0x0, + .pixel_clk = 0x0, + .batch_size = 0x0, + .dsp_mode = CAM_ISP_DSP_MODE_NONE, + .hbi_cnt = 0x0, + .custom_csid = 0x0, - .num_out_res = 0x1, - .data[0] = (struct cam_isp_out_port_info){ - .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = CAM_FORMAT_MIPI_RAW_12, - .width = ci.frame_width, - .height = ci.frame_height + ci.extra_height, - .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, - }, + .num_out_res = 0x1, + .data[0] = (struct cam_isp_out_port_info){ + .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, + .format = ci->mipi_format, + .width = ci->frame_width, + .height = ci->frame_height + ci->extra_height, + .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, + }, }; struct cam_isp_resource isp_resource = { - .resource_id = CAM_ISP_RES_ID_PORT, - .handle_type = CAM_HANDLE_USER_POINTER, - .res_hdl = (uint64_t)&in_port_info, - .length = sizeof(in_port_info), + .resource_id = CAM_ISP_RES_ID_PORT, + .handle_type = CAM_HANDLE_USER_POINTER, + .res_hdl = (uint64_t)&in_port_info, + .length = sizeof(in_port_info), }; auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource); @@ -790,9 +613,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER); - s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD); - s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD); + s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER); + s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD); + s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -907,70 +730,6 @@ void cameras_close(MultiCameraState *s) { delete s->pm; } -std::map> CameraState::ar0231_build_register_lut(uint8_t *data) { - // This function builds a lookup table from register address, to a pair of indices in the - // buffer where to read this address. The buffer contains padding bytes, - // as well as markers to indicate the type of the next byte. - // - // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. - // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional - // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. - - int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; - auto get_next_idx = [](int cur_idx) { - return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding - }; - - std::map> registers; - for (int register_row = 0; register_row < 2; register_row++) { - uint8_t *registers_raw = data + ci.frame_stride * register_row; - assert(registers_raw[0] == 0x0a); // Start of line - - int value_tag_count = 0; - int first_val_idx = 0; - uint16_t cur_addr = 0; - - for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { - int val_idx = get_next_idx(i); - - uint8_t tag = registers_raw[i]; - uint16_t val = registers_raw[val_idx]; - - if (tag == 0xAA) { // Register MSB tag - cur_addr = val << 8; - } else if (tag == 0xA5) { // Register LSB tag - cur_addr |= val; - cur_addr -= 2; // Next value tag will increment address again - } else if (tag == 0x5A) { // Value tag - - // First tag - if (value_tag_count % 2 == 0) { - cur_addr += 2; - first_val_idx = val_idx; - } else { - registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row); - } - - value_tag_count++; - } - } - } - return registers; -} - -std::map CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list addrs) { - if (ar0231_register_lut.empty()) { - ar0231_register_lut = ar0231_build_register_lut(data); - } - - std::map registers; - for (uint16_t addr : addrs) { - auto offset = ar0231_register_lut[addr]; - registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; - } - return registers; -} - void CameraState::handle_camera_event(void *evdat) { if (!enabled) return; struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat; @@ -1007,9 +766,10 @@ void CameraState::handle_camera_event(void *evdat) { auto &meta_data = buf.camera_bufs_metadata[buf_idx]; meta_data.frame_id = main_id - idx_offset; + meta_data.request_id = real_id; meta_data.timestamp_sof = timestamp; exp_lock.lock(); - meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); + meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); meta_data.high_conversion_gain = dc_gain_enabled; meta_data.integ_lines = exposure_time; meta_data.measured_grey_fraction = measured_grey_fraction; @@ -1030,22 +790,7 @@ void CameraState::handle_camera_event(void *evdat) { } void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) { - float score = 1e6; - if (camera_id == CAMERA_ID_AR0231) { - // Cost of ev diff - score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; - // Cost of absolute gain - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - // Cost of changing gain - score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; - } else if (camera_id == CAMERA_ID_OX03C10) { - score = std::abs(desired_ev - (exp_t * exp_gain)); - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(exp_g_idx - gain_idx) * 5.0; - } - + float score = ci->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx); if (score < best_ev_score) { new_exp_t = exp_t; new_exp_g = exp_g_idx; @@ -1071,10 +816,10 @@ void CameraState::set_camera_exposure(float grey_frac) { const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; // Scale target grey between 0.1 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); + float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + ci->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey; - float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev); + float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, ci->min_ev, ci->max_ev); float k = (1.0 - k_ev) / 3.0; desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev); @@ -1085,21 +830,21 @@ void CameraState::set_camera_exposure(float grey_frac) { // Hysteresis around high conversion gain // We usually want this on since it results in lower noise, but turn off in very bright day scenes bool enable_dc_gain = dc_gain_enabled; - if (!enable_dc_gain && target_grey < dc_gain_on_grey) { + if (!enable_dc_gain && target_grey < ci->dc_gain_on_grey) { enable_dc_gain = true; - dc_gain_weight = dc_gain_min_weight; - } else if (enable_dc_gain && target_grey > dc_gain_off_grey) { + dc_gain_weight = ci->dc_gain_min_weight; + } else if (enable_dc_gain && target_grey > ci->dc_gain_off_grey) { enable_dc_gain = false; - dc_gain_weight = dc_gain_max_weight; + dc_gain_weight = ci->dc_gain_max_weight; } - if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;} - if (!enable_dc_gain && dc_gain_weight > dc_gain_min_weight) {dc_gain_weight -= 1;} + if (enable_dc_gain && dc_gain_weight < ci->dc_gain_max_weight) {dc_gain_weight += 1;} + if (!enable_dc_gain && dc_gain_weight > ci->dc_gain_min_weight) {dc_gain_weight -= 1;} std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { - gain_bytes = Params().get("CameraDebugExpGain"); - time_bytes = Params().get("CameraDebugExpTime"); + gain_bytes = params.get("CameraDebugExpGain"); + time_bytes = params.get("CameraDebugExpTime"); } if (gain_bytes.size() > 0 && time_bytes.size() > 0) { @@ -1113,14 +858,14 @@ void CameraState::set_camera_exposure(float grey_frac) { } else { // Simple brute force optimizer to choose sensor parameters // to reach desired EV - for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) { - float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); + for (int g = std::max((int)ci->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)ci->analog_gain_max_idx, gain_idx + 1); g++) { + float gain = ci->sensor_analog_gains[g] * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max); + int t = std::clamp(int(std::round(desired_ev / gain)), ci->exposure_time_min, ci->exposure_time_max); // Only go below recommended gain when absolutely necessary to not overexpose - if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) { + if (g < ci->analog_gain_rec_idx && t > 20 && g < gain_idx) { continue; } @@ -1133,12 +878,12 @@ void CameraState::set_camera_exposure(float grey_frac) { measured_grey_fraction = grey_frac; target_grey_fraction = target_grey; - analog_gain_frac = sensor_analog_gains[new_exp_g]; + analog_gain_frac = ci->sensor_analog_gains[new_exp_g]; gain_idx = new_exp_g; exposure_time = new_exp_t; dc_gain_enabled = enable_dc_gain; - float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); + float gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain; exp_lock.unlock(); @@ -1151,59 +896,8 @@ void CameraState::set_camera_exposure(float grey_frac) { } // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof)); - if (camera_id == CAMERA_ID_AR0231) { - uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; - struct i2c_random_wr_payload exp_reg_array[] = { - {0x3366, analog_gain_reg}, - {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, - {0x3012, (uint16_t)exposure_time}, - }; - sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_OX03C10) { - // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD - uint32_t hcg_time = exposure_time; - uint32_t lcg_time = hcg_time; - uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); - uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); - - uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; - - struct i2c_random_wr_payload exp_reg_array[] = { - {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, - {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, - {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, - {0x35c2, vs_time&0xFF}, - - {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - }; - sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); - } -} - -static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { - // See AR0231 Developer Guide - page 36 - float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); - float t0 = 55.0 - slope * (float)calib2; - return t0 + slope * (float)data_reg; -} - -static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){ - const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; - uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset; - - if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0){ - LOGE("unexpected register data found"); - return; - } - - auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}); - - uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; - framed.setFrameIdSensor(frame_id); - - float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); - float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); - framed.setTemperaturesC({temp_0, temp_1}); + auto exp_reg_array = ci->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled); + sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); } static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { @@ -1214,9 +908,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) framed.setFrameType(cereal::FrameData::FrameType::FRONT); fill_frame_data(framed, c->buf.cur_frame_data, c); - if (c->camera_id == CAMERA_ID_AR0231) { - ar0231_process_registers(s, c, framed); - } + c->ci->processRegisters(c, framed); s->pm->send("driverCameraState", msg); } @@ -1231,10 +923,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { } LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); - if (c->camera_id == CAMERA_ID_AR0231) { - ar0231_process_registers(s, c, framed); - } - + c->ci->processRegisters(c, framed); s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg); const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986); @@ -1282,6 +971,9 @@ void cameras_run(MultiCameraState *s) { event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); } + // for debugging + //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20); + if (event_data->session_hdl == s->road_cam.session_handle) { s->road_cam.handle_camera_event(event_data); } else if (event_data->session_hdl == s->wide_road_cam.session_handle) { @@ -1292,6 +984,8 @@ void cameras_run(MultiCameraState *s) { LOGE("Unknown vidioc event source"); assert(false); } + } else { + LOGE("unhandled event %d\n", ev.type); } } else { LOGE("VIDIOC_DQEVENT failed, errno=%d", errno); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 9e0109ab20..47ca578b99 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -1,23 +1,20 @@ #pragma once -#include -#include +#include #include -#include - #include "system/camerad/cameras/camera_common.h" #include "system/camerad/cameras/camera_util.h" +#include "system/camerad/sensors/sensor.h" #include "common/params.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 -#define ANALOG_GAIN_MAX_CNT 55 class CameraState { public: MultiCameraState *multi_cam_state; - CameraInfo ci; + std::unique_ptr ci; bool enabled; std::mutex exp_lock; @@ -28,32 +25,13 @@ public: int gain_idx; float analog_gain_frac; - int exposure_time_min; - int exposure_time_max; - - float dc_gain_factor; - int dc_gain_min_weight; - int dc_gain_max_weight; - float dc_gain_on_grey; - float dc_gain_off_grey; - - float sensor_analog_gains[ANALOG_GAIN_MAX_CNT]; - int analog_gain_min_idx; - int analog_gain_max_idx; - int analog_gain_rec_idx; - int analog_gain_cost_delta; - float analog_gain_cost_low; - float analog_gain_cost_high; - float cur_ev[3]; - float min_ev, max_ev; float best_ev_score; int new_exp_g; int new_exp_t; float measured_grey_fraction; float target_grey_fraction; - float target_grey_factor; unique_fd sensor_fd; unique_fd csiphy_fd; @@ -67,13 +45,11 @@ public: void sensors_start(); void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); - void camera_set_parameters(); + void sensor_set_parameters(); void camera_map_bufs(MultiCameraState *s); - void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); + void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); void camera_close(); - std::map ar0231_parse_registers(uint8_t *data, std::initializer_list addrs); - int32_t session_handle; int32_t sensor_dev_handle; int32_t isp_dev_handle; @@ -89,12 +65,10 @@ public: int frame_id_last; int idx_offset; bool skipped; - int camera_id; CameraBuf buf; MemoryManager mm; -private: void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); void enqueue_req_multi(int start, int n, bool dp); void enqueue_buffer(int i, bool dp); @@ -102,11 +76,11 @@ private: int sensors_init(); void sensors_poke(int request_id); - void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); + void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); - // Register parsing - std::map> ar0231_register_lut; - std::map> ar0231_build_register_lut(uint8_t *data); +private: + // for debugging + Params params; }; typedef struct MultiCameraState { diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc index 74c81a878a..4fe38997ce 100644 --- a/system/camerad/cameras/camera_util.cc +++ b/system/camerad/cameras/camera_util.cc @@ -1,5 +1,7 @@ #include "system/camerad/cameras/camera_util.h" +#include + #include #include @@ -30,10 +32,10 @@ int do_cam_control(int fd, int op_code, void *handle, int size) { std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { struct cam_acquire_dev_cmd cmd = { - .session_handle = session_handle, - .handle_type = CAM_HANDLE_USER_POINTER, - .num_resources = (uint32_t)(data ? num_resources : 0), - .resource_hdl = (uint64_t)data, + .session_handle = session_handle, + .handle_type = CAM_HANDLE_USER_POINTER, + .num_resources = (uint32_t)(data ? num_resources : 0), + .resource_hdl = (uint64_t)data, }; int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; @@ -41,9 +43,9 @@ std::optional device_acquire(int fd, int32_t session_handle, void *data int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { struct cam_config_dev_cmd cmd = { - .session_handle = session_handle, - .dev_handle = dev_handle, - .packet_handle = packet_handle, + .session_handle = session_handle, + .dev_handle = dev_handle, + .packet_handle = packet_handle, }; return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); } @@ -111,6 +113,7 @@ void *MemoryManager::alloc_buf(int size, uint32_t *handle) { size_lookup[ptr] = size; } lock.unlock(); + memset(ptr, 0, size); return ptr; } diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h index b36f404c0f..891ce3e793 100644 --- a/system/camerad/cameras/camera_util.h +++ b/system/camerad/cameras/camera_util.h @@ -1,6 +1,6 @@ #pragma once - #include +#include #include #include #include diff --git a/system/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl deleted file mode 100644 index a7115ae76c..0000000000 --- a/system/camerad/imgproc/conv.cl +++ /dev/null @@ -1,110 +0,0 @@ -// const __constant float3 rgb_weights = (0.299, 0.587, 0.114); // opencv rgb2gray weights -// const __constant float3 bgr_weights = (0.114, 0.587, 0.299); // bgr2gray weights - -// convert input rgb image to single channel then conv -__kernel void rgb2gray_conv2d( - const __global uchar * input, - __global short * output, - __constant short * filter, - __local uchar3 * cached -) -{ - const int rowOffset = get_global_id(1) * IMAGE_W; - const int my = get_global_id(0) + rowOffset; - - const int localRowLen = TWICE_HALF_FILTER_SIZE + get_local_size(0); - const int localRowOffset = ( get_local_id(1) + HALF_FILTER_SIZE ) * localRowLen; - const int myLocal = localRowOffset + get_local_id(0) + HALF_FILTER_SIZE; - - // cache local pixels - cached[ myLocal ].x = input[ my * 3 ]; // r - cached[ myLocal ].y = input[ my * 3 + 1]; // g - cached[ myLocal ].z = input[ my * 3 + 2]; // b - - // pad - if ( - get_global_id(0) < HALF_FILTER_SIZE || - get_global_id(0) > IMAGE_W - HALF_FILTER_SIZE - 1 || - get_global_id(1) < HALF_FILTER_SIZE || - get_global_id(1) > IMAGE_H - HALF_FILTER_SIZE - 1 - ) - { - barrier(CLK_LOCAL_MEM_FENCE); - return; - } - else - { - int localColOffset = -1; - int globalColOffset = -1; - - // cache extra - if ( get_local_id(0) < HALF_FILTER_SIZE ) - { - localColOffset = get_local_id(0); - globalColOffset = -HALF_FILTER_SIZE; - - cached[ localRowOffset + get_local_id(0) ].x = input[ my * 3 - HALF_FILTER_SIZE * 3 ]; - cached[ localRowOffset + get_local_id(0) ].y = input[ my * 3 - HALF_FILTER_SIZE * 3 + 1]; - cached[ localRowOffset + get_local_id(0) ].z = input[ my * 3 - HALF_FILTER_SIZE * 3 + 2]; - } - else if ( get_local_id(0) >= get_local_size(0) - HALF_FILTER_SIZE ) - { - localColOffset = get_local_id(0) + TWICE_HALF_FILTER_SIZE; - globalColOffset = HALF_FILTER_SIZE; - - cached[ myLocal + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE * 3 ]; - cached[ myLocal + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE * 3 + 1]; - cached[ myLocal + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE * 3 + 2]; - } - - - if ( get_local_id(1) < HALF_FILTER_SIZE ) - { - cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 ]; - cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 1]; - cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 2]; - if (localColOffset > 0) - { - cached[ get_local_id(1) * localRowLen + localColOffset ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3]; - cached[ get_local_id(1) * localRowLen + localColOffset ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1]; - cached[ get_local_id(1) * localRowLen + localColOffset ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2]; - } - } - else if ( get_local_id(1) >= get_local_size(1) -HALF_FILTER_SIZE ) - { - int offset = ( get_local_id(1) + TWICE_HALF_FILTER_SIZE ) * localRowLen; - cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 ]; - cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 1]; - cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 2]; - if (localColOffset > 0) - { - cached[ offset + localColOffset ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3]; - cached[ offset + localColOffset ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1]; - cached[ offset + localColOffset ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2]; - } - } - - // sync - barrier(CLK_LOCAL_MEM_FENCE); - - // perform convolution - int fIndex = 0; - short sum = 0; - - for (int r = -HALF_FILTER_SIZE; r <= HALF_FILTER_SIZE; r++) - { - int curRow = r * localRowLen; - for (int c = -HALF_FILTER_SIZE; c <= HALF_FILTER_SIZE; c++, fIndex++) - { - if (!FLIP_RB){ - // sum += dot(rgb_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ]; - sum += (cached[ myLocal + curRow + c ].x / 3 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 9) * filter[ fIndex ]; - } else { - // sum += dot(bgr_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ]; - sum += (cached[ myLocal + curRow + c ].x / 9 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 3) * filter[ fIndex ]; - } - } - } - output[my] = sum; - } -} \ No newline at end of file diff --git a/system/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl deleted file mode 100644 index d674b5f363..0000000000 --- a/system/camerad/imgproc/pool.cl +++ /dev/null @@ -1,34 +0,0 @@ -// calculate variance in each subregion -__kernel void var_pool( - const __global char * input, - __global ushort * output // should not be larger than 128*128 so uint16 -) -{ - const int xidx = get_global_id(0) + ROI_X_MIN; - const int yidx = get_global_id(1) + ROI_Y_MIN; - - const int size = X_PITCH * Y_PITCH; - - float fsum = 0; - char mean, max; - - for (int i = 0; i < size; i++) { - int x_offset = i % X_PITCH; - int y_offset = i / X_PITCH; - fsum += input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]; - max = input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]>max ? input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]:max; - } - - mean = convert_char_rte(fsum / size); - - float fvar = 0; - for (int i = 0; i < size; i++) { - int x_offset = i % X_PITCH; - int y_offset = i / X_PITCH; - fvar += (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean) * (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean); - } - - fvar = fvar / size; - - output[(xidx-ROI_X_MIN)+(yidx-ROI_Y_MIN)*(ROI_X_MAX-ROI_X_MIN+1)] = convert_ushort_rte(5 * fvar + convert_float_rte(max)); -} \ No newline at end of file diff --git a/system/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc deleted file mode 100644 index a7bbeb9e86..0000000000 --- a/system/camerad/imgproc/utils.cc +++ /dev/null @@ -1,106 +0,0 @@ -#include "system/camerad/imgproc/utils.h" - -#include -#include -#include -#include -#include - -const int16_t lapl_conv_krnl[9] = {0, 1, 0, - 1, -4, 1, - 0, 1, 0}; - -// calculate score based on laplacians in one area -uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) { - const int size = x_pitch * y_pitch; - // avg and max of roi - int16_t max = 0; - int sum = 0; - for (int i = 0; i < size; ++i) { - const int16_t v = lap[i]; - sum += v; - if (v > max) max = v; - } - - const int16_t mean = sum / size; - - // var of roi - int var = 0; - for (int i = 0; i < size; ++i) { - var += std::pow(lap[i] - mean, 2); - } - - const float fvar = (float)var / size; - return std::min(5 * fvar + max, (float)65535); -} - -bool is_blur(const uint16_t *lapmap, const size_t size) { - float bad_sum = 0; - for (int i = 0; i < size; i++) { - if (lapmap[i] < LM_THRESH) { - bad_sum += 1 / (float)size; - } - } - return (bad_sum > LM_PREC_THRESH); -} - -static cl_program build_conv_program(cl_device_id device_id, cl_context context, int image_w, int image_h, int filter_size) { - char args[4096]; - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero " - "-DIMAGE_W=%d -DIMAGE_H=%d -DFLIP_RB=%d " - "-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d", - image_w, image_h, 1, - filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w); - return cl_program_from_file(context, device_id, "imgproc/conv.cl", args); -} - -LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size) - : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), rgb_stride(rgb_stride), - roi_buf(width * height * 3), result_buf(width * height) { - - prg = build_conv_program(device_id, ctx, width, height, filter_size); - krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb2gray_conv2d", &err)); - // TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter - roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, roi_buf.size() * sizeof(roi_buf[0]), NULL, &err)); - result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, result_buf.size() * sizeof(result_buf[0]), NULL, &err)); - filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, - 9 * sizeof(int16_t), (void *)&lapl_conv_krnl, &err)); -} - -LapConv::~LapConv() { - CL_CHECK(clReleaseMemObject(roi_cl)); - CL_CHECK(clReleaseMemObject(result_cl)); - CL_CHECK(clReleaseMemObject(filter_cl)); - CL_CHECK(clReleaseKernel(krnl)); - CL_CHECK(clReleaseProgram(prg)); -} - -uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id) { - // sharpness scores - const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1); - const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1); - - const uint8_t *rgb_offset = rgb_buf + y_offset * height * rgb_stride + x_offset * width * 3; - for (int i = 0; i < height; ++i) { - memcpy(&roi_buf[i * width * 3], &rgb_offset[i * rgb_stride], width * 3); - } - - constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t)); - const size_t global_work_size[] = {(size_t)width, (size_t)height}; - const size_t local_work_size[] = {CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE}; - - CL_CHECK(clEnqueueWriteBuffer(q, roi_cl, CL_TRUE, 0, roi_buf.size() * sizeof(roi_buf[0]), roi_buf.data(), 0, 0, 0)); - CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), (void *)&roi_cl)); - CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), (void *)&result_cl)); - CL_CHECK(clSetKernelArg(krnl, 2, sizeof(cl_mem), (void *)&filter_cl)); - CL_CHECK(clSetKernelArg(krnl, 3, local_mem_size, 0)); - cl_event conv_event; - CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, global_work_size, local_work_size, 0, 0, &conv_event)); - CL_CHECK(clWaitForEvents(1, &conv_event)); - CL_CHECK(clReleaseEvent(conv_event)); - CL_CHECK(clEnqueueReadBuffer(q, result_cl, CL_TRUE, 0, - result_buf.size() * sizeof(result_buf[0]), result_buf.data(), 0, 0, 0)); - - return get_lapmap_one(result_buf.data(), width, height); -} diff --git a/system/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h deleted file mode 100644 index 94323b15c5..0000000000 --- a/system/camerad/imgproc/utils.h +++ /dev/null @@ -1,37 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "common/clutil.h" - -#define NUM_SEGMENTS_X 8 -#define NUM_SEGMENTS_Y 6 - -#define ROI_X_MIN 1 -#define ROI_X_MAX 6 -#define ROI_Y_MIN 2 -#define ROI_Y_MAX 3 - -#define LM_THRESH 120 -#define LM_PREC_THRESH 0.9 // 90 perc is blur -#define CONV_LOCAL_WORKSIZE 16 - -class LapConv { -public: - LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size); - ~LapConv(); - uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id); - -private: - cl_mem roi_cl, result_cl, filter_cl; - cl_program prg; - cl_kernel krnl; - const int width, height; - const int rgb_stride; - std::vector roi_buf; - std::vector result_buf; -}; - -bool is_blur(const uint16_t *lapmap, const size_t size); diff --git a/system/camerad/main.cc b/system/camerad/main.cc index 35a3329f30..19de21c9bb 100644 --- a/system/camerad/main.cc +++ b/system/camerad/main.cc @@ -8,7 +8,7 @@ int main(int argc, char *argv[]) { if (Hardware::PC()) { - printf("camerad is not meant to run on PC\n"); + printf("exiting, camerad is not meant to run on PC\n"); return 0; } diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc new file mode 100644 index 0000000000..1ca4b3f1ad --- /dev/null +++ b/system/camerad/sensors/ar0231.cc @@ -0,0 +1,171 @@ +#include + +#include "common/swaglog.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_qcom2.h" +#include "system/camerad/sensors/sensor.h" + +namespace { + +const size_t AR0231_REGISTERS_HEIGHT = 2; +// TODO: this extra height is universal and doesn't apply per camera +const size_t AR0231_STATS_HEIGHT = 2 + 8; + +const float sensor_analog_gains_AR0231[] = { + 1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3 + 3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7 + 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 + 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass + +std::map> ar0231_build_register_lut(CameraState *c, uint8_t *data) { + // This function builds a lookup table from register address, to a pair of indices in the + // buffer where to read this address. The buffer contains padding bytes, + // as well as markers to indicate the type of the next byte. + // + // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. + // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional + // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. + + int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; + auto get_next_idx = [](int cur_idx) { + return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding + }; + + std::map> registers; + for (int register_row = 0; register_row < 2; register_row++) { + uint8_t *registers_raw = data + c->ci->frame_stride * register_row; + assert(registers_raw[0] == 0x0a); // Start of line + + int value_tag_count = 0; + int first_val_idx = 0; + uint16_t cur_addr = 0; + + for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { + int val_idx = get_next_idx(i); + + uint8_t tag = registers_raw[i]; + uint16_t val = registers_raw[val_idx]; + + if (tag == 0xAA) { // Register MSB tag + cur_addr = val << 8; + } else if (tag == 0xA5) { // Register LSB tag + cur_addr |= val; + cur_addr -= 2; // Next value tag will increment address again + } else if (tag == 0x5A) { // Value tag + + // First tag + if (value_tag_count % 2 == 0) { + cur_addr += 2; + first_val_idx = val_idx; + } else { + registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row); + } + + value_tag_count++; + } + } + } + return registers; +} + +float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { + // See AR0231 Developer Guide - page 36 + float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); + float t0 = 55.0 - slope * (float)calib2; + return t0 + slope * (float)data_reg; +} + +} // namespace + +AR0231::AR0231() { + image_sensor = cereal::FrameData::ImageSensor::AR0231; + data_word = true; + frame_width = FRAME_WIDTH; + frame_height = FRAME_HEIGHT; + frame_stride = FRAME_STRIDE; + extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT; + + registers_offset = 0; + frame_offset = AR0231_REGISTERS_HEIGHT; + stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT; + + start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231)); + init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); + probe_reg_addr = 0x3000; + probe_expected_data = 0x354; + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + mclk_frequency = 19200000; //Hz + + dc_gain_factor = 2.5; + dc_gain_min_weight = 0; + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.2; + dc_gain_off_grey = 0.3; + exposure_time_min = 2; // with HDR, fastest ss + exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms + analog_gain_min_idx = 0x1; // 0.25x + analog_gain_rec_idx = 0x6; // 0.8x + analog_gain_max_idx = 0xD; // 4.0x + analog_gain_cost_delta = 0; + analog_gain_cost_low = 0.1; + analog_gain_cost_high = 5.0; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; + } + min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 1.0; +} + +void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const { + const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; + uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset; + + if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { + LOGE("unexpected register data found"); + return; + } + + if (ar0231_register_lut.empty()) { + ar0231_register_lut = ar0231_build_register_lut(c, data); + } + std::map registers; + for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) { + auto offset = ar0231_register_lut[addr]; + registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; + } + + uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; + framed.setFrameIdSensor(frame_id); + + float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); + float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); + framed.setTemperaturesC({temp_0, temp_1}); +} + + +std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; + return { + {0x3366, analog_gain_reg}, + {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, + {0x3012, (uint16_t)exposure_time}, + }; +} + +int AR0231::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x20, 0x30, 0x20}[port]; +} + +float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + // Cost of ev diff + float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; + // Cost of absolute gain + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + // Cost of changing gain + score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; + return score; +} diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h new file mode 100644 index 0000000000..6c4c251e8e --- /dev/null +++ b/system/camerad/sensors/ar0231_registers.h @@ -0,0 +1,119 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; +const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; + +const struct i2c_random_wr_payload init_array_ar0231[] = { + {0x301A, 0x0018}, // RESET_REGISTER + + // CLOCK Settings + // input clock is 19.2 / 2 * 0x37 = 528 MHz + // pixclk is 528 / 6 = 88 MHz + // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms + // img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms + {0x302A, 0x0006}, // VT_PIX_CLK_DIV + {0x302C, 0x0001}, // VT_SYS_CLK_DIV + {0x302E, 0x0002}, // PRE_PLL_CLK_DIV + {0x3030, 0x0037}, // PLL_MULTIPLIER + {0x3036, 0x000C}, // OP_PIX_CLK_DIV + {0x3038, 0x0001}, // OP_SYS_CLK_DIV + + // FORMAT + {0x3040, 0xC000}, // READ_MODE + {0x3004, 0x0000}, // X_ADDR_START_ + {0x3008, 0x0787}, // X_ADDR_END_ + {0x3002, 0x0000}, // Y_ADDR_START_ + {0x3006, 0x04B7}, // Y_ADDR_END_ + {0x3032, 0x0000}, // SCALING_MODE + {0x30A2, 0x0001}, // X_ODD_INC_ + {0x30A6, 0x0001}, // Y_ODD_INC_ + {0x3402, 0x0788}, // X_OUTPUT_CONTROL + {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL + {0x3064, 0x1982}, // SMIA_TEST + {0x30BA, 0x11F2}, // DIGITAL_CTRL + + // Enable external trigger and disable GPIO outputs + {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE + {0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE + {0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2 + + // Readout timing + {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR) + {0x300A, 0x0855}, // FRAME_LENGTH_LINES + {0x3042, 0x0000}, // EXTRA_DELAY + + // Readout Settings + {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI + {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 + {0x3342, 0x1212}, // MIPI_F1_PDT_EDT + {0x3346, 0x1212}, // MIPI_F2_PDT_EDT + {0x334A, 0x1212}, // MIPI_F3_PDT_EDT + {0x334E, 0x1212}, // MIPI_F4_PDT_EDT + {0x3344, 0x0011}, // MIPI_F1_VDT_VC + {0x3348, 0x0111}, // MIPI_F2_VDT_VC + {0x334C, 0x0211}, // MIPI_F3_VDT_VC + {0x3350, 0x0311}, // MIPI_F4_VDT_VC + {0x31B0, 0x0053}, // FRAME_PREAMBLE + {0x31B2, 0x003B}, // LINE_PREAMBLE + {0x301A, 0x001C}, // RESET_REGISTER + + // Noise Corrections + {0x3092, 0x0C24}, // ROW_NOISE_CONTROL + {0x337A, 0x0C80}, // DBLC_SCALE0 + {0x3370, 0x03B1}, // DBLC + {0x3044, 0x0400}, // DARK_CONTROL + + // Enable temperature sensor + {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG + {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG + + // Enable dead pixel correction using + // the 1D line correction scheme + {0x31E0, 0x0003}, + + // HDR Settings + {0x3082, 0x0004}, // OPERATION_MODE_CTRL + {0x3238, 0x0444}, // EXPOSURE_RATIO + + {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN + {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN + {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN + {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN + + // TODO: do these have to be lower than LINE_LENGTH_PCK? + {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ + {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2 + + {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? + {0x33DA, 0x0000}, // COMPANDING + {0x318E, 0x0200}, // PRE_HDR_GAIN_EN + + // DLO Settings + {0x3100, 0x4000}, // DLO_CONTROL0 + {0x3280, 0x0CCC}, // T1 G1 + {0x3282, 0x0CCC}, // T1 R + {0x3284, 0x0CCC}, // T1 B + {0x3286, 0x0CCC}, // T1 G2 + {0x3288, 0x0FA0}, // T2 G1 + {0x328A, 0x0FA0}, // T2 R + {0x328C, 0x0FA0}, // T2 B + {0x328E, 0x0FA0}, // T2 G2 + + // Initial Gains + {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_ + {0x3366, 0xFF77}, // ANALOG_GAIN (1x) + + {0x3060, 0x3333}, // ANALOG_COLOR_GAIN + + {0x3362, 0x0000}, // DC GAIN + + {0x305A, 0x00F8}, // red gain + {0x3058, 0x0122}, // blue gain + {0x3056, 0x009A}, // g1 gain + {0x305C, 0x009A}, // g2 gain + + {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_ + + // Initial Integration Time + {0x3012, 0x0005}, +}; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc new file mode 100644 index 0000000000..449e06be83 --- /dev/null +++ b/system/camerad/sensors/os04c10.cc @@ -0,0 +1,105 @@ +#include "system/camerad/sensors/sensor.h" + +namespace { + +const float sensor_analog_gains_OS04C10[] = { + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; + +const uint32_t os04c10_analog_gains_reg[] = { + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + +const uint32_t VS_TIME_MIN_OS04C10 = 1; +//const uint32_t VS_TIME_MAX_OS04C10 = 34; // vs < 35 + +} // namespace + +OS04C10::OS04C10() { + image_sensor = cereal::FrameData::ImageSensor::OS04C10; + data_word = false; + + frame_width = 1920; + frame_height = 1080; + frame_stride = (1920*10/8); + + /* + frame_width = 0xa80; + frame_height = 0x5f0; + frame_stride = 0xd20; + */ + + extra_height = 0; + frame_offset = 0; + + start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10)); + init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); + probe_reg_addr = 0x300a; + probe_expected_data = 0x5304; + mipi_format = CAM_FORMAT_MIPI_RAW_10; + frame_data_type = 0x2b; + mclk_frequency = 24000000; // Hz + + dc_gain_factor = 7.32; + dc_gain_min_weight = 1; // always on is fine + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.9; + dc_gain_off_grey = 1.0; + exposure_time_min = 2; // 1x + exposure_time_max = 2016; + analog_gain_min_idx = 0x0; + analog_gain_rec_idx = 0x0; // 1x + analog_gain_max_idx = 0x36; + analog_gain_cost_delta = -1; + analog_gain_cost_low = 0.4; + analog_gain_cost_high = 6.4; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 0.01; +} + +std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + //uint32_t lcg_time = hcg_time; + //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10); + //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10); + + uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g]; + + hcg_time = 100; + real_gain = 0x320; + + return { + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + //{0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + }; +} + +int OS04C10::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x6C, 0x20, 0x6C}[port]; +} + +float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + float score = std::abs(desired_ev - (exp_t * exp_gain)); + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + score += ((1 - analog_gain_cost_delta) + + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * + std::abs(exp_g_idx - gain_idx) * 5.0; + return score; +} diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h new file mode 100644 index 0000000000..ad91a02950 --- /dev/null +++ b/system/camerad/sensors/os04c10_registers.h @@ -0,0 +1,298 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x0103, 0x01}, + {0x0301, 0x84}, + {0x0303, 0x01}, + {0x0305, 0x5b}, + {0x0306, 0x01}, + {0x0307, 0x17}, + {0x0323, 0x04}, + {0x0324, 0x01}, + {0x0325, 0x62}, + {0x3012, 0x06}, + {0x3013, 0x02}, + {0x3016, 0x72}, + {0x3021, 0x03}, + {0x3106, 0x21}, + {0x3107, 0xa1}, + {0x3500, 0x00}, + {0x3501, 0x00}, + {0x3502, 0x40}, + {0x3503, 0x88}, + {0x3508, 0x07}, + {0x3509, 0xc0}, + {0x350a, 0x04}, + {0x350b, 0x00}, + {0x350c, 0x07}, + {0x350d, 0xc0}, + {0x350e, 0x04}, + {0x350f, 0x00}, + {0x3510, 0x00}, + {0x3511, 0x00}, + {0x3512, 0x20}, + {0x3624, 0x00}, + {0x3625, 0x4c}, + {0x3660, 0x00}, + {0x3666, 0xa5}, + {0x3667, 0xa5}, + {0x366a, 0x64}, + {0x3673, 0x0d}, + {0x3672, 0x0d}, + {0x3671, 0x0d}, + {0x3670, 0x0d}, + {0x3685, 0x00}, + {0x3694, 0x0d}, + {0x3693, 0x0d}, + {0x3692, 0x0d}, + {0x3691, 0x0d}, + {0x3696, 0x4c}, + {0x3697, 0x4c}, + {0x3698, 0x40}, + {0x3699, 0x80}, + {0x369a, 0x18}, + {0x369b, 0x1f}, + {0x369c, 0x14}, + {0x369d, 0x80}, + {0x369e, 0x40}, + {0x369f, 0x21}, + {0x36a0, 0x12}, + {0x36a1, 0x5d}, + {0x36a2, 0x66}, + {0x370a, 0x00}, + {0x370e, 0x0c}, + {0x3710, 0x00}, + {0x3713, 0x00}, + {0x3725, 0x02}, + {0x372a, 0x03}, + {0x3738, 0xce}, + {0x3748, 0x00}, + {0x374a, 0x00}, + {0x374c, 0x00}, + {0x374e, 0x00}, + {0x3756, 0x00}, + {0x3757, 0x0e}, + {0x3767, 0x00}, + {0x3771, 0x00}, + {0x377b, 0x20}, + {0x377c, 0x00}, + {0x377d, 0x0c}, + {0x3781, 0x03}, + {0x3782, 0x00}, + {0x3789, 0x14}, + {0x3795, 0x02}, + {0x379c, 0x00}, + {0x379d, 0x00}, + {0x37b8, 0x04}, + {0x37ba, 0x03}, + {0x37bb, 0x00}, + {0x37bc, 0x04}, + {0x37be, 0x08}, + {0x37c4, 0x11}, + {0x37c5, 0x80}, + {0x37c6, 0x14}, + {0x37c7, 0x08}, + {0x37da, 0x11}, + {0x381f, 0x08}, + {0x3829, 0x03}, + {0x3881, 0x00}, + {0x3888, 0x04}, + {0x388b, 0x00}, + {0x3c80, 0x10}, + {0x3c86, 0x00}, + {0x3c8c, 0x20}, + {0x3c9f, 0x01}, + {0x3d85, 0x1b}, + {0x3d8c, 0x71}, + {0x3d8d, 0xe2}, + {0x3f00, 0x0b}, + {0x3f06, 0x04}, + {0x400a, 0x01}, + {0x400b, 0x50}, + {0x400e, 0x08}, + {0x4043, 0x7e}, + {0x4045, 0x7e}, + {0x4047, 0x7e}, + {0x4049, 0x7e}, + {0x4090, 0x14}, + {0x40b0, 0x00}, + {0x40b1, 0x00}, + {0x40b2, 0x00}, + {0x40b3, 0x00}, + {0x40b4, 0x00}, + {0x40b5, 0x00}, + {0x40b7, 0x00}, + {0x40b8, 0x00}, + {0x40b9, 0x00}, + {0x40ba, 0x00}, + {0x4301, 0x00}, + {0x4303, 0x00}, + {0x4502, 0x04}, + {0x4503, 0x00}, + {0x4504, 0x06}, + {0x4506, 0x00}, + {0x4507, 0x64}, + {0x4803, 0x00}, + {0x480c, 0x32}, + {0x480e, 0x00}, + {0x4813, 0x00}, + {0x4819, 0x70}, + {0x481f, 0x30}, + {0x4823, 0x3f}, + {0x4825, 0x30}, + {0x4833, 0x10}, + {0x484b, 0x07}, + {0x488b, 0x00}, + {0x4d00, 0x04}, + {0x4d01, 0xad}, + {0x4d02, 0xbc}, + {0x4d03, 0xa1}, + {0x4d04, 0x1f}, + {0x4d05, 0x4c}, + {0x4d0b, 0x01}, + {0x4e00, 0x2a}, + {0x4e0d, 0x00}, + {0x5001, 0x09}, + {0x5004, 0x00}, + {0x5080, 0x04}, + {0x5036, 0x00}, + {0x5180, 0x70}, + {0x5181, 0x10}, + {0x520a, 0x03}, + {0x520b, 0x06}, + {0x520c, 0x0c}, + {0x580b, 0x0f}, + {0x580d, 0x00}, + {0x580f, 0x00}, + {0x5820, 0x00}, + {0x5821, 0x00}, + {0x301c, 0xf8}, + {0x301e, 0xb4}, + {0x301f, 0xd0}, + {0x3022, 0x01}, + {0x3109, 0xe7}, + {0x3600, 0x00}, + {0x3610, 0x65}, + {0x3611, 0x85}, + {0x3613, 0x3a}, + {0x3615, 0x60}, + {0x3621, 0x90}, + {0x3620, 0x0c}, + {0x3629, 0x00}, + {0x3661, 0x04}, + {0x3664, 0x70}, + {0x3665, 0x00}, + {0x3681, 0xa6}, + {0x3682, 0x53}, + {0x3683, 0x2a}, + {0x3684, 0x15}, + {0x3700, 0x2a}, + {0x3701, 0x12}, + {0x3703, 0x28}, + {0x3704, 0x0e}, + {0x3706, 0x4a}, + {0x3709, 0x4a}, + {0x370b, 0xa2}, + {0x370c, 0x01}, + {0x370f, 0x04}, + {0x3714, 0x24}, + {0x3716, 0x04}, + {0x3719, 0x11}, + {0x371a, 0x1e}, + {0x3720, 0x00}, + {0x3724, 0x13}, + {0x373f, 0xb0}, + {0x3741, 0x4a}, + {0x3743, 0x4a}, + {0x3745, 0x4a}, + {0x3747, 0x4a}, + {0x3749, 0xa2}, + {0x374b, 0xa2}, + {0x374d, 0xa2}, + {0x374f, 0xa2}, + {0x3755, 0x10}, + {0x376c, 0x00}, + {0x378d, 0x30}, + {0x3790, 0x4a}, + {0x3791, 0xa2}, + {0x3798, 0x40}, + {0x379e, 0x00}, + {0x379f, 0x04}, + {0x37a1, 0x10}, + {0x37a2, 0x1e}, + {0x37a8, 0x10}, + {0x37a9, 0x1e}, + {0x37ac, 0xa0}, + {0x37b9, 0x01}, + {0x37bd, 0x01}, + {0x37bf, 0x26}, + {0x37c0, 0x11}, + {0x37c2, 0x04}, + {0x37cd, 0x19}, + {0x37e0, 0x08}, + {0x37e6, 0x04}, + {0x37e5, 0x02}, + {0x37e1, 0x0c}, + {0x3737, 0x04}, + {0x37d8, 0x02}, + {0x37e2, 0x10}, + {0x3739, 0x10}, + {0x3662, 0x10}, + {0x37e4, 0x20}, + {0x37e3, 0x08}, + {0x37d9, 0x08}, + {0x4040, 0x00}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3800, 0x01}, + {0x3801, 0x80}, + {0x3802, 0x00}, + {0x3803, 0xdc}, + {0x3804, 0x09}, + {0x3805, 0x0f}, + {0x3806, 0x05}, + {0x3807, 0x23}, + {0x3808, 0x07}, + {0x3809, 0x80}, + {0x380a, 0x04}, + {0x380b, 0x38}, + {0x380c, 0x04}, + {0x380d, 0x2e}, + {0x380e, 0x12}, + {0x380f, 0x70}, + {0x3811, 0x08}, + {0x3813, 0x08}, + {0x3814, 0x01}, + {0x3815, 0x01}, + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x3820, 0xB0}, + {0x3821, 0x00}, + {0x3880, 0x25}, + {0x3882, 0x20}, + {0x3c91, 0x0b}, + {0x3c94, 0x45}, + {0x3cad, 0x00}, + {0x3cae, 0x00}, + {0x4000, 0xf3}, + {0x4001, 0x60}, + {0x4003, 0x40}, + {0x4300, 0xff}, + {0x4302, 0x0f}, + {0x4305, 0x83}, + {0x4505, 0x84}, + {0x4809, 0x1e}, + {0x480a, 0x04}, + {0x4837, 0x15}, + {0x4c00, 0x08}, + {0x4c01, 0x08}, + {0x4c04, 0x00}, + {0x4c05, 0x00}, + {0x5000, 0xf9}, + {0x3c8c, 0x10}, +}; diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc new file mode 100644 index 0000000000..1f0609820b --- /dev/null +++ b/system/camerad/sensors/ox03c10.cc @@ -0,0 +1,94 @@ +#include "system/camerad/sensors/sensor.h" + +namespace { + +const float sensor_analog_gains_OX03C10[] = { + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; + +const uint32_t ox03c10_analog_gains_reg[] = { + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + +const uint32_t VS_TIME_MIN_OX03C10 = 1; +const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 + +} // namespace + +OX03C10::OX03C10() { + image_sensor = cereal::FrameData::ImageSensor::OX03C10; + data_word = false; + frame_width = FRAME_WIDTH; + frame_height = FRAME_HEIGHT; + frame_stride = FRAME_STRIDE; // (0xa80*12//8) + extra_height = 16; // top 2 + bot 14 + frame_offset = 2; + + start_reg_array.assign(std::begin(start_reg_array_ox03c10), std::end(start_reg_array_ox03c10)); + init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10)); + probe_reg_addr = 0x300a; + probe_expected_data = 0x5803; + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x2c; // one is 0x2a, two are 0x2b + mclk_frequency = 24000000; //Hz + + dc_gain_factor = 7.32; + dc_gain_min_weight = 1; // always on is fine + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.9; + dc_gain_off_grey = 1.0; + exposure_time_min = 2; // 1x + exposure_time_max = 2016; + analog_gain_min_idx = 0x0; + analog_gain_rec_idx = 0x0; // 1x + analog_gain_max_idx = 0x36; + analog_gain_cost_delta = -1; + analog_gain_cost_low = 0.4; + analog_gain_cost_high = 6.4; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 0.01; +} + +std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + uint32_t lcg_time = hcg_time; + uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); + uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + + uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; + + return { + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + {0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + }; +} + +int OX03C10::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x6C, 0x20, 0x6C}[port]; +} + +float OX03C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + float score = std::abs(desired_ev - (exp_t * exp_gain)); + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + score += ((1 - analog_gain_cost_delta) + + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * + std::abs(exp_g_idx - gain_idx) * 5.0; + return score; +} diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/sensors/ox03c10_registers.h similarity index 82% rename from system/camerad/cameras/sensor2_i2c.h rename to system/camerad/sensors/ox03c10_registers.h index 9170c5183a..575a2cb934 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/sensors/ox03c10_registers.h @@ -1,9 +1,9 @@ -struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; -struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; -struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}}; -struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}}; +#pragma once -struct i2c_random_wr_payload init_array_ox03c10[] = { +const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x103, 1}, {0x107, 1}, @@ -759,118 +759,3 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3548, 0x0F}, {0x3549, 0x00}, {0x35c1, 0x00}, }; - -struct i2c_random_wr_payload init_array_ar0231[] = { - {0x301A, 0x0018}, // RESET_REGISTER - - // CLOCK Settings - // input clock is 19.2 / 2 * 0x37 = 528 MHz - // pixclk is 528 / 6 = 88 MHz - // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms - // img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms - {0x302A, 0x0006}, // VT_PIX_CLK_DIV - {0x302C, 0x0001}, // VT_SYS_CLK_DIV - {0x302E, 0x0002}, // PRE_PLL_CLK_DIV - {0x3030, 0x0037}, // PLL_MULTIPLIER - {0x3036, 0x000C}, // OP_PIX_CLK_DIV - {0x3038, 0x0001}, // OP_SYS_CLK_DIV - - // FORMAT - {0x3040, 0xC000}, // READ_MODE - {0x3004, 0x0000}, // X_ADDR_START_ - {0x3008, 0x0787}, // X_ADDR_END_ - {0x3002, 0x0000}, // Y_ADDR_START_ - {0x3006, 0x04B7}, // Y_ADDR_END_ - {0x3032, 0x0000}, // SCALING_MODE - {0x30A2, 0x0001}, // X_ODD_INC_ - {0x30A6, 0x0001}, // Y_ODD_INC_ - {0x3402, 0x0788}, // X_OUTPUT_CONTROL - {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL - {0x3064, 0x1982}, // SMIA_TEST - {0x30BA, 0x11F2}, // DIGITAL_CTRL - - // Enable external trigger and disable GPIO outputs - {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE - {0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE - {0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2 - - // Readout timing - {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR) - {0x300A, 0x0855}, // FRAME_LENGTH_LINES - {0x3042, 0x0000}, // EXTRA_DELAY - - // Readout Settings - {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI - {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 - {0x3342, 0x1212}, // MIPI_F1_PDT_EDT - {0x3346, 0x1212}, // MIPI_F2_PDT_EDT - {0x334A, 0x1212}, // MIPI_F3_PDT_EDT - {0x334E, 0x1212}, // MIPI_F4_PDT_EDT - {0x3344, 0x0011}, // MIPI_F1_VDT_VC - {0x3348, 0x0111}, // MIPI_F2_VDT_VC - {0x334C, 0x0211}, // MIPI_F3_VDT_VC - {0x3350, 0x0311}, // MIPI_F4_VDT_VC - {0x31B0, 0x0053}, // FRAME_PREAMBLE - {0x31B2, 0x003B}, // LINE_PREAMBLE - {0x301A, 0x001C}, // RESET_REGISTER - - // Noise Corrections - {0x3092, 0x0C24}, // ROW_NOISE_CONTROL - {0x337A, 0x0C80}, // DBLC_SCALE0 - {0x3370, 0x03B1}, // DBLC - {0x3044, 0x0400}, // DARK_CONTROL - - // Enable temperature sensor - {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG - {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG - - // Enable dead pixel correction using - // the 1D line correction scheme - {0x31E0, 0x0003}, - - // HDR Settings - {0x3082, 0x0004}, // OPERATION_MODE_CTRL - {0x3238, 0x0444}, // EXPOSURE_RATIO - - {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN - {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN - {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN - {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN - - // TODO: do these have to be lower than LINE_LENGTH_PCK? - {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ - {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2 - - {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? - {0x33DA, 0x0000}, // COMPANDING - {0x318E, 0x0200}, // PRE_HDR_GAIN_EN - - // DLO Settings - {0x3100, 0x4000}, // DLO_CONTROL0 - {0x3280, 0x0CCC}, // T1 G1 - {0x3282, 0x0CCC}, // T1 R - {0x3284, 0x0CCC}, // T1 B - {0x3286, 0x0CCC}, // T1 G2 - {0x3288, 0x0FA0}, // T2 G1 - {0x328A, 0x0FA0}, // T2 R - {0x328C, 0x0FA0}, // T2 B - {0x328E, 0x0FA0}, // T2 G2 - - // Initial Gains - {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_ - {0x3366, 0xFF77}, // ANALOG_GAIN (1x) - - {0x3060, 0x3333}, // ANALOG_COLOR_GAIN - - {0x3362, 0x0000}, // DC GAIN - - {0x305A, 0x00F8}, // red gain - {0x3058, 0x0122}, // blue gain - {0x3056, 0x009A}, // g1 gain - {0x305C, 0x009A}, // g2 gain - - {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_ - - // Initial Integration Time - {0x3012, 0x0005}, -}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h new file mode 100644 index 0000000000..4e2194d914 --- /dev/null +++ b/system/camerad/sensors/sensor.h @@ -0,0 +1,93 @@ +#pragma once + +#include +#include +#include +#include +#include +#include "media/cam_sensor.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/camerad/sensors/ar0231_registers.h" +#include "system/camerad/sensors/ox03c10_registers.h" +#include "system/camerad/sensors/os04c10_registers.h" + +#define ANALOG_GAIN_MAX_CNT 55 +const size_t FRAME_WIDTH = 1928; +const size_t FRAME_HEIGHT = 1208; +const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) + + +class SensorInfo { +public: + SensorInfo() = default; + virtual std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; } + virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; } + virtual int getSlaveAddress(int port) const { assert(0); } + virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {} + + cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN; + uint32_t frame_width, frame_height; + uint32_t frame_stride; + uint32_t frame_offset = 0; + uint32_t extra_height = 0; + int registers_offset = -1; + int stats_offset = -1; + + int exposure_time_min; + int exposure_time_max; + + float dc_gain_factor; + int dc_gain_min_weight; + int dc_gain_max_weight; + float dc_gain_on_grey; + float dc_gain_off_grey; + + float sensor_analog_gains[ANALOG_GAIN_MAX_CNT]; + int analog_gain_min_idx; + int analog_gain_max_idx; + int analog_gain_rec_idx; + int analog_gain_cost_delta; + float analog_gain_cost_low; + float analog_gain_cost_high; + float target_grey_factor; + float min_ev; + float max_ev; + + bool data_word; + uint32_t probe_reg_addr; + uint32_t probe_expected_data; + std::vector start_reg_array; + std::vector init_reg_array; + + uint32_t mipi_format; + uint32_t mclk_frequency; + uint32_t frame_data_type; +}; + +class AR0231 : public SensorInfo { +public: + AR0231(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; + void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override; + +private: + mutable std::map> ar0231_register_lut; +}; + +class OX03C10 : public SensorInfo { +public: + OX03C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; + +class OS04C10 : public SensorInfo { +public: + OS04C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index ede97d1a79..8c1b6084c7 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -13,7 +13,6 @@ from openpilot.system.hardware import PC from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.selfdrive.manager.process_config import managed_processes -LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h VISION_STREAMS = { "roadCameraState": VisionStreamType.VISION_STREAM_ROAD, diff --git a/system/camerad/test/.gitignore b/system/camerad/test/.gitignore index 44cd0b2730..d67473ebcd 100644 --- a/system/camerad/test/.gitignore +++ b/system/camerad/test/.gitignore @@ -1 +1,2 @@ jpegs/ +test_ae_gray diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h deleted file mode 100644 index 8953fb017f..0000000000 --- a/system/camerad/test/ae_gray_test.h +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once - -#define W 240 -#define H 160 - -#define TONE_SPLITS 3 - -float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { - 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, - 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, - 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000}; diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 97667ede86..21409f398d 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -1,27 +1,19 @@ #!/usr/bin/env python3 - +import argparse import os - from tqdm import tqdm -from openpilot.common.file_helpers import mkdirs_exists_ok from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import argparse if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("route", help="The route name") - parser.add_argument("segment", type=int, help="The index of the segment") args = parser.parse_args() - out_path = os.path.join("jpegs", f"{args.route.replace('|', '_')}_{args.segment}") - mkdirs_exists_ok(out_path) + out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") + os.makedirs(out_path, exist_ok=True) - r = Route(args.route) - path = r.log_paths()[args.segment] or r.qlog_paths()[args.segment] - lr = list(LogReader(path)) + lr = LogReader(args.route) for msg in tqdm(lr): if msg.which() == 'thumbnail': diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/test_ae_gray.cc similarity index 63% rename from system/camerad/test/ae_gray_test.cc rename to system/camerad/test/test_ae_gray.cc index 8d18f7e93b..06d784927a 100644 --- a/system/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/test_ae_gray.cc @@ -1,6 +1,5 @@ -// unittest for set_exposure_target - -#include "system/camerad/test/ae_gray_test.h" +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" #include @@ -10,7 +9,25 @@ #include "common/util.h" #include "system/camerad/cameras/camera_common.h" -int main() { +#define W 240 +#define H 160 + + +#define TONE_SPLITS 3 + +float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { + 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, + 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, + 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000}; + + +TEST_CASE("camera.test_set_exposure_target") { // set up fake camerabuf CameraBuf cb = {}; VisionBuf vb = {}; @@ -63,5 +80,4 @@ int main() { assert(passed); delete[] fb_y; - return 0; } diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index ad3a9fdc91..408115607e 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import pytest import time -import unittest import numpy as np +from flaky import flaky from collections import defaultdict import cereal.messaging as messaging @@ -18,47 +18,43 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') - +# TODO: this shouldn't be needed +@flaky(max_runs=3) @pytest.mark.tici -class TestCamerad(unittest.TestCase): - @classmethod - def setUpClass(cls): +class TestCamerad: + def setup_method(self): # run camerad and record logs managed_processes['camerad'].start() time.sleep(3) socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS} - cls.logs = defaultdict(list) + self.logs = defaultdict(list) start_time = time.monotonic() while time.monotonic()- start_time < TEST_TIMESPAN: for cam, s in socks.items(): - cls.logs[cam] += messaging.drain_sock(s) + self.logs[cam] += messaging.drain_sock(s) time.sleep(0.2) managed_processes['camerad'].stop() - cls.log_by_frame_id = defaultdict(list) - cls.sensor_type = None - for cam, msgs in cls.logs.items(): - if cls.sensor_type is None: - cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw + self.log_by_frame_id = defaultdict(list) + self.sensor_type = None + for cam, msgs in self.logs.items(): + if self.sensor_type is None: + self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency) - assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" + assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" for m in msgs: - cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m) + self.log_by_frame_id[getattr(m, m.which()).frameId].append(m) # strip beginning and end for _ in range(3): - mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys()) - del cls.log_by_frame_id[mn] - del cls.log_by_frame_id[mx] - - @classmethod - def tearDownClass(cls): - managed_processes['camerad'].stop() + mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys()) + del self.log_by_frame_id[mn] + del self.log_by_frame_id[mx] def test_frame_skips(self): skips = {} @@ -85,6 +81,3 @@ class TestCamerad(unittest.TestCase): print("TODO: handle camera out of sync") else: assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" - -if __name__ == "__main__": - unittest.main() diff --git a/system/fleetmanager/fleet_manager.py b/system/fleetmanager/fleet_manager.py index aed9c556df..1b3a2355e1 100755 --- a/system/fleetmanager/fleet_manager.py +++ b/system/fleetmanager/fleet_manager.py @@ -8,7 +8,7 @@ from flask import Flask, render_template, Response, request, send_from_directory from openpilot.common.realtime import set_core_affinity import openpilot.system.fleetmanager.helpers as fleet from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog app = Flask(__name__) diff --git a/system/hardware/base.h b/system/hardware/base.h index 43f5db023d..dc2282a93a 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -29,12 +29,11 @@ public: static void poweroff() {} static void set_brightness(int percent) {} static void set_display_power(bool on) {} - static void set_volume(float volume) {} static bool get_ssh_enabled() { return false; } static void set_ssh_enabled(bool enabled) {} - static void config_cpu_rendering(); + static void config_cpu_rendering(bool offscreen); static bool PC() { return false; } static bool TICI() { return false; } diff --git a/system/hardware/base.py b/system/hardware/base.py index 0b6ca44c3c..9c7a618337 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -23,6 +23,9 @@ class HardwareBase(ABC): except Exception: return default + def booted(self) -> bool: + return True + @abstractmethod def reboot(self, reason=None): pass @@ -51,10 +54,6 @@ class HardwareBase(ABC): def get_serial(self): pass - @abstractmethod - def get_subscriber_info(self): - pass - @abstractmethod def get_network_info(self): pass diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 2f6ccfffda..394807ccb5 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -30,13 +30,13 @@ namespace Path { } inline std::string params() { - return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params"; + return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params"); } inline std::string rsa_file() { return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; } - + inline std::string swaglog_ipc() { return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); } diff --git a/system/hardware/hw.py b/system/hardware/hw.py index 119ca48c86..694299d72e 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -3,6 +3,8 @@ from pathlib import Path from openpilot.system.hardware import PC +DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache" + class Paths: @staticmethod def comma_home() -> str: @@ -31,5 +33,26 @@ class Paths: @staticmethod def download_cache_root() -> str: if os.environ.get('COMMA_CACHE', False): - return os.environ['COMMA_CACHE'] - return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/" + return os.environ['COMMA_CACHE'] + "/" + return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/" + + @staticmethod + def persist_root() -> str: + if PC: + return os.path.join(Paths.comma_home(), "persist") + else: + return "/persist/" + + @staticmethod + def stats_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "stats") + else: + return "/data/stats/" + + @staticmethod + def config_root() -> str: + if PC: + return Paths.comma_home() + else: + return "/tmp/.comma" diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 7a7ddd60b7..5dea184ca6 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -13,16 +13,10 @@ public: static bool TICI() { return util::getenv("TICI", 0) == 1; } static bool AGNOS() { return util::getenv("TICI", 0) == 1; } - static void set_volume(float volume) { - volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); - - char volume_str[6]; - snprintf(volume_str, sizeof(volume_str), "%.3f", volume); - std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); - } - - static void config_cpu_rendering() { - setenv("QT_QPA_PLATFORM", "offscreen", 1); + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "offscreen", 1); + } setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1); setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU } diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 27c05f5904..4c2c104f94 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -29,9 +29,6 @@ class Pc(HardwareBase): def get_serial(self): return "cccccccc" - def get_subscriber_info(self): - return "" - def get_network_info(self): return None diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7e8cd480be..a87f3d278d 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279.img.xz", - "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279", - "hash_raw": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279", + "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz", + "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f", + "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f", "size": 15636480, "sparse": false, "full_check": true, @@ -11,9 +11,9 @@ }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz", - "hash": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d", - "hash_raw": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d", + "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", + "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", "size": 274432, "sparse": false, "full_check": true, @@ -21,9 +21,9 @@ }, { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz", - "hash": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa", - "hash_raw": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5.img.xz", + "hash": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5", + "hash_raw": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5", "size": 3282672, "sparse": false, "full_check": true, @@ -31,9 +31,9 @@ }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz", - "hash": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf", - "hash_raw": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", + "hash": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", + "hash_raw": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", "size": 98124, "sparse": false, "full_check": true, @@ -41,9 +41,9 @@ }, { "name": "devcfg", - "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz", - "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262", - "hash_raw": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27.img.xz", + "hash": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", + "hash_raw": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", "size": 40336, "sparse": false, "full_check": true, @@ -51,9 +51,9 @@ }, { "name": "aop", - "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz", - "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222", - "hash_raw": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222", + "url": "https://commadist.azureedge.net/agnosupdate/aop-5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f.img.xz", + "hash": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f", + "hash_raw": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f", "size": 184364, "sparse": false, "full_check": true, @@ -61,16 +61,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz", - "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0", - "hash_raw": "e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432", + "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz", + "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89", + "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082", "size": 10737418240, "sparse": true, "full_check": false, "has_ab": true, "alt": { - "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz" + "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz", + "size": 4077270244 } } -] +] \ No newline at end of file diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection new file mode 100644 index 0000000000..74f6f8e82c --- /dev/null +++ b/system/hardware/tici/esim.nmconnection @@ -0,0 +1,30 @@ +[connection] +id=esim +uuid=fff6553c-3284-4707-a6b1-acc021caaafb +type=gsm +permissions= +autoconnect=true +autoconnect-retries=100 +autoconnect-priority=2 +metered=1 + +[gsm] +apn= +home-only=false +auto-config=true +sim-id= + +[ipv4] +route-metric=1000 +dns-priority=1000 +dns-search= +method=auto + +[ipv6] +ddr-gen-mode=stable-privacy +dns-search= +route-metric=1000 +dns-priority=1000 +method=auto + +[proxy] diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index fe0a20ae58..f6ea86b002 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -67,14 +67,6 @@ public: bl_power_control.close(); } } - static void set_volume(float volume) { - volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); - - char volume_str[6]; - snprintf(volume_str, sizeof(volume_str), "%.3f", volume); - std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); - } - static std::map get_init_logs() { std::map ret = { @@ -104,8 +96,10 @@ public: static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } - static void config_cpu_rendering() { - setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + } setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU } }; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index d3375831ad..3431718e22 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -3,6 +3,7 @@ import math import os import subprocess import time +import tempfile from enum import IntEnum from functools import cached_property, lru_cache from pathlib import Path @@ -73,6 +74,11 @@ def sudo_write(val, path): # fallback for debugfs files os.system(f"sudo su -c 'echo {val} > {path}'") +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + except Exception: + return "" def affine_irq(val, action): irqs = get_irqs_for_action(action) @@ -104,7 +110,7 @@ class Tici(HardwareBase): def nm(self): return self.bus.get_object(NM, '/org/freedesktop/NetworkManager') - @cached_property + @property # this should not be cached, in case the modemmanager restarts def mm(self): return self.bus.get_object(MM, '/org/freedesktop/ModemManager1') @@ -200,9 +206,6 @@ class Tici(HardwareBase): 'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED, } - def get_subscriber_info(self): - return "" - def get_imei(self, slot): if slot != 0: return "" @@ -210,8 +213,8 @@ class Tici(HardwareBase): return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) def get_network_info(self): - modem = self.get_modem() try: + modem = self.get_modem() info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) @@ -292,67 +295,6 @@ class Tici(HardwareBase): return super().get_network_metered(network_type) - @staticmethod - def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None: - upload_speed_kbps = int(upload_speed_kbps) # Ensure integer value - download_speed_kbps = int(download_speed_kbps) # Ensure integer value - - adapter = "wwan0" - ifb = "ifb0" - - sudo = ["sudo"] - tc = sudo + ["tc"] - - # check, cmd - cleanup = [ - # Clean up old rules - (False, tc + ["qdisc", "del", "dev", adapter, "root"]), - (False, tc + ["qdisc", "del", "dev", ifb, "root"]), - (False, tc + ["qdisc", "del", "dev", adapter, "ingress"]), - (False, tc + ["qdisc", "del", "dev", ifb, "ingress"]), - - # Bring ifb0 down - (False, sudo + ["ip", "link", "set", "dev", ifb, "down"]), - ] - - upload = [ - # Create root Hierarchy Token Bucket that sends all traffic to 1:20 - (True, tc + ["qdisc", "add", "dev", adapter, "root", "handle", "1:", "htb", "default", "20"]), - - # Create class 1:20 with specified rate limit - (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]), - - # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class - (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \ - "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]), - ] - - download = [ - # Bring ifb0 up - (True, sudo + ["ip", "link", "set", "dev", ifb, "up"]), - - # Redirect ingress (incoming) to egress ifb0 - (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]), - (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \ - "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]), - - # Add class and rules for virtual interface - (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]), - (True, tc + ["class", "add", "dev", ifb, "parent", "2:", "classid", "2:1", "htb", "rate", f"{download_speed_kbps}kbit"]), - - # Add filter to rule for IP address - (True, tc + ["filter", "add", "dev", ifb, "protocol", "ip", "parent", "2:", "prio", "1", "u32", "match", "ip", "src", "0.0.0.0/0", "flowid", "2:1"]), - ] - - commands = cleanup - if upload_speed_kbps != -1: - commands += upload - if download_speed_kbps != -1: - commands += download - - for check, cmd in commands: - subprocess.run(cmd, check=check) - def get_modem_version(self): try: modem = self.get_modem() @@ -392,10 +334,6 @@ class Tici(HardwareBase): pass return ret - def get_usb_present(self): - # Not sure if relevant on tici, but the file exists - return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False) - def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) @@ -532,9 +470,23 @@ class Tici(HardwareBase): except Exception: pass - # blue prime config - if sim_id.startswith('8901410'): - os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"') + # blue prime + blue_prime = sim_id.startswith('8901410') + initial_apn = "Broadband" if blue_prime else "" + os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"') + + # eSIM prime + if sim_id.startswith('8985235'): + dest = "/etc/NetworkManager/system-connections/esim.nmconnection" + with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + dat = f.read() + dat = dat.replace("sim-id=", f"sim-id={sim_id}") + tf.write(dat) + tf.flush() + + # needs to be root + os.system(f"sudo cp {tf.name} {dest}") + os.system(f"sudo nmcli con load {dest}") def get_networks(self): r = {} @@ -600,8 +552,15 @@ class Tici(HardwareBase): time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) + def booted(self): + # this normally boots within 8s, but on rare occasions takes 30+s + encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info") + if "Core state: 0" in encoder_state and (time.monotonic() < 60*2): + return False + return True if __name__ == "__main__": t = Tici() + t.configure_modem() t.initialize_hardware() t.set_power_save(False) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index c61d67e79d..0518eec543 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -2,7 +2,6 @@ import pytest import unittest import time -import threading import numpy as np from dataclasses import dataclass from tabulate import tabulate @@ -10,11 +9,12 @@ from typing import List import cereal.messaging as messaging from cereal.services import SERVICE_LIST +from openpilot.common.mock import mock_messages +from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.manager import manager_cleanup -from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk SAMPLE_TIME = 8 # seconds to sample power @@ -36,14 +36,6 @@ PROCS = [ Proc('navmodeld', 0.05, msgs=['navModel']), ] -def send_llk_msg(done): - # Send liveLocationKalman at 20Hz - pm = messaging.PubMaster(['liveLocationKalman']) - while not done.is_set(): - msg = gen_llk() - pm.send('liveLocationKalman', msg) - time.sleep(1/20.) - @pytest.mark.tici class TestPowerDraw(unittest.TestCase): @@ -51,6 +43,7 @@ class TestPowerDraw(unittest.TestCase): def setUp(self): HARDWARE.initialize_hardware() HARDWARE.set_power_save(False) + write_car_param() # wait a bit for power save to disable time.sleep(5) @@ -58,11 +51,9 @@ class TestPowerDraw(unittest.TestCase): def tearDown(self): manager_cleanup() + @mock_messages(['liveLocationKalman']) def test_camera_procs(self): baseline = get_power() - done = threading.Event() - thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True) - thread.start() prev = baseline used = {} @@ -80,7 +71,6 @@ class TestPowerDraw(unittest.TestCase): for msg,sock in socks.items(): msg_counts[msg] = len(messaging.drain_sock_raw(sock)) - done.set() manager_cleanup() tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']] @@ -91,8 +81,8 @@ class TestPowerDraw(unittest.TestCase): msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs)) tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received]) with self.subTest(proc=proc.name): - np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol) np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2) + np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol) print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc index e758b40647..1b4a1e5eb5 100644 --- a/system/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -64,8 +64,8 @@ int main(int argc, char** argv) { file.write(logger_build_params_data_car_start().asBytes()); } } else { - const std::string timestr = logger_get_route_name(); - const std::string path = Path::log_root() + "/boot/" + timestr; + const std::string id = logger_get_identifier("BootCount"); + const std::string path = Path::log_root() + "/boot/" + id; LOGW("bootlog to %s", path.c_str()); // Open bootlog @@ -79,7 +79,7 @@ int main(int argc, char** argv) { file.write(build_boot_log().asBytes()); // Write out bootlog param to match routes with bootlog - Params().put("CurrentBootlog", timestr.c_str()); + Params().put("CurrentBootlog", id.c_str()); } return 0; diff --git a/system/loggerd/config.py b/system/loggerd/config.py index 664e78b378..5c2c89b73f 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -1,6 +1,4 @@ import os -from pathlib import Path -from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths @@ -9,10 +7,6 @@ SEGMENT_LENGTH = 60 STATS_DIR_FILE_LIMIT = 10000 STATS_SOCKET = "ipc:///tmp/stats" -if PC: - STATS_DIR = str(Path.home() / ".comma" / "stats") -else: - STATS_DIR = "/data/stats/" STATS_FLUSH_TIME_S = 60 def get_available_percent(default=None): diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index b060232b6e..868340150a 100755 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -4,7 +4,7 @@ import shutil import threading from typing import List from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.loggerd.config import get_available_bytes, get_available_percent from openpilot.system.loggerd.uploader import listdir_by_creation from openpilot.system.loggerd.xattr_cache import getxattr diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 869b4617b3..0aba4b8b49 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -27,8 +27,11 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t edat.setData(dat); if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header); - auto words = new kj::Array(capnp::messageToFlatArray(msg)); - auto bytes = words->asBytes(); - e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size()); - delete words; + uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); + if (e->msg_cache.size() < bytes_size) { + e->msg_cache.resize(bytes_size); + } + kj::ArrayOutputStream output_stream(kj::ArrayPtr(e->msg_cache.data(), bytes_size)); + capnp::writeMessage(output_stream, msg); + e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index a8bfd5c054..9c23928cc6 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -4,6 +4,7 @@ #include #include #include +#include #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" @@ -23,7 +24,6 @@ public: static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - protected: int in_width, in_height; const EncoderInfo encoder_info; @@ -32,4 +32,5 @@ private: // total frames encoded int cnt = 0; std::unique_ptr pm; + std::vector msg_cache; }; diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 3ab9cef757..f6f0a23dad 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,22 +1,11 @@ #include "system/loggerd/logger.h" -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include #include -#include #include -#include -#include #include +#include +#include +#include #include "common/params.h" #include "common/swaglog.h" @@ -57,7 +46,7 @@ kj::Array logger_build_init_data() { init.setGitCommit(params_map["GitCommit"]); init.setGitBranch(params_map["GitBranch"]); init.setGitRemote(params_map["GitRemote"]); - init.setPassive(params.getBool("Passive")); + init.setPassive(false); init.setDongleId(params_map["DongleId"]); auto lparams = init.initParams().initEntries(params_map.size()); @@ -130,159 +119,75 @@ std::string logger_get_route_name() { return route_name; } -void log_init_data(LoggerState *s) { - auto bytes = s->init_data.asBytes(); - logger_log(s, bytes.begin(), bytes.size(), s->has_qlog); +std::string logger_get_identifier(std::string key) { + // a log identifier is a 32 bit counter, plus a 10 character unique ID. + // e.g. 000001a3--c20ba54385 + + Params params; + uint32_t cnt; + try { + cnt = std::stol(params.get(key)); + } catch (std::exception &e) { + cnt = 0; + } + params.put(key, std::to_string(cnt + 1)); + + std::stringstream ss; + std::random_device rd; + std::mt19937 mt(rd()); + std::uniform_int_distribution dist(0, 15); + for (int i = 0; i < 10; ++i) { + ss << std::hex << dist(mt); + } + + return util::string_format("%08x--%s", cnt, ss.str().c_str()); } - -static void lh_log_sentinel(LoggerHandle *h, SentinelType type) { +static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) { MessageBuilder msg; auto sen = msg.initEvent().initSentinel(); sen.setType(type); - sen.setSignal(h->exit_signal); - auto bytes = msg.toBytes(); - - lh_log(h, bytes.begin(), bytes.size(), true); + sen.setSignal(eixt_signal); + log->write(msg.toBytes(), true); } -// ***** logging functions ***** - -void logger_init(LoggerState *s, bool has_qlog) { - pthread_mutex_init(&s->lock, NULL); - - s->part = -1; - s->has_qlog = has_qlog; - s->route_name = logger_get_route_name(); - s->init_data = logger_build_init_data(); +LoggerState::LoggerState(const std::string &log_root) { + route_name = logger_get_route_name(); + route_path = log_root + "/" + route_name; + init_data = logger_build_init_data(); } -static LoggerHandle* logger_open(LoggerState *s, const char* root_path) { - LoggerHandle *h = NULL; - for (int i=0; ihandles[i].refcnt == 0) { - h = &s->handles[i]; - break; - } +LoggerState::~LoggerState() { + if (rlog) { + log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal); + std::remove(lock_file.c_str()); } - assert(h); - - snprintf(h->segment_path, sizeof(h->segment_path), - "%s/%s--%d", root_path, s->route_name.c_str(), s->part); - - snprintf(h->log_path, sizeof(h->log_path), "%s/rlog", h->segment_path); - snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog", h->segment_path); - snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path); - h->end_sentinel_type = SentinelType::END_OF_SEGMENT; - h->exit_signal = 0; - - if (!util::create_directories(h->segment_path, 0775)) return nullptr; - - FILE* lock_file = fopen(h->lock_path, "wb"); - if (lock_file == NULL) return NULL; - fclose(lock_file); - - h->log = std::make_unique(h->log_path); - if (s->has_qlog) { - h->q_log = std::make_unique(h->qlog_path); - } - - pthread_mutex_init(&h->lock, NULL); - h->refcnt++; - return h; } -int logger_next(LoggerState *s, const char* root_path, - char* out_segment_path, size_t out_segment_path_len, - int* out_part) { - bool is_start_of_route = !s->cur_handle; - - pthread_mutex_lock(&s->lock); - s->part++; - - LoggerHandle* next_h = logger_open(s, root_path); - if (!next_h) { - pthread_mutex_unlock(&s->lock); - return -1; +bool LoggerState::next() { + if (rlog) { + log_sentinel(this, SentinelType::END_OF_SEGMENT); + std::remove(lock_file.c_str()); } - if (s->cur_handle) { - lh_close(s->cur_handle); - } - s->cur_handle = next_h; + segment_path = route_path + "--" + std::to_string(++part); + bool ret = util::create_directories(segment_path, 0775); + assert(ret == true); - if (out_segment_path) { - snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path); - } - if (out_part) { - *out_part = s->part; - } + const std::string rlog_path = segment_path + "/rlog"; + lock_file = rlog_path + ".lock"; + std::ofstream{lock_file}; - pthread_mutex_unlock(&s->lock); + rlog.reset(new RawFile(rlog_path)); + qlog.reset(new RawFile(segment_path + "/qlog")); - // write beginning of log metadata - log_init_data(s); - lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT); - return 0; + // log init data & sentinel type. + write(init_data.asBytes(), true); + log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE); + return true; } -LoggerHandle* logger_get_handle(LoggerState *s) { - pthread_mutex_lock(&s->lock); - LoggerHandle* h = s->cur_handle; - if (h) { - pthread_mutex_lock(&h->lock); - h->refcnt++; - pthread_mutex_unlock(&h->lock); - } - pthread_mutex_unlock(&s->lock); - return h; -} - -void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) { - pthread_mutex_lock(&s->lock); - if (s->cur_handle) { - lh_log(s->cur_handle, data, data_size, in_qlog); - } - pthread_mutex_unlock(&s->lock); -} - -void logger_close(LoggerState *s, ExitHandler *exit_handler) { - pthread_mutex_lock(&s->lock); - if (s->cur_handle) { - s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load(); - s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE; - lh_close(s->cur_handle); - } - pthread_mutex_unlock(&s->lock); -} - -void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) { - pthread_mutex_lock(&h->lock); - assert(h->refcnt > 0); - h->log->write(data, data_size); - if (in_qlog && h->q_log) { - h->q_log->write(data, data_size); - } - pthread_mutex_unlock(&h->lock); -} - -void lh_close(LoggerHandle* h) { - pthread_mutex_lock(&h->lock); - assert(h->refcnt > 0); - if (h->refcnt == 1) { - // a very ugly hack. only here can guarantee sentinel is the last msg - pthread_mutex_unlock(&h->lock); - lh_log_sentinel(h, h->end_sentinel_type); - pthread_mutex_lock(&h->lock); - } - h->refcnt--; - if (h->refcnt == 0) { - h->log.reset(nullptr); - h->q_log.reset(nullptr); - unlink(h->lock_path); - pthread_mutex_unlock(&h->lock); - pthread_mutex_destroy(&h->lock); - return; - } - pthread_mutex_unlock(&h->lock); +void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) { + rlog->write(data, size); + if (in_qlog) qlog->write(data, size); } diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 5d0a4dee37..3a7fd21bb6 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -1,27 +1,17 @@ #pragma once -#include - #include -#include -#include #include #include -#include -#include - #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "common/swaglog.h" #include "system/hardware/hw.h" -#define LOGGER_MAX_HANDLES 16 - class RawFile { public: - RawFile(const char* path) { - file = util::safe_fopen(path, "wb"); + RawFile(const std::string &path) { + file = util::safe_fopen(path.c_str(), "wb"); assert(file != nullptr); } ~RawFile() { @@ -41,40 +31,27 @@ class RawFile { typedef cereal::Sentinel::SentinelType SentinelType; -typedef struct LoggerHandle { - pthread_mutex_t lock; - SentinelType end_sentinel_type; - int exit_signal; - int refcnt; - char segment_path[4096]; - char log_path[4096]; - char qlog_path[4096]; - char lock_path[4096]; - std::unique_ptr log, q_log; -} LoggerHandle; -typedef struct LoggerState { - pthread_mutex_t lock; - int part; +class LoggerState { +public: + LoggerState(const std::string& log_root = Path::log_root()); + ~LoggerState(); + bool next(); + void write(uint8_t* data, size_t size, bool in_qlog); + inline int segment() const { return part; } + inline const std::string& segmentPath() const { return segment_path; } + inline const std::string& routeName() const { return route_name; } + inline void write(kj::ArrayPtr bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); } + inline void setExitSignal(int signal) { exit_signal = signal; } + +protected: + int part = -1, exit_signal = 0; + std::string route_path, route_name, segment_path, lock_file; kj::Array init_data; - std::string route_name; - char log_name[64]; - bool has_qlog; - - LoggerHandle handles[LOGGER_MAX_HANDLES]; - LoggerHandle* cur_handle; -} LoggerState; + std::unique_ptr rlog, qlog; +}; kj::Array logger_build_init_data(); kj::Array logger_build_params_data_car_start(); std::string logger_get_route_name(); -void logger_init(LoggerState *s, bool has_qlog); -int logger_next(LoggerState *s, const char* root_path, - char* out_segment_path, size_t out_segment_path_len, - int* out_part); -LoggerHandle* logger_get_handle(LoggerState *s); -void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr); -void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog); - -void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog); -void lh_close(LoggerHandle* h); +std::string logger_get_identifier(std::string key); diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index adb24c913c..27dfa187c4 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -6,6 +6,7 @@ #include #include +#include "common/params.h" #include "system/loggerd/encoder/encoder.h" #include "system/loggerd/loggerd.h" #include "system/loggerd/video_writer.h" @@ -13,9 +14,7 @@ ExitHandler do_exit; struct LoggerdState { - LoggerState logger = {}; - char segment_path[4096]; - std::atomic rotate_segment; + LoggerState logger; std::atomic last_camera_seen_tms; std::atomic ready_to_rotate; // count of encoders ready to rotate int max_waiting = 0; @@ -23,13 +22,11 @@ struct LoggerdState { }; void logger_rotate(LoggerdState *s) { - int segment = -1; - int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment); - assert(err == 0); - s->rotate_segment = segment; + bool ret =s->logger.next(); + assert(ret); s->ready_to_rotate = 0; s->last_rotate_tms = millis_since_boot(); - LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path); + LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str()); } void rotate_if_needed(LoggerdState *s) { @@ -85,16 +82,16 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset; - if (offset_segment_num == s->rotate_segment) { + if (offset_segment_num == s->logger.segment()) { // loggerd is now on the segment that matches this packet // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets - if (re.current_segment != s->rotate_segment) { + if (re.current_segment != s->logger.segment()) { if (re.recording) { re.writer.reset(); re.recording = false; } - re.current_segment = s->rotate_segment; + re.current_segment = s->logger.segment(); re.marked_ready_to_rotate = false; // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { @@ -117,7 +114,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // if we aren't actually recording, don't create the writer if (encoder_info.record) { assert(encoder_info.filename != NULL); - re.writer.reset(new VideoWriter(s->segment_path, + re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); // write the header @@ -149,28 +146,28 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct evt.setLogMonoTime(event.getLogMonoTime()); (evt.*(encoder_info.set_encode_idx_func))(idx); auto new_msg = bmsg.toBytes(); - logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? + s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? bytes_count += new_msg.size(); // free the message, we used it delete msg; - } else if (offset_segment_num > s->rotate_segment) { + } else if (offset_segment_num > s->logger.segment()) { // encoderd packet has a newer segment, this means encoderd has rolled over if (!re.marked_ready_to_rotate) { re.marked_ready_to_rotate = true; ++s->ready_to_rotate; LOGD("rotate %d -> %d ready %d/%d for %s", - s->rotate_segment.load(), offset_segment_num, + s->logger.segment(), offset_segment_num, s->ready_to_rotate.load(), s->max_waiting, name.c_str()); } // queue up all the new segment messages, they go in after the rotate re.q.push_back(msg); } else { - LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->rotate_segment:%d re.encoderd_segment_offset:%d", - name.c_str(), idx.getSegmentNum(), s->rotate_segment.load(), re.encoderd_segment_offset); + LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d", + name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset); // free the message, it's useless. this should never happen // actually, this can happen if you restart encoderd - re.encoderd_segment_offset = -s->rotate_segment.load(); + re.encoderd_segment_offset = -s->logger.segment(); delete msg; } @@ -179,19 +176,25 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct void handle_user_flag(LoggerdState *s) { static int prev_segment = -1; - if (s->rotate_segment == prev_segment) return; + if (s->logger.segment() == prev_segment) return; - LOGW("preserving %s", s->segment_path); + LOGW("preserving %s", s->logger.segmentPath().c_str()); #ifdef __APPLE__ - int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); + int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); #else - int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); + int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); #endif if (ret) { - LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno)); + LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno)); } - prev_segment = s->rotate_segment.load(); + + // mark route for uploading + Params params; + std::string routes = Params().get("AthenadRecentlyViewedRoutes"); + params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName()); + + prev_segment = s->logger.segment(); } void loggerd_thread() { @@ -228,9 +231,8 @@ void loggerd_thread() { LoggerdState s; // init logger - logger_init(&s.logger, true); logger_rotate(&s); - Params().put("CurrentRoute", s.logger.route_name); + Params().put("CurrentRoute", s.logger.routeName()); std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { @@ -261,7 +263,7 @@ void loggerd_thread() { s.last_camera_seen_tms = millis_since_boot(); bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); } else { - logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); + s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog); bytes_count += msg->getSize(); delete msg; } @@ -283,7 +285,7 @@ void loggerd_thread() { } LOGW("closing logger"); - logger_close(&s.logger, &do_exit); + s.logger.setExitSignal(do_exit.signal); if (do_exit.power_failure) { LOGE("power failure"); diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py deleted file mode 100755 index 5e6f887b12..0000000000 --- a/system/loggerd/tests/fill.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -"""Script to fill up storage with fake data""" - -from pathlib import Path - -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.config import get_available_percent -from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file - - -if __name__ == "__main__": - segment_idx = 0 - while True: - seg_name = f"1970-01-01--00-00-00--{segment_idx}" - seg_path = Path(Paths.log_root()) / seg_name - - print(seg_path) - - create_random_file(seg_path / "fcamera.hevc", 36) - create_random_file(seg_path / "rlog.bz2", 2) - - segment_idx += 1 - - # Fill up to 99 percent - available_percent = get_available_percent() - if available_percent < 1.0: - break diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 8bfb571861..3aa9e40531 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -3,10 +3,12 @@ import random import unittest from pathlib import Path from typing import Optional -from openpilot.system.hardware.hw import Paths + import openpilot.system.loggerd.deleter as deleter import openpilot.system.loggerd.uploader as uploader +from openpilot.common.params import Params +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr @@ -53,25 +55,6 @@ class MockApiIgnore(): def get_token(self): return "fake-token" -class MockParams(): - def __init__(self): - self.params = { - "DongleId": b"0000000000000000", - "IsOffroad": b"1", - } - - def get(self, k, block=False, encoding=None): - val = self.params[k] - - if encoding is not None: - return val.decode(encoding) - else: - return val - - def get_bool(self, k): - val = self.params[k] - return (val == b'1') - class UploaderTestCase(unittest.TestCase): f_type = "UNKNOWN" @@ -86,7 +69,6 @@ class UploaderTestCase(unittest.TestCase): def setUp(self): uploader.Api = MockApi - uploader.Params = MockParams uploader.fake_upload = True uploader.force_wifi = True uploader.allow_sleep = False @@ -95,6 +77,10 @@ class UploaderTestCase(unittest.TestCase): self.seg_format2 = "2019-05-18--11-22-33--{}" self.seg_dir = self.seg_format.format(self.seg_num) + self.params = Params() + self.params.put("IsOffroad", "1") + self.params.put("DongleId", "0000000000000000") + def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc index 9f815c2189..2dae136e13 100644 --- a/system/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -1,16 +1,5 @@ -#include - -#include -#include -#include -#include -#include - #include "catch2/catch.hpp" -#include "cereal/messaging/messaging.h" -#include "common/util.h" #include "system/loggerd/logger.h" -#include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; @@ -57,91 +46,29 @@ void verify_segment(const std::string &route_path, int segment, int max_segment, } } -void write_msg(LoggerHandle *logger) { +void write_msg(LoggerState *logger) { MessageBuilder msg; msg.initEvent().initClocks(); - auto bytes = msg.toBytes(); - lh_log(logger, bytes.begin(), bytes.size(), true); + logger->write(msg.toBytes(), true); } TEST_CASE("logger") { + const int segment_cnt = 100; const std::string log_root = "/tmp/test_logger"; system(("rm " + log_root + " -rf").c_str()); - - ExitHandler do_exit; - - LoggerState logger = {}; - logger_init(&logger, true); - char segment_path[PATH_MAX] = {}; - int segment = -1; - - SECTION("single thread logging & rotation(100 segments, one thread)") { - const int segment_cnt = 100; + std::string route_name; + { + LoggerState logger(log_root); + route_name = logger.routeName(); for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); - REQUIRE(util::file_exists(std::string(segment_path) + "/rlog.lock")); - REQUIRE(segment == i); - write_msg(logger.cur_handle); - } - do_exit = true; - do_exit.signal = 1; - logger_close(&logger, &do_exit); - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, 1); + REQUIRE(logger.next()); + REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock")); + REQUIRE(logger.segment() == i); + write_msg(&logger); } + logger.setExitSignal(1); } - SECTION("multiple threads logging & rotation(100 segments, 10 threads") { - const int segment_cnt = 100, thread_cnt = 10; - std::atomic event_cnt[segment_cnt] = {}; - std::atomic main_segment = -1; - - auto logging_thread = [&]() -> void { - LoggerHandle *lh = logger_get_handle(&logger); - assert(lh != nullptr); - int segment = main_segment; - int delayed_cnt = 0; - while (!do_exit) { - // write 2 more messages in the current segment and then rotate to the new segment. - if (main_segment > segment && ++delayed_cnt == 2) { - lh_close(lh); - lh = logger_get_handle(&logger); - segment = main_segment; - delayed_cnt = 0; - } - write_msg(lh); - event_cnt[segment] += 1; - usleep(1); - } - lh_close(lh); - }; - - // start logging - std::vector threads; - for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); - REQUIRE(segment == i); - main_segment = segment; - if (i == 0) { - for (int j = 0; j < thread_cnt; ++j) { - threads.push_back(std::thread(logging_thread)); - } - } - for (int j = 0; j < 100; ++j) { - write_msg(logger.cur_handle); - usleep(1); - } - event_cnt[segment] += 100; - } - - // end logging - for (auto &t : threads) t.join(); - do_exit = true; - do_exit.signal = 1; - logger_close(&logger, &do_exit); - REQUIRE(logger.cur_handle->refcnt == 0); - - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, event_cnt[i]); - } + for (int i = 0; i < segment_cnt; ++i) { + verify_segment(log_root + "/" + route_name, i, segment_cnt, 1); } } diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 9d7d3fa7bd..0cd8548809 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -1,14 +1,15 @@ #!/usr/bin/env python3 import numpy as np import os +import re import random import string import subprocess import time -import unittest from collections import defaultdict from pathlib import Path from typing import Dict, List +from flaky import flaky import cereal.messaging as messaging from cereal import log @@ -21,6 +22,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.version import get_version +from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size @@ -31,10 +33,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST and SERVICE_LIST[f].should_log and "encode" not in f.lower()] -class TestLoggerd(unittest.TestCase): - def setUp(self): - os.environ.pop("LOG_ROOT", None) - +class TestLoggerd: def _get_latest_log_dir(self): log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime) return log_dirs[-1] @@ -68,21 +67,21 @@ class TestLoggerd(unittest.TestCase): def _check_init_data(self, msgs): msg = msgs[0] - self.assertEqual(msg.which(), 'initData') + assert msg.which() == 'initData' def _check_sentinel(self, msgs, route): start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment - self.assertTrue(msgs[1].sentinel.type == start_type) + assert msgs[1].sentinel.type == start_type end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment - self.assertTrue(msgs[-1].sentinel.type == end_type) + assert msgs[-1].sentinel.type == end_type def _publish_random_messages(self, services: List[str]) -> Dict[str, list]: pm = messaging.PubMaster(services) managed_processes["loggerd"].start() for s in services: - self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + assert pm.wait_for_readers_to_update(s, timeout=5) sent_msgs = defaultdict(list) for _ in range(random.randint(2, 10) * 100): @@ -93,10 +92,9 @@ class TestLoggerd(unittest.TestCase): m = messaging.new_message(s, random.randint(2, 10)) pm.send(s, m) sent_msgs[s].append(m) - time.sleep(0.01) for s in services: - self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + assert pm.wait_for_readers_to_update(s, timeout=5) managed_processes["loggerd"].stop() return sent_msgs @@ -113,35 +111,33 @@ class TestLoggerd(unittest.TestCase): ("GitRemote", "gitRemote", "remote"), ] params = Params() - params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemerisV3", "abc") + params.put("AccessToken", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData - self.assertTrue(initData.dirty != bool(os.environ["CLEAN"])) - self.assertEqual(initData.version, get_version()) + assert initData.dirty != bool(os.environ["CLEAN"]) + assert initData.version == get_version() if os.path.isfile("/proc/cmdline"): with open("/proc/cmdline") as f: - self.assertEqual(list(initData.kernelArgs), f.read().strip().split(" ")) + assert list(initData.kernelArgs) == f.read().strip().split(" ") with open("/proc/version") as f: - self.assertEqual(initData.kernelVersion, f.read()) + assert initData.kernelVersion == f.read() # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'} + expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" + assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}" for param_key, initData_key, v in fake_params: - self.assertEqual(getattr(initData, initData_key), v) - self.assertEqual(logged_params[param_key].decode(), v) - - params.put("LaikadEphemerisV3", "") + assert getattr(initData, initData_key) == v + assert logged_params[param_key].decode() == v + @flaky(max_runs=3) def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") @@ -162,11 +158,10 @@ class TestLoggerd(unittest.TestCase): os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() - time.sleep(1) + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) fps = 20.0 for n in range(1, int(num_segs*length*fps)+1): - time_start = time.monotonic() for stream_type, frame_spec, state in streams: dat = np.empty(frame_spec[2], dtype=np.uint8) vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) @@ -175,7 +170,9 @@ class TestLoggerd(unittest.TestCase): frame = getattr(camera_state, state) frame.frameId = n pm.send(state, camera_state) - time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0)) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) managed_processes["loggerd"].stop() managed_processes["encoderd"].stop() @@ -185,7 +182,7 @@ class TestLoggerd(unittest.TestCase): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") + assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -216,7 +213,13 @@ class TestLoggerd(unittest.TestCase): with open(path, "rb") as f: expected_val = f.read() bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0] - self.assertEqual(expected_val, bootlog_val) + assert expected_val == bootlog_val + + # next one should increment by one + bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name) + bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name) + assert bl1.group('uid') != bl2.group('uid') + assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1 def test_qlog(self): qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None] @@ -242,11 +245,11 @@ class TestLoggerd(unittest.TestCase): if s in no_qlog_services: # check services with no specific decimation aren't in qlog - self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog") + assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog" else: # check logged message count matches decimation expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1 - self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}") + assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}" def test_rlog(self): services = random.sample(CEREAL_SERVICES, random.randint(5, 10)) @@ -263,22 +266,19 @@ class TestLoggerd(unittest.TestCase): for m in lr: sent = sent_msgs[m.which()].pop(0) sent.clear_write_flag() - self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes()) + assert sent.to_bytes() == m.as_builder().to_bytes() def test_preserving_flagged_segments(self): services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() - self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE) + assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE def test_not_preserving_unflagged_segments(self): services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() - self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME)) + assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None - -if __name__ == "__main__": - unittest.main() diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index a7349fc5e4..b674de5438 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -9,8 +9,8 @@ from pathlib import Path from typing import List, Optional from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog -from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.common.swaglog import cloudlog +from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase @@ -45,7 +45,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) + self.up_thread = threading.Thread(target=main, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py deleted file mode 100644 index 0502184380..0000000000 --- a/system/loggerd/tools/mark_all_uploaded.py +++ /dev/null @@ -1,8 +0,0 @@ -import os -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE - -for folder in os.walk(Paths.log_root()): - for file1 in folder[2]: - full_path = os.path.join(folder[0], file1) - os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py deleted file mode 100755 index ef50280441..0000000000 --- a/system/loggerd/tools/mark_unuploaded.py +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME - -for fn in sys.argv[1:]: - print(f"unmarking {fn}") - os.removexattr(fn, UPLOAD_ATTR_NAME) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 0932f28a93..e7b76bcd27 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -8,24 +8,23 @@ import requests import threading import time import traceback -from pathlib import Path -from typing import BinaryIO, Iterator, List, Optional, Tuple, Union +import datetime +from typing import BinaryIO, Iterator, List, Optional, Tuple from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity -from openpilot.system.hardware import TICI from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' UPLOAD_ATTR_VALUE = b'1' -UPLOAD_QLOG_QCAM_MAX_SIZE = 100 * 1e6 # MB +UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -45,23 +44,24 @@ class FakeResponse: self.request = FakeRequest() -UploadResponse = Union[requests.Response, FakeResponse] - def get_directory_sort(d: str) -> List[str]: return [s.rjust(10, '0') for s in d.rsplit('--', 1)] def listdir_by_creation(d: str) -> List[str]: + if not os.path.isdir(d): + return [] + try: - paths = os.listdir(d) + paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))] paths = sorted(paths, key=get_directory_sort) return paths except OSError: cloudlog.exception("listdir_by_creation failed") - return list() + return [] def clear_locks(root: str) -> None: - for logname in os.listdir(root): - path = os.path.join(root, logname) + for logdir in os.listdir(root): + path = os.path.join(root, logdir) try: for fname in os.listdir(path): if fname.endswith(".lock"): @@ -76,34 +76,20 @@ class Uploader: self.api = Api(dongle_id) self.root = root - self.last_resp: Optional[UploadResponse] = None - self.last_exc: Optional[Tuple[Exception, str]] = None - - self.immediate_size = 0 - self.immediate_count = 0 + self.params = Params() # stats for last successfully uploaded file - self.last_time = 0.0 - self.last_speed = 0.0 self.last_filename = "" self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name: str) -> int: - if name in self.immediate_priority: - return self.immediate_priority[name] - return 1000 + def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]: + r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + requested_routes = [] if r is None else r.split(",") - def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: - if not os.path.isdir(self.root): - return - - self.immediate_size = 0 - self.immediate_count = 0 - - for logname in listdir_by_creation(self.root): - path = os.path.join(self.root, logname) + for logdir in listdir_by_creation(self.root): + path = os.path.join(self.root, logdir) try: names = os.listdir(path) except OSError: @@ -112,29 +98,33 @@ class Uploader: if any(name.endswith(".lock") for name in names): continue - for name in sorted(names, key=self.get_upload_sort): - key = os.path.join(logname, name) + for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): + key = os.path.join(logdir, name) fn = os.path.join(path, name) # skip files already uploaded try: + ctime = os.path.getctime(fn) is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: - cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) - is_uploaded = True # deleter could have deleted + cloudlog.event("uploader_getxattr_failed", key=key, fn=fn) + # deleter could have deleted, so skip + continue if is_uploaded: continue - try: - if name in self.immediate_priority: - self.immediate_count += 1 - self.immediate_size += os.path.getsize(fn) - except OSError: - pass + # limit uploading on metered connections + if metered: + dt = datetime.timedelta(hours=12) + if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: + continue + + if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes): + continue yield name, key, fn - def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: - upload_files = list(self.list_upload_files()) + def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]: + upload_files = list(self.list_upload_files(metered)) for name, key, fn in upload_files: if any(f in fn for f in self.immediate_folders): @@ -146,45 +136,28 @@ class Uploader: return None - def do_upload(self, key: str, fn: str) -> None: - try: - url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) - if url_resp.status_code == 412: - self.last_resp = url_resp - return + def do_upload(self, key: str, fn: str): + url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) + if url_resp.status_code == 412: + return url_resp - url_resp_json = json.loads(url_resp.text) - url = url_resp_json['url'] - headers = url_resp_json['headers'] - cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) + url_resp_json = json.loads(url_resp.text) + url = url_resp_json['url'] + headers = url_resp_json['headers'] + cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) - if fake_upload: - cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") - self.last_resp = FakeResponse() + if fake_upload: + return FakeResponse() + + with open(fn, "rb") as f: + data: BinaryIO + if key.endswith('.bz2') and not fn.endswith('.bz2'): + compressed = bz2.compress(f.read()) + data = io.BytesIO(compressed) else: - with open(fn, "rb") as f: - data: BinaryIO - if key.endswith('.bz2') and not fn.endswith('.bz2'): - compressed = bz2.compress(f.read()) - data = io.BytesIO(compressed) - else: - data = f + data = f - self.last_resp = requests.put(url, data=data, headers=headers, timeout=10) - except Exception as e: - self.last_exc = (e, traceback.format_exc()) - raise - - def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]: - self.last_resp = None - self.last_exc = None - - try: - self.do_upload(key, fn) - except Exception: - pass - - return self.last_resp + return requests.put(url, data=data, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: @@ -203,44 +176,57 @@ class Uploader: success = True else: start_time = time.monotonic() - stat = self.normal_upload(key, fn) + + stat = None + last_exc = None + try: + stat = self.do_upload(key, fn) + except Exception as e: + last_exc = (e, traceback.format_exc()) + if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn - self.last_time = time.monotonic() - start_time + dt = time.monotonic() - start_time if stat.status_code == 412: - self.last_speed = 0 cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: content_length = int(stat.request.headers.get("Content-Length", 0)) - self.last_speed = (content_length / 1e6) / self.last_time + speed = (content_length / 1e6) / dt cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, - network_type=network_type, metered=metered, speed=self.last_speed) + network_type=network_type, metered=metered, speed=speed) success = True else: success = False - cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) if success: # tag file as uploaded try: setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) except OSError: - cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz) + cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz) return success - def get_msg(self): - msg = messaging.new_message("uploaderState") - us = msg.uploaderState - us.immediateQueueSize = int(self.immediate_size / 1e6) - us.immediateQueueCount = self.immediate_count - us.lastTime = self.last_time - us.lastSpeed = self.last_speed - us.lastFilename = self.last_filename - return msg + + def step(self, network_type: int, metered: bool) -> bool: + d = self.next_file_to_upload(metered) + if d is None: + return True + + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): + key += ".bz2" + + return self.upload(name, key, fn, network_type, metered) -def uploader_fn(exit_event: threading.Event) -> None: +def main(exit_event: Optional[threading.Event] = None) -> None: + if exit_event is None: + exit_event = threading.Event() + try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -258,11 +244,7 @@ def uploader_fn(exit_event: threading.Event) -> None: cloudlog.info("uploader missing dongle_id") raise Exception("uploader can't start without dongle id") - if TICI and not Path("/data/media").is_mount(): - cloudlog.warning("NVME not mounted") - sm = messaging.SubMaster(['deviceState']) - pm = messaging.PubMaster(['uploaderState']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 @@ -297,31 +279,13 @@ def uploader_fn(exit_event: threading.Event) -> None: time.sleep(60) continue - d = uploader.next_file_to_upload() - if d is None: # Nothing to upload - if allow_sleep: - time.sleep(60 if offroad else 5) - continue - - name, key, fn = d - - # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" - - success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) + success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) if success: backoff = 0.1 elif allow_sleep: cloudlog.info("upload backoff %r", backoff) - time.sleep(backoff + random.uniform(0, backoff)) backoff = min(backoff*2, 120) - - pm.send("uploaderState", uploader.get_msg()) - - -def main() -> None: - uploader_fn(threading.Event()) + time.sleep(backoff + random.uniform(0, backoff)) if __name__ == "__main__": diff --git a/system/logmessaged.py b/system/logmessaged.py index c53e20e483..46bf79b0b2 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -5,7 +5,7 @@ from typing import NoReturn import cereal.messaging as messaging from openpilot.common.logging_extra import SwagLogFileFormatter from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import get_file_handler +from openpilot.common.swaglog import get_file_handler def main() -> NoReturn: @@ -35,13 +35,11 @@ def main() -> NoReturn: continue # then we publish them - msg = messaging.new_message() - msg.logMessage = record + msg = messaging.new_message(None, valid=True, logMessage=record) log_message_sock.send(msg.to_bytes()) if level >= 40: # logging.ERROR - msg = messaging.new_message() - msg.errorLogMessage = record + msg = messaging.new_message(None, valid=True, errorLogMessage=record) error_log_message_sock.send(msg.to_bytes()) finally: sock.close() diff --git a/system/micd.py b/system/micd.py index 72f3b8b490..8b738ebe93 100755 --- a/system/micd.py +++ b/system/micd.py @@ -2,15 +2,15 @@ import numpy as np from cereal import messaging -from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import Ratekeeper -from openpilot.system.swaglog import cloudlog +from openpilot.common.retry import retry +from openpilot.common.swaglog import cloudlog RATE = 10 FFT_SAMPLES = 4096 REFERENCE_SPL = 2e-5 # newtons/m^2 SAMPLE_RATE = 44100 -FILTER_DT = 1. / (SAMPLE_RATE / FFT_SAMPLES) +SAMPLE_BUFFER = 4096 # (approx 100ms) def calculate_spl(measurements): @@ -50,15 +50,12 @@ class Mic: self.sound_pressure_weighted = 0 self.sound_pressure_level_weighted = 0 - self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) - def update(self): - msg = messaging.new_message('microphone') + msg = messaging.new_message('microphone', valid=True) msg.microphone.soundPressure = float(self.sound_pressure) msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted) msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted) - msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x) self.pm.send('microphone', msg) self.rk.keep_time() @@ -79,16 +76,22 @@ class Mic: self.sound_pressure, _ = calculate_spl(measurements) measurements_weighted = apply_a_weighting(measurements) self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) - self.spl_filter_weighted.update(self.sound_pressure_level_weighted) self.measurements = self.measurements[FFT_SAMPLES:] + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + def micd_thread(self): # sounddevice must be imported after forking processes import sounddevice as sd - with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: - cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") + with self.get_stream(sd) as stream: + cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") while True: self.update() diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc index 20298cd3d8..b86229a499 100644 --- a/system/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -109,7 +109,7 @@ TEST_CASE("Parser::cmdline") { test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"}); } -TEST_CASE("buildProcLogerMessage") { +TEST_CASE("buildProcLoggerMessage") { MessageBuilder msg; buildProcLogMessage(msg); @@ -137,19 +137,6 @@ TEST_CASE("buildProcLogerMessage") { REQUIRE(p.getState() == 'R'); REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); - } else { - std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline"; - if (util::file_exists(cmd_path)) { - std::ifstream stream(cmd_path); - auto cmdline = Parser::cmdline(stream); - REQUIRE(cmdline.size() == p.getCmdline().size()); - // do not check the cmdline of pytest as it will change. - if (cmdline.size() > 0 && cmdline[0].find("[pytest") != 0) { - for (int i = 0; i < p.getCmdline().size(); ++i) { - REQUIRE(cmdline[i] == p.getCmdline()[i].cStr()); - } - } - } } } } diff --git a/system/sensord/rawgps/modemdiag.py b/system/qcomgpsd/modemdiag.py similarity index 100% rename from system/sensord/rawgps/modemdiag.py rename to system/qcomgpsd/modemdiag.py diff --git a/system/sensord/rawgps/nmeaport.py b/system/qcomgpsd/nmeaport.py similarity index 96% rename from system/sensord/rawgps/nmeaport.py rename to system/qcomgpsd/nmeaport.py index 01b9b179b9..231096fc5d 100644 --- a/system/sensord/rawgps/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -120,11 +120,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: def main() -> NoReturn: from openpilot.common.gpio import gpio_init, gpio_set from openpilot.system.hardware.tici.pins import GPIO - from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + from openpilot.system.qcomgpsd.qcomgpsd import at_cmd try: - check_output(["pidof", "rawgpsd"]) - print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "qcomgpsd"]) + print("qcomgpsd is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: if e.returncode != 1: # 1 == no process found (boardd not running) diff --git a/system/sensord/rawgps/rawgpsd.py b/system/qcomgpsd/qcomgpsd.py similarity index 83% rename from system/sensord/rawgps/rawgpsd.py rename to system/qcomgpsd/qcomgpsd.py index b947c54872..3f72350234 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -5,10 +5,10 @@ import signal import itertools import math import time -import pycurl +import requests import shutil import subprocess -from datetime import datetime +import datetime from multiprocessing import Process, Event from typing import NoReturn, Optional from struct import unpack_from, calcsize, pack @@ -16,13 +16,11 @@ from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging from openpilot.common.gpio import gpio_init, gpio_set -from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds -from laika.helpers import get_prn_from_nmea_id -from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK +from openpilot.common.retry import retry from openpilot.system.hardware.tici.pins import GPIO -from openpilot.system.swaglog import cloudlog -from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from openpilot.common.swaglog import cloudlog +from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, @@ -87,27 +85,13 @@ measurementStatusGlonassFields = { "glonassTimeMarkValid": 17 } +@retry(attempts=10, delay=1.0) +def try_setup_logs(diag, logs): + return setup_logs(diag, logs) -def try_setup_logs(diag, log_types): - for _ in range(10): - try: - setup_logs(diag, log_types) - break - except Exception: - cloudlog.exception("setup logs failed, trying again") - time.sleep(1.0) - else: - raise Exception(f"setup logs failed, {log_types=}") - +@retry(attempts=3, delay=1.0) def at_cmd(cmd: str) -> Optional[str]: - for _ in range(3): - try: - return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') - except subprocess.CalledProcessError: - cloudlog.exception("rawgps.mmcli_command_failed") - time.sleep(1.0) - raise Exception(f"failed to execute mmcli command {cmd=}") - + return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') def gps_enabled() -> bool: try: @@ -118,27 +102,18 @@ def gps_enabled() -> bool: def download_assistance(): try: - c = pycurl.Curl() - c.setopt(pycurl.URL, ASSISTANCE_URL) - c.setopt(pycurl.NOBODY, 1) - c.setopt(pycurl.CONNECTTIMEOUT, 2) - c.perform() - bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD) - c.close() - if bytes_n > 1e5: - cloudlog.error("Qcom assistance data larger than expected") - return + response = requests.get(ASSISTANCE_URL, timeout=5, stream=True) with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp: - c = pycurl.Curl() - c.setopt(pycurl.URL, ASSISTANCE_URL) - c.setopt(pycurl.CONNECTTIMEOUT, 5) + for chunk in response.iter_content(chunk_size=8192): + fp.write(chunk) + if fp.tell() > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return - c.setopt(pycurl.WRITEDATA, fp) - c.perform() - c.close() - os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) - except pycurl.error: + os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) + + except requests.exceptions.RequestException: cloudlog.exception("Failed to download assistance file") return @@ -157,24 +132,13 @@ def downloader_loop(event): except KeyboardInterrupt: pass +@retry(attempts=5, delay=0.2, ignore_failure=True) def inject_assistance(): - for _ in range(5): - try: - cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" - subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) - cloudlog.info("successfully loaded assistance data") - return - except subprocess.CalledProcessError as e: - cloudlog.event( - "rawgps.assistance_loading_failed", - error=True, - cmd=e.cmd, - output=e.output, - returncode=e.returncode - ) - time.sleep(0.2) - cloudlog.error("failed to load assistance after retry") + cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" + subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) + cloudlog.info("successfully loaded assistance data") +@retry(attempts=5, delay=1.0) def setup_quectel(diag: ModemDiag) -> bool: ret = False @@ -211,7 +175,7 @@ def setup_quectel(diag: ModemDiag) -> bool: inject_assistance() os.remove(ASSIST_DATA_FILE) #at_cmd("AT+QGPSXTRADATA?") - time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") @@ -293,7 +257,6 @@ def main() -> NoReturn: diag = ModemDiag() r = setup_quectel(diag) want_assistance = not r - current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) cloudlog.warning("quectel setup done") gpio_init(GPIO.GNSS_PWR_EN, True) gpio_set(GPIO.GNSS_PWR_EN, True) @@ -325,7 +288,7 @@ def main() -> NoReturn: print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload))) if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT: - msg = messaging.new_message('qcomGnss') + msg = messaging.new_message('qcomGnss', valid=True) gnss = msg.qcomGnss gnss.logTs = log_time @@ -366,8 +329,6 @@ def main() -> NoReturn: setattr(sv.measurementStatus, kk, bool(v & (1< NoReturn: vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]] vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]] - msg = messaging.new_message('gpsLocation') + msg = messaging.new_message('gpsLocation', valid=True) gps = msg.gpsLocation gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi gps.altitude = report["q_FltFinalPosAlt"] gps.speed = math.sqrt(sum([x**2 for x in vNED])) gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi - gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], - 1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3 + + # TODO needs update if there is another leap second, after june 2024? + dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) + + datetime.timedelta(weeks=report['w_GpsWeekNumber']) + + datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18))) + gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3 gps.source = log.GpsLocationData.SensorSource.qcomdiag gps.vNED = vNED gps.verticalAccuracy = report["q_FltVdop"] @@ -395,12 +360,10 @@ def main() -> NoReturn: if gps.flags: want_assistance = False stop_download_event.set() - - pm.send('gpsLocation', msg) elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT: - msg = messaging.new_message('qcomGnss') + msg = messaging.new_message('qcomGnss', valid=True) dat = unpack_svpoly(log_payload) dat = relist(dat) gnss = msg.qcomGnss @@ -415,6 +378,10 @@ def main() -> NoReturn: else: setattr(poly, k, v) + ''' + # Timestamp glonass polys with GPSTime + from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds + from laika.helpers import get_prn_from_nmea_id prn = get_prn_from_nmea_id(poly.svId) if prn[0] == 'R': epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time)) @@ -429,10 +396,11 @@ def main() -> NoReturn: poly.gpsWeek = epoch.week poly.gpsTow = epoch.tow + ''' pm.send('qcomGnss', msg) elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: - msg = messaging.new_message('qcomGnss') + msg = messaging.new_message('qcomGnss', valid=True) gnss = msg.qcomGnss gnss.logTs = log_time diff --git a/system/sensord/rawgps/structs.py b/system/qcomgpsd/structs.py similarity index 100% rename from system/sensord/rawgps/structs.py rename to system/qcomgpsd/structs.py diff --git a/system/sensord/rawgps/test_rawgps.py b/system/qcomgpsd/tests/test_qcomgpsd.py similarity index 84% rename from system/sensord/rawgps/test_rawgps.py rename to system/qcomgpsd/tests/test_qcomgpsd.py index 3642438132..8291f2cc32 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -8,7 +8,7 @@ import unittest import subprocess import cereal.messaging as messaging -from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem +from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem from openpilot.selfdrive.manager.process_config import managed_processes GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) @@ -24,7 +24,7 @@ class TestRawgpsd(unittest.TestCase): @classmethod def tearDownClass(cls): - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart ModemManager lte") @@ -33,7 +33,7 @@ class TestRawgpsd(unittest.TestCase): self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) def tearDown(self): - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") def _wait_for_output(self, t): @@ -51,7 +51,7 @@ class TestRawgpsd(unittest.TestCase): def test_wait_for_modem(self): os.system("sudo systemctl stop ModemManager") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert not self._wait_for_output(5) os.system("sudo systemctl restart ModemManager") @@ -62,15 +62,15 @@ class TestRawgpsd(unittest.TestCase): if not internet: os.system("sudo systemctl stop systemd-resolved") with self.subTest(internet=internet): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(7) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() def test_turns_off_gnss(self): for s in (0.1, 1, 5): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() time.sleep(s) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') loc_status = json.loads(ls) @@ -94,29 +94,29 @@ class TestRawgpsd(unittest.TestCase): assert valid_duration == '0' def test_assistance_loading(self): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(10) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(True) def test_no_assistance_loading(self): os.system("sudo systemctl stop systemd-resolved") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(10) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(False) def test_late_assistance_loading(self): os.system("sudo systemctl stop systemd-resolved") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() self._wait_for_output(17) assert self.sm.updated['qcomGnss'] os.system("sudo systemctl restart systemd-resolved") time.sleep(15) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(True) if __name__ == "__main__": diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index 2e8f151d17..78b3b07498 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -11,7 +11,7 @@ from typing import List, Optional, Tuple from cereal import messaging from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import TICI from openpilot.common.gpio import gpio_init, gpio_set from openpilot.system.hardware.tici.pins import GPIO @@ -291,7 +291,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0) continue # send out to socket - msg = messaging.new_message('ubloxRaw', len(dat)) + msg = messaging.new_message('ubloxRaw', len(dat), valid=True) msg.ubloxRaw = dat[:] pm.send('ubloxRaw', msg) else: diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py deleted file mode 100755 index e1daa7f918..0000000000 --- a/system/sensord/rawgps/compare.py +++ /dev/null @@ -1,66 +0,0 @@ -#!/usr/bin/env python3 -import cereal.messaging as messaging -from laika import constants - -if __name__ == "__main__": - sm = messaging.SubMaster(['ubloxGnss', 'qcomGnss']) - - meas = None - while 1: - sm.update() - if sm['ubloxGnss'].which() == "measurementReport": - meas = sm['ubloxGnss'].measurementReport.measurements - if not sm.updated['qcomGnss'] or meas is None: - continue - report = sm['qcomGnss'].measurementReport - if report.source not in [0, 1]: - continue - GLONASS = report.source == 1 - recv_time = report.milliseconds / 1000 - - car = [] - print("qcom has ", sorted([x.svId for x in report.sv])) - print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])) - for i in report.sv: - # match to ublox - tm = None - for m in meas: - if i.svId == m.svId and m.gnssId == 0 and m.sigId == 0 and not GLONASS: - tm = m - if (i.svId-64) == m.svId and m.gnssId == 6 and m.sigId == 0 and GLONASS: - tm = m - if tm is None: - continue - - if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown: - sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000 - ublox_psuedorange = tm.pseudorange - qcom_psuedorange = (recv_time - sat_time)*constants.SPEED_OF_LIGHT - if GLONASS: - glonass_freq = tm.glonassFrequencyIndex - 7 - ublox_speed = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq*constants.GLONASS_L1_DELTA)) * (tm.doppler) - else: - ublox_speed = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * tm.doppler - qcom_speed = i.unfilteredSpeed - car.append((i.svId, tm.pseudorange, ublox_speed, qcom_psuedorange, qcom_speed, tm.cno)) - - if len(car) == 0: - print("nothing to compare") - continue - - pr_err, speed_err = 0., 0. - for c in car: - ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed = c[1:5] - pr_err += ublox_psuedorange - qcom_psuedorange - speed_err += ublox_speed - qcom_speed - pr_err /= len(car) - speed_err /= len(car) - print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err)) - for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)): - svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c - print("svid: %3d pseudorange: %10.2f m speed: %8.2f m/s meas: %12.2f speed: %10.2f meas_err: %10.3f speed_err: %8.3f cno: %d" % - (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, - ublox_psuedorange - qcom_psuedorange - pr_err, ublox_speed - qcom_speed - speed_err, cno)) - - - diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 0905248071..3075c8a343 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -106,7 +106,7 @@ class TestSensord(unittest.TestCase): os.environ["LSM_SELF_TEST"] = "1" # read initial sensor values every test case can use - os.system("pkill -f ./sensord") + os.system("pkill -f \\\\./sensord") try: managed_processes["sensord"].start() cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 5d0e1bfc82..d27dae46ad 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -7,7 +7,7 @@ import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog, ipchandler +from openpilot.common.swaglog import cloudlog, ipchandler class TestLogmessaged(unittest.TestCase): diff --git a/system/timed.py b/system/timed.py new file mode 100755 index 0000000000..21fb47b680 --- /dev/null +++ b/system/timed.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +import datetime +import os +import subprocess +import time +from typing import NoReturn + +from timezonefinder import TimezoneFinder + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import AGNOS + + +def set_timezone(timezone): + valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') + if timezone not in valid_timezones: + cloudlog.error(f"Timezone not supported {timezone}") + return + + cloudlog.debug(f"Setting timezone to {timezone}") + try: + if AGNOS: + tzpath = os.path.join("/usr/share/zoneinfo/", timezone) + subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ + mv /data/etc/tmptime /data/etc/localtime"', shell=True) + subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) + else: + subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) + except subprocess.CalledProcessError: + cloudlog.exception(f"Error setting timezone to {timezone}") + + +def set_time(new_time): + diff = datetime.datetime.now() - new_time + if diff < datetime.timedelta(seconds=10): + cloudlog.debug(f"Time diff too small: {diff}") + return + + cloudlog.debug(f"Setting time to {new_time}") + try: + subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True) + except subprocess.CalledProcessError: + cloudlog.exception("timed.failed_setting_time") + + +def main() -> NoReturn: + """ + timed has two responsibilities: + - getting the current time + - getting the current timezone + + GPS directly gives time, and timezone is looked up from GPS position. + AGNOS will also use NTP to update the time. + """ + + params = Params() + tf = TimezoneFinder() + + # Restore timezone from param + tz = params.get("Timezone", encoding='utf8') + tf = TimezoneFinder() + if tz is not None: + cloudlog.debug("Restoring timezone from param") + set_timezone(tz) + + sm = messaging.SubMaster(['liveLocationKalman']) + while True: + sm.update(1000) + + llk = sm['liveLocationKalman'] + if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2: + continue + + # set time + # TODO: account for unixTimesatmpMillis being a (usually short) time in the past + gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.) + set_time(gps_time) + + # set timezone + pos = llk.positionGeodetic.value + if len(pos) == 3: + gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1]) + if gps_timezone is None: + cloudlog.critical(f"No timezone found based on {pos=}") + else: + set_timezone(gps_timezone) + params.put_nonblocking("Timezone", gps_timezone) + + time.sleep(10) + +if __name__ == "__main__": + main() diff --git a/system/timezoned.py b/system/timezoned.py deleted file mode 100755 index 91424d33b5..0000000000 --- a/system/timezoned.py +++ /dev/null @@ -1,92 +0,0 @@ -#!/usr/bin/env python3 -import json -import os -import time -import subprocess -from typing import NoReturn - -import requests -from timezonefinder import TimezoneFinder - -from openpilot.common.params import Params -from openpilot.system.hardware import AGNOS -from openpilot.system.swaglog import cloudlog -from openpilot.system.version import get_version - -REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} - - -def set_timezone(valid_timezones, timezone): - if timezone not in valid_timezones: - cloudlog.error(f"Timezone not supported {timezone}") - return - - cloudlog.info(f"Setting timezone to {timezone}") - try: - if AGNOS: - tzpath = os.path.join("/usr/share/zoneinfo/", timezone) - subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ - mv /data/etc/tmptime /data/etc/localtime"', shell=True) - subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) - else: - subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) - except subprocess.CalledProcessError: - cloudlog.exception(f"Error setting timezone to {timezone}") - - -def main() -> NoReturn: - params = Params() - tf = TimezoneFinder() - - # Get allowed timezones - valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') - - while True: - time.sleep(60) - - is_onroad = not params.get_bool("IsOffroad") - if is_onroad: - continue - - # Set based on param - timezone = params.get("Timezone", encoding='utf8') - if timezone is not None: - cloudlog.debug("Setting timezone based on param") - set_timezone(valid_timezones, timezone) - continue - - location = params.get("LastGPSPosition", encoding='utf8') - - # Find timezone based on IP geolocation if no gps location is available - if location is None: - cloudlog.debug("Setting timezone based on IP lookup") - try: - r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) - if r.status_code == 200: - set_timezone(valid_timezones, r.text) - else: - cloudlog.error(f"Unexpected status code from api {r.status_code}") - - time.sleep(3600) # Don't make too many API requests - except requests.exceptions.RequestException: - cloudlog.exception("Error getting timezone based on IP") - continue - - # Find timezone by reverse geocoding the last known gps location - else: - cloudlog.debug("Setting timezone based on GPS location") - try: - location = json.loads(location) - except Exception: - cloudlog.exception("Error parsing location") - continue - - timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude']) - if timezone is None: - cloudlog.error(f"No timezone found based on location, {location}") - continue - set_timezone(valid_timezones, timezone) - - -if __name__ == "__main__": - main() diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py deleted file mode 100755 index 311604881a..0000000000 --- a/system/ubloxd/tests/test_ublox_processing.py +++ /dev/null @@ -1,117 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import time -import numpy as np - -from laika import AstroDog -from laika.helpers import ConstellationId -from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox -from laika.opt import calc_pos_fix -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.system.hardware.hw import Paths -from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.helpers import with_processes -import cereal.messaging as messaging - -def get_gnss_measurements(log_reader): - gnss_measurements = [] - for msg in log_reader: - if msg.which() == "ubloxGnss": - ublox_msg = msg.ubloxGnss - if ublox_msg.which == 'measurementReport': - report = ublox_msg.measurementReport - if len(report.measurements) > 0: - gnss_measurements.append(read_raw_ublox(report)) - return gnss_measurements - -def get_ublox_raw(log_reader): - ublox_raw = [] - for msg in log_reader: - if msg.which() == "ubloxRaw": - ublox_raw.append(msg) - return ublox_raw - -class TestUbloxProcessing(unittest.TestCase): - NUM_TEST_PROCESS_MEAS = 10 - - @classmethod - def setUpClass(cls): - lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0)) - cls.gnss_measurements = get_gnss_measurements(lr) - - # test gps ephemeris continuity check (drive has ephemeris issues with cutover data) - lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14)) - cls.ublox_raw = get_ublox_raw(lr) - - def test_read_ublox_raw(self): - count_gps = 0 - count_glonass = 0 - for measurements in self.gnss_measurements: - for m in measurements: - if m.constellation_id == ConstellationId.GPS: - count_gps += 1 - elif m.constellation_id == ConstellationId.GLONASS: - count_glonass += 1 - - self.assertEqual(count_gps, 5036) - self.assertEqual(count_glonass, 3651) - - def test_get_fix(self): - dog = AstroDog(cache_dir=Paths.download_cache_root()) - position_fix_found = 0 - count_processed_measurements = 0 - count_corrected_measurements = 0 - position_fix_found_after_correcting = 0 - - pos_ests = [] - for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]: - processed_meas = process_measurements(measurements, dog) - count_processed_measurements += len(processed_meas) - pos_fix = calc_pos_fix(processed_meas) - if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): - position_fix_found += 1 - - corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog) - count_corrected_measurements += len(corrected_meas) - - pos_fix = calc_pos_fix(corrected_meas) - if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): - pos_ests.append(pos_fix[0]) - position_fix_found_after_correcting += 1 - - mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0) - np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1) - - # Note that can happen that there are less corrected measurements compared to processed when they are invalid. - # However, not for the current segment - self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS) - self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS) - self.assertEqual(count_processed_measurements, 69) - self.assertEqual(count_corrected_measurements, 69) - - @with_processes(['ubloxd']) - def test_ublox_gps_cutover(self): - time.sleep(2) - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - ur_pm = messaging.PubMaster(['ubloxRaw']) - - def replay_segment(): - rcv_msgs = [] - for msg in self.ublox_raw: - ur_pm.send(msg.which(), msg.as_builder()) - time.sleep(0.001) - rcv_msgs += messaging.drain_sock(ugs) - - time.sleep(0.1) - rcv_msgs += messaging.drain_sock(ugs) - return rcv_msgs - - # replay twice to enforce cutover data on rewind - rcv_msgs = replay_segment() - rcv_msgs += replay_segment() - - ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs) - self.assertEqual(ephems_cnt, 15) - -if __name__ == "__main__": - unittest.main() diff --git a/system/version.py b/system/version.py index 331895fd42..ac51d86279 100755 --- a/system/version.py +++ b/system/version.py @@ -5,10 +5,11 @@ from typing import List, Optional from functools import lru_cache from openpilot.common.basedir import BASEDIR -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog -RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] -TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'staging-c3', 'release-c3'] +RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] +RELEASE_SP_BRANCHES = ['release-c3'] +TESTED_BRANCHES = RELEASE_BRANCHES + RELEASE_SP_BRANCHES + ['devel', 'devel-staging', 'staging-c3'] training_version: bytes = b"0.2.0" terms_version: bytes = b"2" @@ -101,6 +102,10 @@ def is_tested_branch() -> bool: def is_release_branch() -> bool: return get_short_branch() in RELEASE_BRANCHES +@cache +def is_release_sp_branch() -> bool: + return get_short_branch() in RELEASE_SP_BRANCHES + @cache def is_dirty() -> bool: origin = get_origin() diff --git a/common/kalman/tests/__init__.py b/system/webrtc/__init__.py similarity index 100% rename from common/kalman/tests/__init__.py rename to system/webrtc/__init__.py diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py new file mode 100644 index 0000000000..3c78be6752 --- /dev/null +++ b/system/webrtc/device/audio.py @@ -0,0 +1,110 @@ +import asyncio +import io +from typing import Optional, List, Tuple + +import aiortc +import av +import numpy as np +import pyaudio + + +class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): + PYAUDIO_TO_AV_FORMAT_MAP = { + pyaudio.paUInt8: 'u8', + pyaudio.paInt16: 's16', + pyaudio.paInt24: 's24', + pyaudio.paInt32: 's32', + pyaudio.paFloat32: 'flt', + } + + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: Optional[int] = None): + super().__init__() + + self.p = pyaudio.PyAudio() + chunk_size = int(packet_time * rate) + self.stream = self.p.open(format=audio_format, + channels=channels, + rate=rate, + frames_per_buffer=chunk_size, + input=True, + input_device_index=device_index) + self.format = audio_format + self.rate = rate + self.channels = channels + self.packet_time = packet_time + self.chunk_size = chunk_size + self.pts = 0 + + async def recv(self): + mic_data = self.stream.read(self.chunk_size) + mic_array = np.frombuffer(mic_data, dtype=np.int16) + mic_array = np.expand_dims(mic_array, axis=0) + layout = 'stereo' if self.channels > 1 else 'mono' + frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout) + frame.rate = self.rate + frame.pts = self.pts + self.pts += frame.samples + + return frame + + +class AudioOutputSpeaker: + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: Optional[int] = None): + + chunk_size = int(packet_time * rate) + self.p = pyaudio.PyAudio() + self.buffer = io.BytesIO() + self.channels = channels + self.stream = self.p.open(format=audio_format, + channels=channels, + rate=rate, + frames_per_buffer=chunk_size, + output=True, + output_device_index=device_index, + stream_callback=self.__pyaudio_callback) + self.tracks_and_tasks: List[Tuple[aiortc.MediaStreamTrack, Optional[asyncio.Task]]] = [] + + def __pyaudio_callback(self, in_data, frame_count, time_info, status): + if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: + buff = b'\x00\x00' * frame_count * self.channels + elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 4) + buff = buff[:frame_count * self.channels * 2] + self.buffer.seek(2) + else: + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 2) + self.buffer.seek(2) + return (buff, pyaudio.paContinue) + + async def __consume(self, track): + while True: + try: + frame = await track.recv() + except aiortc.MediaStreamError: + return + + self.buffer.write(bytes(frame.planes[0])) + + def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool: + return any(t == track for t, _ in self.tracks_and_tasks) + + def addTrack(self, track: aiortc.MediaStreamTrack): + if not self.hasTrack(track): + self.tracks_and_tasks.append((track, None)) + + def start(self): + for index, (track, task) in enumerate(self.tracks_and_tasks): + if task is None: + self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track))) + + def stop(self): + for _, task in self.tracks_and_tasks: + if task is not None: + task.cancel() + + self.tracks_and_tasks = [] + self.stream.stop_stream() + self.stream.close() + self.p.terminate() diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py new file mode 100644 index 0000000000..1ecb6dbd74 --- /dev/null +++ b/system/webrtc/device/video.py @@ -0,0 +1,69 @@ +import asyncio +from typing import Optional + +import av +from teleoprtc.tracks import TiciVideoStreamTrack + +from cereal import messaging +from openpilot.tools.lib.framereader import FrameReader +from openpilot.common.realtime import DT_MDL, DT_DMON + + +class LiveStreamVideoStreamTrack(TiciVideoStreamTrack): + camera_to_sock_mapping = { + "driver": "livestreamDriverEncodeData", + "wideRoad": "livestreamWideRoadEncodeData", + "road": "livestreamRoadEncodeData", + } + + def __init__(self, camera_type: str): + dt = DT_DMON if camera_type == "driver" else DT_MDL + super().__init__(camera_type, dt) + + self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True) + self._pts = 0 + + async def recv(self): + while True: + msg = messaging.recv_one_or_none(self._sock) + if msg is not None: + break + await asyncio.sleep(0.005) + + evta = getattr(msg, msg.which()) + + packet = av.Packet(evta.header + evta.data) + packet.time_base = self._time_base + packet.pts = self._pts + + self.log_debug("track sending frame %s", self._pts) + self._pts += self._dt * self._clock_rate + + return packet + + def codec_preference(self) -> Optional[str]: + return "H264" + + +class FrameReaderVideoStreamTrack(TiciVideoStreamTrack): + def __init__(self, input_file: str, dt: float = DT_MDL, camera_type: str = "driver"): + super().__init__(camera_type, dt) + + frame_reader = FrameReader(input_file) + self._frames = [frame_reader.get(i, pix_fmt="rgb24") for i in range(frame_reader.frame_count)] + self._frame_count = len(self.frames) + self._frame_index = 0 + self._pts = 0 + + async def recv(self): + self.log_debug("track sending frame %s", self._pts) + img = self._frames[self._frame_index] + + new_frame = av.VideoFrame.from_ndarray(img, format="rgb24") + new_frame.pts = self._pts + new_frame.time_base = self._time_base + + self._frame_index = (self._frame_index + 1) % self._frame_count + self._pts = await self.next_pts(self._pts) + + return new_frame diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py new file mode 100644 index 0000000000..f659b34293 --- /dev/null +++ b/system/webrtc/schema.py @@ -0,0 +1,43 @@ +import capnp +from typing import Union, List, Dict, Any + + +def generate_type(type_walker, schema_walker) -> Union[str, List[Any], Dict[str, Any]]: + data_type = next(type_walker) + if data_type.which() == 'struct': + return generate_struct(next(schema_walker)) + elif data_type.which() == 'list': + _ = next(schema_walker) + return [generate_type(type_walker, schema_walker)] + elif data_type.which() == 'enum': + return "text" + else: + return str(data_type.which()) + + +def generate_struct(schema: capnp.lib.capnp._StructSchema) -> Dict[str, Any]: + return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")} + + +def generate_field(field: capnp.lib.capnp._StructSchemaField) -> Union[str, List[Any], Dict[str, Any]]: + def schema_walker(field): + yield field.schema + + s = field.schema + while hasattr(s, 'elementType'): + s = s.elementType + yield s + + def type_walker(field): + yield field.proto.slot.type + + t = field.proto.slot.type + while hasattr(getattr(t, t.which()), 'elementType'): + t = getattr(t, t.which()).elementType + yield t + + if field.proto.which() == "slot": + schema_gen, type_gen = schema_walker(field), type_walker(field) + return generate_type(type_gen, schema_gen) + else: + return generate_struct(field.schema) diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py new file mode 100755 index 0000000000..2173c3806b --- /dev/null +++ b/system/webrtc/tests/test_stream_session.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +import asyncio +import unittest +from unittest.mock import Mock, MagicMock, patch +import json +# for aiortc and its dependencies +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) + +from aiortc import RTCDataChannel +from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE +import capnp +import pyaudio + +from cereal import messaging, log + +from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy +from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack +from openpilot.system.webrtc.device.audio import AudioInputStreamTrack +from openpilot.common.realtime import DT_DMON + + +class TestStreamSession(unittest.TestCase): + def setUp(self): + self.loop = asyncio.new_event_loop() + + def tearDown(self): + self.loop.stop() + self.loop.close() + + def test_outgoing_proxy(self): + test_msg = log.Event.new_message() + test_msg.logMonoTime = 123 + test_msg.valid = True + test_msg.customReservedRawData0 = b"test" + expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"} + expected_json = json.dumps(expected_dict).encode() + + channel = Mock(spec=RTCDataChannel) + mocked_submaster = messaging.SubMaster(["customReservedRawData0"]) + def mocked_update(t): + mocked_submaster.update_msgs(0, [test_msg]) + + with patch.object(messaging.SubMaster, "update", side_effect=mocked_update): + proxy = CerealOutgoingMessageProxy(mocked_submaster) + proxy.add_channel(channel) + + proxy.update() + + channel.send.assert_called_once_with(expected_json) + + def test_incoming_proxy(self): + tested_msgs = [ + {"type": "customReservedRawData0", "data": "test"}, # primitive + {"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list + {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict + ] + + mocked_pubmaster = MagicMock(spec=messaging.PubMaster) + + proxy = CerealIncomingMessageProxy(mocked_pubmaster) + + for msg in tested_msgs: + proxy.send(json.dumps(msg).encode()) + + mocked_pubmaster.send.assert_called_once() + mt, md = mocked_pubmaster.send.call_args.args + self.assertEqual(mt, msg["type"]) + self.assertIsInstance(md, capnp._DynamicStructBuilder) + self.assertTrue(hasattr(md, msg["type"])) + + mocked_pubmaster.reset_mock() + + def test_livestream_track(self): + fake_msg = messaging.new_message("livestreamDriverEncodeData") + + config = {"receive.return_value": fake_msg.to_bytes()} + with patch("cereal.messaging.SubSocket", spec=True, **config): + track = LiveStreamVideoStreamTrack("driver") + + self.assertTrue(track.id.startswith("driver")) + self.assertEqual(track.codec_preference(), "H264") + + for i in range(5): + packet = self.loop.run_until_complete(track.recv()) + self.assertEqual(packet.time_base, VIDEO_TIME_BASE) + self.assertEqual(packet.pts, int(i * DT_DMON * VIDEO_CLOCK_RATE)) + self.assertEqual(packet.size, 0) + + def test_input_audio_track(self): + packet_time, rate = 0.02, 16000 + sample_count = int(packet_time * rate) + mocked_stream = MagicMock(spec=pyaudio.Stream) + mocked_stream.read.return_value = b"\x00" * 2 * sample_count + + config = {"open.side_effect": lambda *args, **kwargs: mocked_stream} + with patch("pyaudio.PyAudio", spec=True, **config): + track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) + + for i in range(5): + frame = self.loop.run_until_complete(track.recv()) + self.assertEqual(frame.rate, rate) + self.assertEqual(frame.samples, sample_count) + self.assertEqual(frame.pts, i * sample_count) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py new file mode 100755 index 0000000000..b48bf6bc19 --- /dev/null +++ b/system/webrtc/tests/test_webrtcd.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python +import asyncio +import json +import unittest +from unittest.mock import MagicMock, AsyncMock +# for aiortc and its dependencies +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) + +from openpilot.system.webrtc.webrtcd import get_stream + +import aiortc +from teleoprtc import WebRTCOfferBuilder + + +class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): + async def assertCompletesWithTimeout(self, awaitable, timeout=1): + try: + async with asyncio.timeout(timeout): + await awaitable + except asyncio.TimeoutError: + self.fail("Timeout while waiting for awaitable to complete") + + async def test_webrtcd(self): + mock_request = MagicMock() + async def connect(offer): + body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []} + mock_request.json.side_effect = AsyncMock(return_value=body) + response = await get_stream(mock_request) + response_json = json.loads(response.text) + return aiortc.RTCSessionDescription(**response_json) + + builder = WebRTCOfferBuilder(connect) + builder.offer_to_receive_video_stream("road") + builder.offer_to_receive_audio_stream() + builder.add_messaging() + + stream = builder.stream() + + await self.assertCompletesWithTimeout(stream.start()) + await self.assertCompletesWithTimeout(stream.wait_for_connection()) + + self.assertTrue(stream.has_incoming_video_track("road")) + self.assertTrue(stream.has_incoming_audio_track()) + self.assertTrue(stream.has_messaging_channel()) + + video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() + await self.assertCompletesWithTimeout(video_track.recv()) + await self.assertCompletesWithTimeout(audio_track.recv()) + + await self.assertCompletesWithTimeout(stream.stop()) + + # cleanup, very implementation specific, test may break if it changes + self.assertTrue(mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test") + _, session = mock_request.app["streams"].__setitem__.call_args.args + await self.assertCompletesWithTimeout(session.post_run_cleanup()) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py new file mode 100755 index 0000000000..12f9328532 --- /dev/null +++ b/system/webrtc/webrtcd.py @@ -0,0 +1,251 @@ +#!/usr/bin/env python3 + +import argparse +import asyncio +import json +import uuid +import logging +from dataclasses import dataclass, field +from typing import Any, List, Optional, Union + +# aiortc and its dependencies have lots of internal warnings :( +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) + +import aiortc +from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack +from aiortc.contrib.media import MediaBlackhole +from aiortc.exceptions import InvalidStateError +from aiohttp import web +import capnp +from teleoprtc import WebRTCAnswerBuilder +from teleoprtc.info import parse_info_from_offer + +from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack +from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker +from openpilot.system.webrtc.schema import generate_field + +from cereal import messaging, log + + +class CerealOutgoingMessageProxy: + def __init__(self, sm: messaging.SubMaster): + self.sm = sm + self.channels: List[aiortc.RTCDataChannel] = [] + + def add_channel(self, channel: aiortc.RTCDataChannel): + self.channels.append(channel) + + def to_json(self, msg_content: Any): + if isinstance(msg_content, capnp._DynamicStructReader): + msg_dict = msg_content.to_dict() + elif isinstance(msg_content, capnp._DynamicListReader): + msg_dict = [self.to_json(msg) for msg in msg_content] + elif isinstance(msg_content, bytes): + msg_dict = msg_content.decode() + else: + msg_dict = msg_content + + return msg_dict + + def update(self): + # this is blocking in async context... + self.sm.update(0) + for service, updated in self.sm.updated.items(): + if not updated: + continue + msg_dict = self.to_json(self.sm[service]) + mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service] + outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict} + encoded_msg = json.dumps(outgoing_msg).encode() + for channel in self.channels: + channel.send(encoded_msg) + + +class CerealIncomingMessageProxy: + def __init__(self, pm: messaging.PubMaster): + self.pm = pm + + def send(self, message: bytes): + msg_json = json.loads(message) + msg_type, msg_data = msg_json["type"], msg_json["data"] + size = None + if not isinstance(msg_data, dict): + size = len(msg_data) + + msg = messaging.new_message(msg_type, size=size) + setattr(msg, msg_type, msg_data) + self.pm.send(msg_type, msg) + + +class CerealProxyRunner: + def __init__(self, proxy: CerealOutgoingMessageProxy): + self.proxy = proxy + self.is_running = False + self.task = None + self.logger = logging.getLogger("webrtcd") + + def start(self): + assert self.task is None + self.task = asyncio.create_task(self.run()) + + def stop(self): + if self.task is None or self.task.done(): + return + self.task.cancel() + self.task = None + + async def run(self): + while True: + try: + self.proxy.update() + except InvalidStateError: + self.logger.warning("Cereal outgoing proxy invalid state (connection closed)") + break + except Exception as ex: + self.logger.error("Cereal outgoing proxy failure: %s", ex) + await asyncio.sleep(0.01) + + +class StreamSession: + def __init__(self, sdp: str, cameras: List[str], incoming_services: List[str], outgoing_services: List[str], debug_mode: bool = False): + config = parse_info_from_offer(sdp) + builder = WebRTCAnswerBuilder(sdp) + + assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks" + for cam in cameras: + track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack() + builder.add_video_stream(cam, track) + if config.expected_audio_track: + track = AudioInputStreamTrack() if not debug_mode else AudioStreamTrack() + builder.add_audio_stream(track) + if config.incoming_audio_track: + self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole + builder.offer_to_receive_audio_stream() + + self.stream = builder.stream() + self.identifier = str(uuid.uuid4()) + + self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) + self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services)) + self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) + + self.audio_output: Optional[Union[AudioOutputSpeaker, MediaBlackhole]] = None + self.run_task: Optional[asyncio.Task] = None + self.logger = logging.getLogger("webrtcd") + self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s", + self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services) + + def start(self): + self.run_task = asyncio.create_task(self.run()) + + def stop(self): + if self.run_task.done(): + return + self.run_task.cancel() + self.run_task = None + asyncio.run(self.post_run_cleanup()) + + async def get_answer(self): + return await self.stream.start() + + async def message_handler(self, message: bytes): + try: + self.incoming_bridge.send(message) + except Exception as ex: + self.logger.error("Cereal incoming proxy failure: %s", ex) + + async def run(self): + try: + await self.stream.wait_for_connection() + if self.stream.has_messaging_channel(): + self.stream.set_message_handler(self.message_handler) + channel = self.stream.get_messaging_channel() + self.outgoing_bridge_runner.proxy.add_channel(channel) + self.outgoing_bridge_runner.start() + if self.stream.has_incoming_audio_track(): + track = self.stream.get_incoming_audio_track(buffered=False) + self.audio_output = self.audio_output_cls() + self.audio_output.addTrack(track) + self.audio_output.start() + self.logger.info("Stream session (%s) connected", self.identifier) + + await self.stream.wait_for_disconnection() + await self.post_run_cleanup() + + self.logger.info("Stream session (%s) ended", self.identifier) + except Exception as ex: + self.logger.error("Stream session failure: %s", ex) + + async def post_run_cleanup(self): + await self.stream.stop() + self.outgoing_bridge_runner.stop() + if self.audio_output: + self.audio_output.stop() + + +@dataclass +class StreamRequestBody: + sdp: str + cameras: List[str] + bridge_services_in: List[str] = field(default_factory=list) + bridge_services_out: List[str] = field(default_factory=list) + + +async def get_stream(request: web.Request): + stream_dict, debug_mode = request.app['streams'], request.app['debug'] + raw_body = await request.json() + body = StreamRequestBody(**raw_body) + + session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode) + answer = await session.get_answer() + session.start() + + stream_dict[session.identifier] = session + + return web.json_response({"sdp": answer.sdp, "type": answer.type}) + + +async def get_schema(request: web.Request): + services = request.query["services"].split(",") + services = [s for s in services if s] + assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name" + schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services} + return web.json_response(schema_dict) + + +async def on_shutdown(app: web.Application): + for session in app['streams'].values(): + session.stop() + del app['streams'] + + +def webrtcd_thread(host: str, port: int, debug: bool): + logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()]) + logging_level = logging.DEBUG if debug else logging.INFO + logging.getLogger("WebRTCStream").setLevel(logging_level) + logging.getLogger("webrtcd").setLevel(logging_level) + + app = web.Application() + + app['streams'] = dict() + app['debug'] = debug + app.on_shutdown.append(on_shutdown) + app.router.add_post("/stream", get_stream) + app.router.add_get("/schema", get_schema) + + web.run_app(app, host=host, port=port) + + +def main(): + parser = argparse.ArgumentParser(description="WebRTC daemon") + parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on") + parser.add_argument("--port", type=int, default=5001, help="Port to listen on") + parser.add_argument("--debug", action="store_true", help="Enable debug mode") + args = parser.parse_args() + + webrtcd_thread(args.host, args.port, args.debug) + + +if __name__=="__main__": + main() diff --git a/teleoprtc b/teleoprtc new file mode 120000 index 0000000000..3d3dbc8dea --- /dev/null +++ b/teleoprtc @@ -0,0 +1 @@ +teleoprtc_repo/teleoprtc \ No newline at end of file diff --git a/teleoprtc_repo b/teleoprtc_repo new file mode 160000 index 0000000000..3f9e8176d1 --- /dev/null +++ b/teleoprtc_repo @@ -0,0 +1 @@ +Subproject commit 3f9e8176d1be3d217528baee09fc418fa980a0c3 diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 index 19e7a69bd5..d64e40ec60 100644 Binary files a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 index c0c8b66650..cf5e550faa 100644 Binary files a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/mapbox-gl-native-qt/.gitattributes b/third_party/mapbox-gl-native-qt/.gitattributes deleted file mode 100644 index 323c737ba1..0000000000 --- a/third_party/mapbox-gl-native-qt/.gitattributes +++ /dev/null @@ -1,2 +0,0 @@ -x86_64 filter=lfs diff=lfs merge=lfs -text -larch64 filter=lfs diff=lfs merge=lfs -text diff --git a/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so deleted file mode 100755 index 508463c141..0000000000 --- a/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7fb33cb09b184a689eaa7f78c839d12a5bdd5b6f576d55758ec7e1246187a53f -size 9300680 diff --git a/third_party/mapbox-gl-native-qt/build.sh b/third_party/mapbox-gl-native-qt/build.sh deleted file mode 100755 index f2936fad3d..0000000000 --- a/third_party/mapbox-gl-native-qt/build.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env sh -cd /tmp -git clone --recursive https://github.com/commaai/mapbox-gl-native.git -cd mapbox-gl-native -mkdir build && cd build -cmake -DMBGL_WITH_QT=ON .. -make -j$(nproc) mbgl-qt diff --git a/third_party/mapbox-gl-native-qt/include/QMapbox b/third_party/mapbox-gl-native-qt/include/QMapbox deleted file mode 100644 index a8479c09aa..0000000000 --- a/third_party/mapbox-gl-native-qt/include/QMapbox +++ /dev/null @@ -1 +0,0 @@ -#include "qmapbox.hpp" diff --git a/third_party/mapbox-gl-native-qt/include/QMapboxGL b/third_party/mapbox-gl-native-qt/include/QMapboxGL deleted file mode 100644 index 15b55a9abe..0000000000 --- a/third_party/mapbox-gl-native-qt/include/QMapboxGL +++ /dev/null @@ -1 +0,0 @@ -#include "qmapboxgl.hpp" diff --git a/third_party/mapbox-gl-native-qt/include/qmapbox.hpp b/third_party/mapbox-gl-native-qt/include/qmapbox.hpp deleted file mode 100644 index 3acc9d55e0..0000000000 --- a/third_party/mapbox-gl-native-qt/include/qmapbox.hpp +++ /dev/null @@ -1,147 +0,0 @@ -#ifndef QMAPBOX_H -#define QMAPBOX_H - -#include -#include -#include -#include -#include - -// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style - -#if !defined(QT_MAPBOXGL_STATIC) -# if defined(QT_BUILD_MAPBOXGL_LIB) -# define Q_MAPBOXGL_EXPORT Q_DECL_EXPORT -# else -# define Q_MAPBOXGL_EXPORT Q_DECL_IMPORT -# endif -#else -# define Q_MAPBOXGL_EXPORT -#endif - -namespace QMapbox { - -typedef QPair Coordinate; -typedef QPair CoordinateZoom; -typedef QPair ProjectedMeters; - -typedef QVector Coordinates; -typedef QVector CoordinatesCollection; - -typedef QVector CoordinatesCollections; - -struct Q_MAPBOXGL_EXPORT Feature { - enum Type { - PointType = 1, - LineStringType, - PolygonType - }; - - /*! Class constructor. */ - Feature(Type type_ = PointType, const CoordinatesCollections& geometry_ = CoordinatesCollections(), - const QVariantMap& properties_ = QVariantMap(), const QVariant& id_ = QVariant()) - : type(type_), geometry(geometry_), properties(properties_), id(id_) {} - - Type type; - CoordinatesCollections geometry; - QVariantMap properties; - QVariant id; -}; - -struct Q_MAPBOXGL_EXPORT ShapeAnnotationGeometry { - enum Type { - LineStringType = 1, - PolygonType, - MultiLineStringType, - MultiPolygonType - }; - - /*! Class constructor. */ - ShapeAnnotationGeometry(Type type_ = LineStringType, const CoordinatesCollections& geometry_ = CoordinatesCollections()) - : type(type_), geometry(geometry_) {} - - Type type; - CoordinatesCollections geometry; -}; - -struct Q_MAPBOXGL_EXPORT SymbolAnnotation { - Coordinate geometry; - QString icon; -}; - -struct Q_MAPBOXGL_EXPORT LineAnnotation { - /*! Class constructor. */ - LineAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f, - float width_ = 1.0f, const QColor& color_ = Qt::black) - : geometry(geometry_), opacity(opacity_), width(width_), color(color_) {} - - ShapeAnnotationGeometry geometry; - float opacity; - float width; - QColor color; -}; - -struct Q_MAPBOXGL_EXPORT FillAnnotation { - /*! Class constructor. */ - FillAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f, - const QColor& color_ = Qt::black, const QVariant& outlineColor_ = QVariant()) - : geometry(geometry_), opacity(opacity_), color(color_), outlineColor(outlineColor_) {} - - ShapeAnnotationGeometry geometry; - float opacity; - QColor color; - QVariant outlineColor; -}; - -typedef QVariant Annotation; -typedef quint32 AnnotationID; -typedef QVector AnnotationIDs; - -enum NetworkMode { - Online, // Default - Offline, -}; - -Q_MAPBOXGL_EXPORT QVector >& defaultStyles(); - -Q_MAPBOXGL_EXPORT NetworkMode networkMode(); -Q_MAPBOXGL_EXPORT void setNetworkMode(NetworkMode); - -// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters. -struct Q_MAPBOXGL_EXPORT CustomLayerRenderParameters { - double width; - double height; - double latitude; - double longitude; - double zoom; - double bearing; - double pitch; - double fieldOfView; -}; - -class Q_MAPBOXGL_EXPORT CustomLayerHostInterface { -public: - virtual ~CustomLayerHostInterface() = default; - virtual void initialize() = 0; - virtual void render(const CustomLayerRenderParameters&) = 0; - virtual void deinitialize() = 0; -}; - -Q_MAPBOXGL_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom); -Q_MAPBOXGL_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &); -Q_MAPBOXGL_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &); - -} // namespace QMapbox - -Q_DECLARE_METATYPE(QMapbox::Coordinate); -Q_DECLARE_METATYPE(QMapbox::Coordinates); -Q_DECLARE_METATYPE(QMapbox::CoordinatesCollection); -Q_DECLARE_METATYPE(QMapbox::CoordinatesCollections); -Q_DECLARE_METATYPE(QMapbox::Feature); - -Q_DECLARE_METATYPE(QMapbox::SymbolAnnotation); -Q_DECLARE_METATYPE(QMapbox::ShapeAnnotationGeometry); -Q_DECLARE_METATYPE(QMapbox::LineAnnotation); -Q_DECLARE_METATYPE(QMapbox::FillAnnotation); - -#endif // QMAPBOX_H diff --git a/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp b/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp deleted file mode 100644 index 337991aa1c..0000000000 --- a/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp +++ /dev/null @@ -1,277 +0,0 @@ -#ifndef QMAPBOXGL_H -#define QMAPBOXGL_H - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -class QMapboxGLPrivate; - -// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style - -class Q_MAPBOXGL_EXPORT QMapboxGLSettings -{ -public: - QMapboxGLSettings(); - - enum GLContextMode { - UniqueGLContext = 0, - SharedGLContext - }; - - enum MapMode { - Continuous = 0, - Static - }; - - enum ConstrainMode { - NoConstrain = 0, - ConstrainHeightOnly, - ConstrainWidthAndHeight - }; - - enum ViewportMode { - DefaultViewport = 0, - FlippedYViewport - }; - - GLContextMode contextMode() const; - void setContextMode(GLContextMode); - - MapMode mapMode() const; - void setMapMode(MapMode); - - ConstrainMode constrainMode() const; - void setConstrainMode(ConstrainMode); - - ViewportMode viewportMode() const; - void setViewportMode(ViewportMode); - - unsigned cacheDatabaseMaximumSize() const; - void setCacheDatabaseMaximumSize(unsigned); - - QString cacheDatabasePath() const; - void setCacheDatabasePath(const QString &); - - QString assetPath() const; - void setAssetPath(const QString &); - - QString accessToken() const; - void setAccessToken(const QString &); - - QString apiBaseUrl() const; - void setApiBaseUrl(const QString &); - - QString localFontFamily() const; - void setLocalFontFamily(const QString &); - - std::function resourceTransform() const; - void setResourceTransform(const std::function &); - -private: - GLContextMode m_contextMode; - MapMode m_mapMode; - ConstrainMode m_constrainMode; - ViewportMode m_viewportMode; - - unsigned m_cacheMaximumSize; - QString m_cacheDatabasePath; - QString m_assetPath; - QString m_accessToken; - QString m_apiBaseUrl; - QString m_localFontFamily; - std::function m_resourceTransform; -}; - -struct Q_MAPBOXGL_EXPORT QMapboxGLCameraOptions { - QVariant center; // Coordinate - QVariant anchor; // QPointF - QVariant zoom; // double - QVariant bearing; // double - QVariant pitch; // double -}; - -class Q_MAPBOXGL_EXPORT QMapboxGL : public QObject -{ - Q_OBJECT - Q_PROPERTY(double latitude READ latitude WRITE setLatitude) - Q_PROPERTY(double longitude READ longitude WRITE setLongitude) - Q_PROPERTY(double zoom READ zoom WRITE setZoom) - Q_PROPERTY(double bearing READ bearing WRITE setBearing) - Q_PROPERTY(double pitch READ pitch WRITE setPitch) - Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson) - Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl) - Q_PROPERTY(double scale READ scale WRITE setScale) - Q_PROPERTY(QMapbox::Coordinate coordinate READ coordinate WRITE setCoordinate) - Q_PROPERTY(QMargins margins READ margins WRITE setMargins) - -public: - enum MapChange { - MapChangeRegionWillChange = 0, - MapChangeRegionWillChangeAnimated, - MapChangeRegionIsChanging, - MapChangeRegionDidChange, - MapChangeRegionDidChangeAnimated, - MapChangeWillStartLoadingMap, - MapChangeDidFinishLoadingMap, - MapChangeDidFailLoadingMap, - MapChangeWillStartRenderingFrame, - MapChangeDidFinishRenderingFrame, - MapChangeDidFinishRenderingFrameFullyRendered, - MapChangeWillStartRenderingMap, - MapChangeDidFinishRenderingMap, - MapChangeDidFinishRenderingMapFullyRendered, - MapChangeDidFinishLoadingStyle, - MapChangeSourceDidChange - }; - - enum MapLoadingFailure { - StyleParseFailure, - StyleLoadFailure, - NotFoundFailure, - UnknownFailure - }; - - // Determines the orientation of the map. - enum NorthOrientation { - NorthUpwards, // Default - NorthRightwards, - NorthDownwards, - NorthLeftwards, - }; - - QMapboxGL(QObject* parent = 0, - const QMapboxGLSettings& = QMapboxGLSettings(), - const QSize& size = QSize(), - qreal pixelRatio = 1); - virtual ~QMapboxGL(); - - QString styleJson() const; - QString styleUrl() const; - - void setStyleJson(const QString &); - void setStyleUrl(const QString &); - - double latitude() const; - void setLatitude(double latitude); - - double longitude() const; - void setLongitude(double longitude); - - double scale() const; - void setScale(double scale, const QPointF ¢er = QPointF()); - - double zoom() const; - void setZoom(double zoom); - - double minimumZoom() const; - double maximumZoom() const; - - double bearing() const; - void setBearing(double degrees); - void setBearing(double degrees, const QPointF ¢er); - - double pitch() const; - void setPitch(double pitch); - void pitchBy(double pitch); - - NorthOrientation northOrientation() const; - void setNorthOrientation(NorthOrientation); - - QMapbox::Coordinate coordinate() const; - void setCoordinate(const QMapbox::Coordinate &); - void setCoordinateZoom(const QMapbox::Coordinate &, double zoom); - - void jumpTo(const QMapboxGLCameraOptions&); - - void setGestureInProgress(bool inProgress); - - void setTransitionOptions(qint64 duration, qint64 delay = 0); - - void addAnnotationIcon(const QString &name, const QImage &sprite); - - QMapbox::AnnotationID addAnnotation(const QMapbox::Annotation &); - void updateAnnotation(QMapbox::AnnotationID, const QMapbox::Annotation &); - void removeAnnotation(QMapbox::AnnotationID); - - bool setLayoutProperty(const QString &layer, const QString &property, const QVariant &value); - bool setPaintProperty(const QString &layer, const QString &property, const QVariant &value); - - bool isFullyLoaded() const; - - void moveBy(const QPointF &offset); - void scaleBy(double scale, const QPointF ¢er = QPointF()); - void rotateBy(const QPointF &first, const QPointF &second); - - void resize(const QSize &size); - - double metersPerPixelAtLatitude(double latitude, double zoom) const; - QMapbox::ProjectedMeters projectedMetersForCoordinate(const QMapbox::Coordinate &) const; - QMapbox::Coordinate coordinateForProjectedMeters(const QMapbox::ProjectedMeters &) const; - QPointF pixelForCoordinate(const QMapbox::Coordinate &) const; - QMapbox::Coordinate coordinateForPixel(const QPointF &) const; - - QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne) const; - QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne, double bearing, double pitch); - - void setMargins(const QMargins &margins); - QMargins margins() const; - - void addSource(const QString &sourceID, const QVariantMap& params); - bool sourceExists(const QString &sourceID); - void updateSource(const QString &sourceID, const QVariantMap& params); - void removeSource(const QString &sourceID); - - void addImage(const QString &name, const QImage &sprite); - void removeImage(const QString &name); - - void addCustomLayer(const QString &id, - QScopedPointer& host, - const QString& before = QString()); - void addLayer(const QVariantMap ¶ms, const QString& before = QString()); - bool layerExists(const QString &id); - void removeLayer(const QString &id); - - QVector layerIds() const; - - void setFilter(const QString &layer, const QVariant &filter); - QVariant getFilter(const QString &layer) const; - // When rendering on a different thread, - // should be called on the render thread. - void createRenderer(); - void destroyRenderer(); - void setFramebufferObject(quint32 fbo, const QSize &size); - -public slots: - void render(); - void connectionEstablished(); - - // Commit changes, load all the resources - // and renders the map when completed. - void startStaticRender(); - -signals: - void needsRendering(); - void mapChanged(QMapboxGL::MapChange); - void mapLoadingFailed(QMapboxGL::MapLoadingFailure, const QString &reason); - void copyrightsChanged(const QString ©rightsHtml); - - void staticRenderFinished(const QString &error); - -private: - Q_DISABLE_COPY(QMapboxGL) - - QMapboxGLPrivate *d_ptr; -}; - -Q_DECLARE_METATYPE(QMapboxGL::MapChange); -Q_DECLARE_METATYPE(QMapboxGL::MapLoadingFailure); - -#endif // QMAPBOXGL_H diff --git a/third_party/mapbox-gl-native-qt/x86_64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/x86_64/libqmapboxgl.so deleted file mode 100755 index a61c80c63d..0000000000 --- a/third_party/mapbox-gl-native-qt/x86_64/libqmapboxgl.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ee37b571a5a50d07f2fd1a3150aa2842f10576e96e01278bbc060815549d57e9 -size 10219704 diff --git a/third_party/maplibre-native-qt/.gitignore b/third_party/maplibre-native-qt/.gitignore new file mode 100644 index 0000000000..9adc6681c0 --- /dev/null +++ b/third_party/maplibre-native-qt/.gitignore @@ -0,0 +1 @@ +/maplibre/ diff --git a/third_party/maplibre-native-qt/aarch64 b/third_party/maplibre-native-qt/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/maplibre-native-qt/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh new file mode 100755 index 0000000000..5cbf22d3bb --- /dev/null +++ b/third_party/maplibre-native-qt/build.sh @@ -0,0 +1,49 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +ARCHNAME=$(uname -m) +MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF" +if [ -f /AGNOS ]; then + ARCHNAME="larch64" + #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a" +fi + +if [[ "$(uname)" == "Darwin" ]]; then + # We are on macOS, set ARCHNAME to "darwin" + export ARCHNAME="darwin" + echo "Running on macOS, ARCHNAME set to $ARCHNAME" +fi + +cd $DIR +if [ ! -d maplibre ]; then + git clone git@github.com:maplibre/maplibre-native-qt.git $DIR/maplibre +fi + +cd maplibre +git fetch --all +git checkout 3726266e127c1f94ad64837c9dbe03d238255816 +git submodule update --depth=1 --recursive --init + +# build +mkdir -p build +cd build +set -x +cmake $MAPLIBRE_FLAGS $DIR/maplibre +make -j$(nproc) || make -j2 || make -j1 + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +rm -rf $INSTALL_DIR/lib $DIR/include +mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include +cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include +cp -r $DIR/maplibre/src/**/*.hpp $DIR/include + +if [[ "${ARCHNAME}" == "darwin" ]]; then + cp -r $DIR/maplibre/build/src/core/QMapLibre.framework $INSTALL_DIR/lib/QMapLibre.framework +else + cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib/ +fi diff --git a/third_party/maplibre-native-qt/include/conversion_p.hpp b/third_party/maplibre-native-qt/include/conversion_p.hpp new file mode 100644 index 0000000000..38b03d498e --- /dev/null +++ b/third_party/maplibre-native-qt/include/conversion_p.hpp @@ -0,0 +1,241 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2018 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "geojson_p.hpp" +#include "types.hpp" + +#include +#include + +#include +#include + +#include + +namespace mbgl::style::conversion { + +std::string convertColor(const QColor &color); + +template <> +class ConversionTraits { +public: + static bool isUndefined(const QVariant &value) { return value.isNull() || !value.isValid(); } + + static bool isArray(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantList)); +#else + return value.canConvert(QVariant::List); +#endif + } + + static std::size_t arrayLength(const QVariant &value) { return value.toList().size(); } + + static QVariant arrayMember(const QVariant &value, std::size_t i) { return value.toList()[static_cast(i)]; } + + static bool isObject(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantMap)) || + value.typeId() == QMetaType::QByteArray +#else + return value.canConvert(QVariant::Map) || value.type() == QVariant::ByteArray +#endif + || QString(value.typeName()) == QStringLiteral("QMapLibre::Feature") || + value.userType() == qMetaTypeId>() || + value.userType() == qMetaTypeId>() || + value.userType() == qMetaTypeId>(); + } + + static std::optional objectMember(const QVariant &value, const char *key) { + auto map = value.toMap(); + auto iter = map.constFind(key); + + if (iter != map.constEnd()) { + return iter.value(); + } + + return {}; + } + + template + static std::optional eachMember(const QVariant &value, Fn &&fn) { + auto map = value.toMap(); + auto iter = map.constBegin(); + + while (iter != map.constEnd()) { + std::optional result = fn(iter.key().toStdString(), QVariant(iter.value())); + if (result) { + return result; + } + + ++iter; + } + + return {}; + } + + static std::optional toBool(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Bool) { +#else + if (value.type() == QVariant::Bool) { +#endif + return value.toBool(); + } + + return {}; + } + + static std::optional toNumber(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double || + value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong || + value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) { +#else + if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong || + value.type() == QVariant::ULongLong) { +#endif + return value.toFloat(); + } + + return {}; + } + + static std::optional toDouble(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double || + value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong || + value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) { +#else + if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong || + value.type() == QVariant::ULongLong) { +#endif + return value.toDouble(); + } + + return {}; + } + + static std::optional toString(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::QString) { + return value.toString().toStdString(); + } + + if (value.typeId() == QMetaType::QColor) { + return convertColor(value.value()); + } +#else + if (value.type() == QVariant::String) { + return value.toString().toStdString(); + } + + if (value.type() == QVariant::Color) { + return convertColor(value.value()); + } +#endif + return {}; + } + + static std::optional toValue(const QVariant &value) { +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() == QMetaType::Bool) { + return {value.toBool()}; + } + + if (value.typeId() == QMetaType::QString) { + return {value.toString().toStdString()}; + } + + if (value.typeId() == QMetaType::QColor) { + return {convertColor(value.value())}; + } + + if (value.typeId() == QMetaType::Int) { + return {static_cast(value.toInt())}; + } + + if (QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::Double))) { + return {value.toDouble()}; + } +#else + if (value.type() == QVariant::Bool) { + return {value.toBool()}; + } + + if (value.type() == QVariant::String) { + return {value.toString().toStdString()}; + } + + if (value.type() == QVariant::Color) { + return {convertColor(value.value())}; + } + + if (value.type() == QVariant::Int) { + return {static_cast(value.toInt())}; + } + + if (value.canConvert(QVariant::Double)) { + return {value.toDouble()}; + } +#endif + return {}; + } + + static std::optional toGeoJSON(const QVariant &value, Error &error) { + if (value.typeName() == QStringLiteral("QMapLibre::Feature")) { + return GeoJSON{QMapLibre::GeoJSON::asFeature(value.value())}; + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + + if (value.userType() == qMetaTypeId>()) { + return featureCollectionToGeoJSON(value.value>()); + } + +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + if (value.typeId() != QMetaType::QByteArray) { +#else + if (value.type() != QVariant::ByteArray) { +#endif + error = {"JSON data must be in QByteArray"}; + return {}; + } + + const QByteArray data = value.toByteArray(); + return parseGeoJSON(std::string(data.constData(), data.size()), error); + } + +private: + template + static GeoJSON featureCollectionToGeoJSON(const T &features) { + mapbox::feature::feature_collection collection; + collection.reserve(static_cast(features.size())); + for (const auto &feature : features) { + collection.push_back(QMapLibre::GeoJSON::asFeature(feature)); + } + return GeoJSON{std::move(collection)}; + } +}; + +template +std::optional convert(const QVariant &value, Error &error, Args &&...args) { + return convert(Convertible(value), error, std::forward(args)...); +} + +inline std::string convertColor(const QColor &color) { + return QString::asprintf("rgba(%d,%d,%d,%lf)", color.red(), color.green(), color.blue(), color.alphaF()) + .toStdString(); +} + +} // namespace mbgl::style::conversion diff --git a/third_party/maplibre-native-qt/include/export_core.hpp b/third_party/maplibre-native-qt/include/export_core.hpp new file mode 100644 index 0000000000..bd5ad495db --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_core.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_CORE_EXPORT_H +#define QMAPLIBRE_CORE_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_CORE_LIB) +#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_CORE_EXPORT +#endif + +#endif // QMAPLIBRE_CORE_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/export_location.hpp b/third_party/maplibre-native-qt/include/export_location.hpp new file mode 100644 index 0000000000..a986346884 --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_location.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_LOCATION_EXPORT_H +#define QMAPLIBRE_LOCATION_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_LOCATION_LIB) +#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_LOCATION_EXPORT +#endif + +#endif // QMAPLIBRE_LOCATION_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/export_widgets.hpp b/third_party/maplibre-native-qt/include/export_widgets.hpp new file mode 100644 index 0000000000..11bc288190 --- /dev/null +++ b/third_party/maplibre-native-qt/include/export_widgets.hpp @@ -0,0 +1,20 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_WIDGETS_EXPORT_H +#define QMAPLIBRE_WIDGETS_EXPORT_H + +#include + +#if !defined(QT_MAPLIBRE_STATIC) +#if defined(QT_BUILD_MAPLIBRE_WIDGETS_LIB) +#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_EXPORT +#else +#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_IMPORT +#endif +#else +#define Q_MAPLIBRE_WIDGETS_EXPORT +#endif + +#endif // QMAPLIBRE_WIDGETS_EXPORT_H diff --git a/third_party/maplibre-native-qt/include/geojson_p.hpp b/third_party/maplibre-native-qt/include/geojson_p.hpp new file mode 100644 index 0000000000..8387f70c4b --- /dev/null +++ b/third_party/maplibre-native-qt/include/geojson_p.hpp @@ -0,0 +1,30 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "types.hpp" + +#include +#include +#include + +#include + +#include + +namespace QMapLibre::GeoJSON { + +mbgl::Point asPoint(const Coordinate &coordinate); +mbgl::MultiPoint asMultiPoint(const Coordinates &multiPoint); +mbgl::LineString asLineString(const Coordinates &lineString); +mbgl::MultiLineString asMultiLineString(const CoordinatesCollection &multiLineString); +mbgl::Polygon asPolygon(const CoordinatesCollection &polygon); +mbgl::MultiPolygon asMultiPolygon(const CoordinatesCollections &multiPolygon); +mbgl::Value asPropertyValue(const QVariant &value); +mbgl::FeatureIdentifier asFeatureIdentifier(const QVariant &id); +mbgl::GeoJSONFeature asFeature(const Feature &feature); + +} // namespace QMapLibre::GeoJSON diff --git a/third_party/maplibre-native-qt/include/gl_widget.hpp b/third_party/maplibre-native-qt/include/gl_widget.hpp new file mode 100644 index 0000000000..b2630daea7 --- /dev/null +++ b/third_party/maplibre-native-qt/include/gl_widget.hpp @@ -0,0 +1,56 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_GL_WIDGET_H +#define QMAPLIBRE_GL_WIDGET_H + +#include + +#include +#include + +#include + +#include + +QT_BEGIN_NAMESPACE + +class QKeyEvent; +class QMouseEvent; +class QWheelEvent; + +QT_END_NAMESPACE + +namespace QMapLibre { + +class GLWidgetPrivate; + +class Q_MAPLIBRE_WIDGETS_EXPORT GLWidget : public QOpenGLWidget { + Q_OBJECT + +public: + explicit GLWidget(const Settings &); + ~GLWidget() override; + + Map *map(); + +protected: + // QWidget implementation. + void mousePressEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *event) override; + void wheelEvent(QWheelEvent *event) override; + + // Q{,Open}GLWidget implementation. + void initializeGL() override; + void paintGL() override; + +private: + Q_DISABLE_COPY(GLWidget) + + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +#endif // QMAPLIBRE_GL_WIDGET_H diff --git a/third_party/maplibre-native-qt/include/gl_widget_p.hpp b/third_party/maplibre-native-qt/include/gl_widget_p.hpp new file mode 100644 index 0000000000..c97781fd29 --- /dev/null +++ b/third_party/maplibre-native-qt/include/gl_widget_p.hpp @@ -0,0 +1,42 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include +#include + +#include + +QT_BEGIN_NAMESPACE + +class QKeyEvent; +class QMouseEvent; +class QWheelEvent; + +QT_END_NAMESPACE + +namespace QMapLibre { + +class GLWidgetPrivate : public QObject { + Q_OBJECT + +public: + explicit GLWidgetPrivate(QObject *parent, Settings settings); + ~GLWidgetPrivate() override; + + void handleMousePressEvent(QMouseEvent *event); + void handleMouseMoveEvent(QMouseEvent *event); + void handleWheelEvent(QWheelEvent *event) const; + + std::unique_ptr m_map{}; + Settings m_settings; + +private: + Q_DISABLE_COPY(GLWidgetPrivate); + + QPointF m_lastPos; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map.hpp b/third_party/maplibre-native-qt/include/map.hpp new file mode 100644 index 0000000000..cd56996185 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map.hpp @@ -0,0 +1,205 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_MAP_H +#define QMAPLIBRE_MAP_H + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate; + +class Q_MAPLIBRE_CORE_EXPORT Map : public QObject { + Q_OBJECT + Q_PROPERTY(double latitude READ latitude WRITE setLatitude) + Q_PROPERTY(double longitude READ longitude WRITE setLongitude) + Q_PROPERTY(double zoom READ zoom WRITE setZoom) + Q_PROPERTY(double bearing READ bearing WRITE setBearing) + Q_PROPERTY(double pitch READ pitch WRITE setPitch) + Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson) + Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl) + Q_PROPERTY(double scale READ scale WRITE setScale) + Q_PROPERTY(QMapLibre::Coordinate coordinate READ coordinate WRITE setCoordinate) + Q_PROPERTY(QMargins margins READ margins WRITE setMargins) + +public: + enum MapChange { + MapChangeRegionWillChange = 0, + MapChangeRegionWillChangeAnimated, + MapChangeRegionIsChanging, + MapChangeRegionDidChange, + MapChangeRegionDidChangeAnimated, + MapChangeWillStartLoadingMap, + MapChangeDidFinishLoadingMap, + MapChangeDidFailLoadingMap, + MapChangeWillStartRenderingFrame, + MapChangeDidFinishRenderingFrame, + MapChangeDidFinishRenderingFrameFullyRendered, + MapChangeWillStartRenderingMap, + MapChangeDidFinishRenderingMap, + MapChangeDidFinishRenderingMapFullyRendered, + MapChangeDidFinishLoadingStyle, + MapChangeSourceDidChange + }; + + enum MapLoadingFailure { + StyleParseFailure, + StyleLoadFailure, + NotFoundFailure, + UnknownFailure + }; + + // Determines the orientation of the map. + enum NorthOrientation { + NorthUpwards, // Default + NorthRightwards, + NorthDownwards, + NorthLeftwards, + }; + + explicit Map(QObject *parent = nullptr, + const Settings &settings = Settings(), + const QSize &size = QSize(), + qreal pixelRatio = 1); + ~Map() override; + + [[nodiscard]] QString styleJson() const; + [[nodiscard]] QString styleUrl() const; + + void setStyleJson(const QString &); + void setStyleUrl(const QString &); + + [[nodiscard]] double latitude() const; + void setLatitude(double latitude); + + [[nodiscard]] double longitude() const; + void setLongitude(double longitude); + + [[nodiscard]] double scale() const; + void setScale(double scale, const QPointF ¢er = QPointF()); + + [[nodiscard]] double zoom() const; + void setZoom(double zoom); + + [[nodiscard]] double minimumZoom() const; + [[nodiscard]] double maximumZoom() const; + + [[nodiscard]] double bearing() const; + void setBearing(double degrees); + void setBearing(double degrees, const QPointF ¢er); + + [[nodiscard]] double pitch() const; + void setPitch(double pitch); + void pitchBy(double pitch); + + [[nodiscard]] NorthOrientation northOrientation() const; + void setNorthOrientation(NorthOrientation); + + [[nodiscard]] Coordinate coordinate() const; + void setCoordinate(const Coordinate &coordinate); + void setCoordinateZoom(const Coordinate &coordinate, double zoom); + + void jumpTo(const CameraOptions &); + + void setGestureInProgress(bool inProgress); + + void setTransitionOptions(qint64 duration, qint64 delay = 0); + + void addAnnotationIcon(const QString &name, const QImage &sprite); + + AnnotationID addAnnotation(const Annotation &annotation); + void updateAnnotation(AnnotationID id, const Annotation &annotation); + void removeAnnotation(AnnotationID id); + + bool setLayoutProperty(const QString &layerId, const QString &propertyName, const QVariant &value); + bool setPaintProperty(const QString &layerId, const QString &propertyName, const QVariant &value); + + [[nodiscard]] bool isFullyLoaded() const; + + void moveBy(const QPointF &offset); + void scaleBy(double scale, const QPointF ¢er = QPointF()); + void rotateBy(const QPointF &first, const QPointF &second); + + void resize(const QSize &size); + + [[nodiscard]] QPointF pixelForCoordinate(const Coordinate &coordinate) const; + [[nodiscard]] Coordinate coordinateForPixel(const QPointF &pixel) const; + + [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, const Coordinate &ne) const; + [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, + const Coordinate &ne, + double bearing, + double pitch); + + void setMargins(const QMargins &margins); + [[nodiscard]] QMargins margins() const; + + void addSource(const QString &id, const QVariantMap ¶ms); + bool sourceExists(const QString &id); + void updateSource(const QString &id, const QVariantMap ¶ms); + void removeSource(const QString &id); + + void addImage(const QString &id, const QImage &sprite); + void removeImage(const QString &id); + + void addCustomLayer(const QString &id, + std::unique_ptr host, + const QString &before = QString()); + void addLayer(const QString &id, const QVariantMap ¶ms, const QString &before = QString()); + bool layerExists(const QString &id); + void removeLayer(const QString &id); + + [[nodiscard]] QVector layerIds() const; + + void setFilter(const QString &layerId, const QVariant &filter); + [[nodiscard]] QVariant getFilter(const QString &layerId) const; + // When rendering on a different thread, + // should be called on the render thread. + void createRenderer(); + void destroyRenderer(); + void setFramebufferObject(quint32 fbo, const QSize &size); + +public slots: + void render(); + void setConnectionEstablished(); + + // Commit changes, load all the resources + // and renders the map when completed. + void startStaticRender(); + +signals: + void needsRendering(); + void mapChanged(Map::MapChange); + void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason); + void copyrightsChanged(const QString ©rightsHtml); + + void staticRenderFinished(const QString &error); + +private: + Q_DISABLE_COPY(Map) + + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +Q_DECLARE_METATYPE(QMapLibre::Map::MapChange); +Q_DECLARE_METATYPE(QMapLibre::Map::MapLoadingFailure); + +#endif // QMAPLIBRE_MAP_H diff --git a/third_party/maplibre-native-qt/include/map_observer_p.hpp b/third_party/maplibre-native-qt/include/map_observer_p.hpp new file mode 100644 index 0000000000..e68c72b17b --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_observer_p.hpp @@ -0,0 +1,54 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "map.hpp" + +#include +#include + +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate; + +class MapObserver : public QObject, public mbgl::MapObserver { + Q_OBJECT + +public: + explicit MapObserver(MapPrivate *ptr); + ~MapObserver() override; + + // mbgl::MapObserver implementation. + void onCameraWillChange(mbgl::MapObserver::CameraChangeMode mode) final; + void onCameraIsChanging() final; + void onCameraDidChange(mbgl::MapObserver::CameraChangeMode mode) final; + void onWillStartLoadingMap() final; + void onDidFinishLoadingMap() final; + void onDidFailLoadingMap(mbgl::MapLoadError error, const std::string &what) final; + void onWillStartRenderingFrame() final; + void onDidFinishRenderingFrame(mbgl::MapObserver::RenderFrameStatus status) final; + void onWillStartRenderingMap() final; + void onDidFinishRenderingMap(mbgl::MapObserver::RenderMode mode) final; + void onDidFinishLoadingStyle() final; + void onSourceChanged(mbgl::style::Source &source) final; + +signals: + void mapChanged(Map::MapChange); + void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason); + void copyrightsChanged(const QString ©rightsHtml); + +private: + Q_DISABLE_COPY(MapObserver) + + MapPrivate *d_ptrRef; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map_p.hpp b/third_party/maplibre-native-qt/include/map_p.hpp new file mode 100644 index 0000000000..9ca0c7e6f5 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_p.hpp @@ -0,0 +1,79 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "map.hpp" +#include "map_observer_p.hpp" +#include "map_renderer_p.hpp" + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace QMapLibre { + +class MapPrivate : public QObject, public mbgl::RendererFrontend { + Q_OBJECT + +public: + explicit MapPrivate(Map *map, const Settings &settings, const QSize &size, qreal pixelRatio); + ~MapPrivate() override; + + // mbgl::RendererFrontend implementation. + void reset() final {} + void setObserver(mbgl::RendererObserver &observer) final; + void update(std::shared_ptr parameters) final; + + // These need to be called on the same thread. + void createRenderer(); + void destroyRenderer(); + void render(); + void setFramebufferObject(quint32 fbo, const QSize &size); + + using PropertySetter = std::optional (mbgl::style::Layer::*)( + const std::string &, const mbgl::style::conversion::Convertible &); + [[nodiscard]] bool setProperty(const PropertySetter &setter, + const QString &layerId, + const QString &name, + const QVariant &value) const; + + mbgl::EdgeInsets margins; + std::unique_ptr mapObj{}; + +public slots: + void requestRendering(); + +signals: + void needsRendering(); + +private: + Q_DISABLE_COPY(MapPrivate) + + std::recursive_mutex m_mapRendererMutex; + std::shared_ptr m_rendererObserver{}; + std::shared_ptr m_updateParameters{}; + + std::unique_ptr m_mapObserver{}; + std::unique_ptr m_mapRenderer{}; + std::unique_ptr> m_resourceTransform{}; + + Settings::GLContextMode m_mode; + qreal m_pixelRatio; + + QString m_localFontFamily; + + std::atomic_flag m_renderQueued = ATOMIC_FLAG_INIT; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/map_renderer_p.hpp b/third_party/maplibre-native-qt/include/map_renderer_p.hpp new file mode 100644 index 0000000000..b9a087c392 --- /dev/null +++ b/third_party/maplibre-native-qt/include/map_renderer_p.hpp @@ -0,0 +1,63 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "settings.hpp" + +#include "utils/renderer_backend.hpp" + +#include +#include +#include + +#include + +#include + +#include +#include + +namespace mbgl { +class Renderer; +class UpdateParameters; +} // namespace mbgl + +namespace QMapLibre { + +class RendererBackend; + +class MapRenderer : public QObject { + Q_OBJECT + +public: + MapRenderer(qreal pixelRatio, Settings::GLContextMode, const QString &localFontFamily); + ~MapRenderer() override; + + void render(); + void updateFramebuffer(quint32 fbo, const mbgl::Size &size); + void setObserver(mbgl::RendererObserver *observer); + + // Thread-safe, called by the Frontend + void updateParameters(std::shared_ptr parameters); + +signals: + void needsRendering(); + +private: + MBGL_STORE_THREAD(tid) + + Q_DISABLE_COPY(MapRenderer) + + std::mutex m_updateMutex; + std::shared_ptr m_updateParameters; + + RendererBackend m_backend; + std::unique_ptr m_renderer{}; + + bool m_forceScheduler{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qgeomap.hpp b/third_party/maplibre-native-qt/include/qgeomap.hpp new file mode 100644 index 0000000000..5eb0180503 --- /dev/null +++ b/third_party/maplibre-native-qt/include/qgeomap.hpp @@ -0,0 +1,54 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "export_location.hpp" + +#include +#include + +#include + +namespace QMapLibre { + +class QGeoMapMapLibrePrivate; + +class Q_MAPLIBRE_LOCATION_EXPORT QGeoMapMapLibre : public QGeoMap { + Q_OBJECT + Q_DECLARE_PRIVATE(QGeoMapMapLibre) + +public: + explicit QGeoMapMapLibre(QGeoMappingManagerEngine *engine, QObject *parent = nullptr); + ~QGeoMapMapLibre() override; + + [[nodiscard]] Capabilities capabilities() const override; + + void setSettings(const Settings &settings); + void setMapItemsBefore(const QString &mapItemsBefore); + + void addStyleParameter(StyleParameter *parameter); + void removeStyleParameter(StyleParameter *parameter); + void clearStyleParameters(); + +private Q_SLOTS: + // QMapLibre + void onMapChanged(Map::MapChange); + + // QDeclarativeGeoMapItemBase + void onMapItemPropertyChanged(); + void onMapItemSubPropertyChanged(); + void onMapItemUnsupportedPropertyChanged(); + void onMapItemGeometryChanged(); + + // StyleParameter + void onStyleParameterUpdated(StyleParameter *parameter); + +private: + QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window) override; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qgeomap_p.hpp b/third_party/maplibre-native-qt/include/qgeomap_p.hpp new file mode 100644 index 0000000000..ce415d9bcf --- /dev/null +++ b/third_party/maplibre-native-qt/include/qgeomap_p.hpp @@ -0,0 +1,93 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "qgeomap.hpp" + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +namespace QMapLibre { + +class Map; +class StyleChange; + +class QGeoMapMapLibrePrivate : public QGeoMapPrivate { + Q_DECLARE_PUBLIC(QGeoMapMapLibre) + +public: + explicit QGeoMapMapLibrePrivate(QGeoMappingManagerEngine *engine); + ~QGeoMapMapLibrePrivate() override; + + QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window); + + QGeoMap::ItemTypes supportedMapItemTypes() const override; + void addMapItem(QDeclarativeGeoMapItemBase *item) override; + void removeMapItem(QDeclarativeGeoMapItemBase *item) override; + + void addStyleParameter(StyleParameter *parameter); + void removeStyleParameter(StyleParameter *parameter); + void clearStyleParameters(); + + /* Data members */ + enum SyncState : int { + NoSync = 0, + ViewportSync = 1 << 0, + CameraDataSync = 1 << 1, + MapTypeSync = 1 << 2, + VisibleAreaSync = 1 << 3 + }; + Q_DECLARE_FLAGS(SyncStates, SyncState); + + Settings m_settings; + QString m_mapItemsBefore; + + QList m_mapParameters; + + QTimer m_refresh; + bool m_shouldRefresh = true; + bool m_warned = false; + bool m_threadedRendering = false; + bool m_styleLoaded = false; + + SyncStates m_syncState = NoSync; + + std::vector> m_styleChanges; + +protected: + void changeViewportSize(const QSize &size) override; + void changeCameraData(const QGeoCameraData &data) override; +#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0) + void changeActiveMapType(const QGeoMapType &mapType) override; +#else + void changeActiveMapType(const QGeoMapType mapType) override; +#endif + + void setVisibleArea(const QRectF &visibleArea) override; + QRectF visibleArea() const override; + +private: + Q_DISABLE_COPY(QGeoMapMapLibrePrivate); + + void syncStyleChanges(Map *map); + void threadedRenderingHack(QQuickWindow *window, Map *map); + + QRectF m_visibleArea; +}; + +Q_DECLARE_OPERATORS_FOR_FLAGS(QGeoMapMapLibrePrivate::SyncStates) + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/qmaplibre.hpp b/third_party/maplibre-native-qt/include/qmaplibre.hpp new file mode 100644 index 0000000000..a8dc445e2b --- /dev/null +++ b/third_party/maplibre-native-qt/include/qmaplibre.hpp @@ -0,0 +1,9 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#include "export_core.hpp" +#include "map.hpp" +#include "settings.hpp" +#include "types.hpp" +#include "utils.hpp" diff --git a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp new file mode 100644 index 0000000000..ebe9a8eea4 --- /dev/null +++ b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp @@ -0,0 +1,6 @@ +// Copyright (C) 2023 MapLibre contributors + +// SPDX-License-Identifier: BSD-2-Clause + +#include "export_widgets.hpp" +#include "gl_widget.hpp" diff --git a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp new file mode 100644 index 0000000000..67cb4b56ce --- /dev/null +++ b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp @@ -0,0 +1,31 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include "export_location.hpp" + +#include + +#include +#include + +namespace QMapLibre { + +class Q_MAPLIBRE_LOCATION_EXPORT QtMappingEngine : public QGeoMappingManagerEngine { + Q_OBJECT + +public: + QtMappingEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString); + + QGeoMap *createMap() override; + +private: + Settings m_settings; + QString m_mapItemsBefore; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/settings.hpp b/third_party/maplibre-native-qt/include/settings.hpp new file mode 100644 index 0000000000..d6f88b871b --- /dev/null +++ b/third_party/maplibre-native-qt/include/settings.hpp @@ -0,0 +1,125 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_SETTINGS_H +#define QMAPLIBRE_SETTINGS_H + +#include +#include + +#include +#include + +#include +#include + +// TODO: this will be wrapped at some point +namespace mbgl { +class TileServerOptions; +} // namespace mbgl + +namespace QMapLibre { + +class SettingsPrivate; + +class Q_MAPLIBRE_CORE_EXPORT Settings { +public: + enum GLContextMode : bool { + UniqueGLContext, + SharedGLContext + }; + + enum MapMode { + Continuous = 0, + Static + }; + + enum ConstrainMode { + NoConstrain = 0, + ConstrainHeightOnly, + ConstrainWidthAndHeight + }; + + enum ViewportMode { + DefaultViewport = 0, + FlippedYViewport + }; + + enum ProviderTemplate { + NoProvider = 0, + MapLibreProvider, + MapTilerProvider, + MapboxProvider + }; + + using ResourceTransformFunction = std::function; + + explicit Settings(ProviderTemplate provider = NoProvider); + ~Settings(); + Settings(const Settings &s); + Settings(Settings &&s) noexcept; + Settings &operator=(const Settings &s); + Settings &operator=(Settings &&s) noexcept; + + [[nodiscard]] GLContextMode contextMode() const; + void setContextMode(GLContextMode); + + [[nodiscard]] MapMode mapMode() const; + void setMapMode(MapMode); + + [[nodiscard]] ConstrainMode constrainMode() const; + void setConstrainMode(ConstrainMode); + + [[nodiscard]] ViewportMode viewportMode() const; + void setViewportMode(ViewportMode); + + [[nodiscard]] unsigned cacheDatabaseMaximumSize() const; + void setCacheDatabaseMaximumSize(unsigned); + + [[nodiscard]] QString cacheDatabasePath() const; + void setCacheDatabasePath(const QString &path); + + [[nodiscard]] QString assetPath() const; + void setAssetPath(const QString &path); + + [[nodiscard]] QString apiKey() const; + void setApiKey(const QString &key); + + [[nodiscard]] QString apiBaseUrl() const; + void setApiBaseUrl(const QString &url); + + [[nodiscard]] QString localFontFamily() const; + void setLocalFontFamily(const QString &family); + + [[nodiscard]] QString clientName() const; + void setClientName(const QString &name); + + [[nodiscard]] QString clientVersion() const; + void setClientVersion(const QString &version); + + [[nodiscard]] ResourceTransformFunction resourceTransform() const; + void setResourceTransform(const ResourceTransformFunction &transform); + + void setProviderTemplate(ProviderTemplate providerTemplate); + void setStyles(const Styles &styles); + + [[nodiscard]] const Styles &styles() const; + [[nodiscard]] Styles providerStyles() const; + + [[nodiscard]] Coordinate defaultCoordinate() const; + void setDefaultCoordinate(const Coordinate &coordinate); + [[nodiscard]] double defaultZoom() const; + void setDefaultZoom(double zoom); + + [[nodiscard]] bool customTileServerOptions() const; + [[nodiscard]] const mbgl::TileServerOptions &tileServerOptions() const; + +private: + std::unique_ptr d_ptr; +}; + +} // namespace QMapLibre + +#endif // QMAPLIBRE_SETTINGS_H diff --git a/third_party/maplibre-native-qt/include/settings_p.hpp b/third_party/maplibre-native-qt/include/settings_p.hpp new file mode 100644 index 0000000000..257bdfd5a9 --- /dev/null +++ b/third_party/maplibre-native-qt/include/settings_p.hpp @@ -0,0 +1,57 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#pragma once + +#include "settings.hpp" +#include "types.hpp" + +#include + +#include +#include + +#include +#include + +namespace mbgl { +class TileServerOptions; +} // namespace mbgl + +namespace QMapLibre { + +class SettingsPrivate { +public: + SettingsPrivate(); + + void setProviderTemplate(Settings::ProviderTemplate providerTemplate); + void setProviderApiBaseUrl(const QString &url); + + Settings::GLContextMode m_contextMode{Settings::SharedGLContext}; + Settings::MapMode m_mapMode{Settings::Continuous}; + Settings::ConstrainMode m_constrainMode{Settings::ConstrainHeightOnly}; + Settings::ViewportMode m_viewportMode{Settings::DefaultViewport}; + Settings::ProviderTemplate m_providerTemplate{Settings::NoProvider}; + + unsigned m_cacheMaximumSize; + QString m_cacheDatabasePath; + QString m_assetPath; + QString m_apiKey; + QString m_localFontFamily; + QString m_clientName; + QString m_clientVersion; + + Coordinate m_defaultCoordinate{}; + double m_defaultZoom{}; + + Styles m_styles; + + std::function m_resourceTransform; + + bool m_customTileServerOptions{}; + mbgl::TileServerOptions m_tileServerOptions{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp new file mode 100644 index 0000000000..991bb4077e --- /dev/null +++ b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp @@ -0,0 +1,34 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include + +#include +#include +#include +#include +#include + +namespace QMapLibre::StyleChangeUtils { + +Feature featureFromMapRectangle(QDeclarativeRectangleMapItem *item); +Feature featureFromMapCircle(QDeclarativeCircleMapItem *item); +Feature featureFromMapPolygon(QDeclarativePolygonMapItem *item); +Feature featureFromMapPolyline(QDeclarativePolylineMapItem *item); +Feature featureFromMapItem(QDeclarativeGeoMapItemBase *item); + +QString featureId(QDeclarativeGeoMapItemBase *item); +std::vector featureLayoutPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item); +std::vector featureLayoutPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); +std::vector featurePaintPropertiesFromMapRectangle(QDeclarativeRectangleMapItem *item); +std::vector featurePaingPropertiesFromMapCircle(QDeclarativeCircleMapItem *item); +std::vector featurePaintPropertiesFromMapPolygon(QDeclarativePolygonMapItem *item); +std::vector featurePaintPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item); +std::vector featurePaintPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); +std::vector featurePropertiesFromMapItem(QDeclarativeGeoMapItemBase *item); + +} // namespace QMapLibre::StyleChangeUtils diff --git a/third_party/maplibre-native-qt/include/texture_node.hpp b/third_party/maplibre-native-qt/include/texture_node.hpp new file mode 100644 index 0000000000..96f63b3534 --- /dev/null +++ b/third_party/maplibre-native-qt/include/texture_node.hpp @@ -0,0 +1,42 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2017 The Qt Company Ltd. +// Copyright (C) 2017 Mapbox, Inc. + +// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only + +#pragma once + +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) +#include +#else +#include +#endif + +#include + +namespace QMapLibre { + +class QGeoMapMapLibre; + +class TextureNode : public QSGSimpleTextureNode { +public: + TextureNode(const Settings &setting, const QSize &size, qreal pixelRatio, QGeoMapMapLibre *geoMap); + + [[nodiscard]] Map *map() const; + +#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0) + void resize(const QSize &size, qreal pixelRatio, QQuickWindow *window); +#else + void resize(const QSize &size, qreal pixelRatio); +#endif + void render(QQuickWindow *); + +private: + std::unique_ptr m_map{}; + std::unique_ptr m_fbo{}; +}; + +} // namespace QMapLibre diff --git a/third_party/maplibre-native-qt/include/types.hpp b/third_party/maplibre-native-qt/include/types.hpp new file mode 100644 index 0000000000..696fab1a88 --- /dev/null +++ b/third_party/maplibre-native-qt/include/types.hpp @@ -0,0 +1,206 @@ +// Copyright (C) 2023 MapLibre contributors +// Copyright (C) 2019 Mapbox, Inc. + +// SPDX-License-Identifier: BSD-2-Clause + +#ifndef QMAPLIBRE_TYPES_H +#define QMAPLIBRE_TYPES_H + +#include + +#include +#include +#include +#include +#include +#include + +namespace QMapLibre { + +using Coordinate = QPair; +using CoordinateZoom = QPair; +using ProjectedMeters = QPair; + +using Coordinates = QVector; +using CoordinatesCollection = QVector; + +using CoordinatesCollections = QVector; + +struct Q_MAPLIBRE_CORE_EXPORT Style { + enum Type { // Taken from Qt to be in sync with QtLocation + NoMap = 0, + StreetMap, + SatelliteMapDay, + SatelliteMapNight, + TerrainMap, + HybridMap, + TransitMap, + GrayStreetMap, + PedestrianMap, + CarNavigationMap, + CycleMap, + CustomMap = 100 + }; + +#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0) + explicit Style(QString url_, QString name_ = QString()) + : url(std::move(url_)), + name(std::move(name_)) {} +#else + explicit Style(QString url_ = QString(), QString name_ = QString()) + : url(std::move(url_)), + name(std::move(name_)) {} +#endif + + QString url; + QString name; + QString description; + bool night{}; + Type type{CustomMap}; +}; + +using Styles = QVector