| + | Job | +✅ Passing | +❌ Failure Details | +
|---|---|---|---|
| {% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%} | +{{ key }} | +{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}% | +{% if jobs[key]["failures"]|length > 0 %} {% for failure in jobs[key]["failures"] %}Log for run #{{ failure['run_number'] }} {% else %}{% endif %}{% endfor %} |
+
+
 |
-  |
-
 |
-  |
-
 |
-  |
-
 |
+  |
+
 |
+  |
+
 |
+  |
+
📡 Radar Tracks
+
+Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm).
+
+Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
+Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
+endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
+firmware versions. If you want to try on a new radar, make sure to note the default config value
+in case it is different from the other radars and you need to revert the changes.
+After changing the config the car should not show any faults when openpilot is not running.
+These config changes are persistent across car reboots. You need to run this script again
+to go back to the default values.
+
+**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
+
+**How radar points can be used along with vision:**
+* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
+
+### 🚨 Enable Radar Tracks
+
+***(EXPERIMENTAL, as of January 1st, 2022)***
+
+***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)***
+
+*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))*
+
+**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
+
+1. Ensure the car is at the `OFF` ignition position.
+2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON.
+3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH))
+4. In the SSH terminal after successfully connected to your comma device, execute the following commands:
+ 1. `pkill -f openpilot`
+ 2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py`
+ 3. Follow the instructions in the script:
+ * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`.
+ * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`.
+ * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
+ 4. Reboot your comma device:
+ 1. C3: `sudo reboot`
+ 2. C2 or EON: `reboot`
+5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
+6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai).
+7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`.
+8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled.
+🗺 Enable Mapbox Navigation
+
+1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier.
+2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.**
+3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address.
+4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field.
+5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations.
+6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.*At this time, it is not possible to search directly on the C3.* + +**TIPS:** +- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it. +- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places. +- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.) + +**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.) + +***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.* +
-
- -Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH) - -If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device: - comma three: ------ * [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3): ``` - cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot - ``` - -comma two: ------- -* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg): - - ``` - cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot + cd /data && rm -rf ./openpilot && git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot && cd openpilot && sudo reboot ``` After running the command to install the desired branch, your comma device should reboot. @@ -170,16 +141,16 @@ After running the command to install the desired branch, your comma device shoul * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable) * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only) - [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options - - [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings) - - [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set - - [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot - - [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power - - [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button - - [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand - - [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly: - * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles. - * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle. - * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller. +- [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings) +- [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set +- [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot +- [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power +- [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button +- [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand +- [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly: + * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles. + * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle. + * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller. ### Visual Enhancements * **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status @@ -355,7 +326,7 @@ Example: --- -How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md). +How-To instructions can be found in [HOW-TOS.md](HOW-TOS.md).
diff --git a/SConstruct b/SConstruct
index da70e4e587..1280ab7690 100644
--- a/SConstruct
+++ b/SConstruct
@@ -72,6 +72,12 @@ AddOption('--minimal',
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
help='the minimum build to run openpilot. no tests, tools, etc.')
+AddOption('--stock-ui',
+ action='store_true',
+ dest='stock_ui',
+ default=False,
+ help='Build stock UI instead of sunnypilot UI')
+
## Architecture name breakdown (arch)
## - larch64: linux tici aarch64
## - aarch64: linux pc aarch64
@@ -104,7 +110,6 @@ if arch == "larch64":
libpath = [
"/usr/local/lib",
- "/usr/lib",
"/system/vendor/lib64",
f"#third_party/acados/{arch}/lib",
]
@@ -172,9 +177,12 @@ if arch != "Darwin":
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
# Enable swaglog include in submodules
-cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+if not GetOption('stock_ui'):
+ cflags += ["-DSUNNYPILOT"]
+ cxxflags += ["-DSUNNYPILOT"]
+
ccflags_option = GetOption('ccflags')
if ccflags_option:
ccflags += ccflags_option.split(' ')
@@ -208,7 +216,6 @@ env = Environment(
"#third_party/json11",
"#third_party/linux/include",
"#third_party/snpe/include",
- "#third_party/qrcode",
"#third_party",
"#cereal",
"#msgq",
@@ -236,7 +243,7 @@ env = Environment(
COMPILATIONDB_USE_ABSPATH=True,
REDNOSE_ROOT="#",
tools=["default", "cython", "compilation_db", "rednose_filter"],
- toolpath=["#rednose_repo/site_scons/site_tools"],
+ toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
)
if arch == "Darwin":
@@ -276,7 +283,8 @@ if arch == "Darwin":
else:
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
# Qt build environment
qt_env = env.Clone()
@@ -320,7 +328,7 @@ try:
except SCons.Errors.UserError:
qt_env.Tool('qt')
-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
@@ -369,7 +377,6 @@ Export('messaging')
# Build other submodules
SConscript([
- 'body/board/SConscript',
'opendbc/can/SConscript',
'panda/SConscript',
])
diff --git a/body b/body
deleted file mode 160000
index 0e74db67ae..0000000000
--- a/body
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 0ee2be7499..e77e8c2943 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -137,7 +137,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
speedLimitPreActive @139;
speedLimitConfirmed @140;
torqueNNLoad @141;
- spAutoBrakeHold @142;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 4bd8f8ac64..df1aef8796 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -137,8 +137,6 @@ struct FrameData {
requestId @28 :UInt32;
encodeId @1 :UInt32;
- frameType @7 :FrameType;
-
# Timestamps
timestampEof @2 :UInt64;
timestampSof @8 :UInt64;
@@ -158,7 +156,7 @@ struct FrameData {
temperaturesC @24 :List(Float32);
- enum FrameType {
+ enum FrameTypeDEPRECATED {
unknown @0;
neo @1;
chffrAndroid @2;
@@ -175,6 +173,7 @@ struct FrameData {
frameLengthDEPRECATED @3 :Int32;
globalGainDEPRECATED @5 :Int32;
+ frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
lensPosDEPRECATED @11 :Int32;
lensSagDEPRECATED @12 :Float32;
@@ -337,9 +336,9 @@ enum LaneChangeDirection {
struct CanData {
address @0 :UInt32;
- busTime @1 :UInt16;
dat @2 :Data;
src @3 :UInt8;
+ busTimeDEPRECATED @1 :UInt16;
}
struct DeviceState @0xa4d8b5af2aa492eb {
@@ -1252,6 +1251,38 @@ struct LiveLocationKalman {
}
}
+
+struct LivePose {
+ # More info on reference frames:
+ # https://github.com/commaai/openpilot/tree/master/common/transformations
+ orientationNED @0 :XYZMeasurement;
+ velocityDevice @1 :XYZMeasurement;
+ accelerationDevice @2 :XYZMeasurement;
+ angularVelocityDevice @3 :XYZMeasurement;
+
+ inputsOK @4 :Bool = false;
+ posenetOK @5 :Bool = false;
+ sensorsOK @6 :Bool = false;
+
+ filterState @7 :FilterState;
+
+ struct XYZMeasurement {
+ x @0 :Float32;
+ y @1 :Float32;
+ z @2 :Float32;
+ xStd @3 :Float32;
+ yStd @4 :Float32;
+ zStd @5 :Float32;
+ valid @6 :Bool;
+ }
+
+ struct FilterState {
+ value @0 : List(Float64);
+ std @1 : List(Float64);
+ valid @2 : Bool;
+ }
+}
+
struct ProcLog {
cpuTimes @0 :List(CPUTimes);
mem @1 :Mem;
@@ -2293,6 +2324,7 @@ struct Event {
carParams @69: Car.CarParams;
driverMonitoringState @71: DriverMonitoringState;
liveLocationKalman @72 :LiveLocationKalman;
+ livePose @129 :LivePose;
modelV2 @75 :ModelDataV2;
drivingModelData @128 :DrivingModelData;
driverStateV2 @92 :DriverStateV2;
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 4ba55cf7b9..9646047de3 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -2,7 +2,8 @@
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+import msgq
import os
import capnp
@@ -17,8 +18,12 @@ from cereal.services import SERVICE_LIST
NO_TRAVERSAL_LIMIT = 2**64-1
-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
- with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def reset_context():
+ msgq.context = Context()
+
+
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+ with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
return msg
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
old mode 100755
new mode 100644
index 429c2d3c53..58fa7f7b28
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
import os
import capnp
import multiprocessing
@@ -6,8 +5,8 @@ import numbers
import random
import threading
import time
-import unittest
from parameterized import parameterized
+import pytest
from cereal import log, car
import cereal.messaging as messaging
@@ -28,12 +27,6 @@ def zmq_sleep(t=1):
if "ZMQ" in os.environ:
time.sleep(t)
-def zmq_expected_failure(func):
- if "ZMQ" in os.environ:
- return unittest.expectedFailure(func)
- else:
- return func
-
# TODO: this should take any capnp struct and returrn a msg with random populated data
def random_carstate():
@@ -58,12 +51,12 @@ def delayed_send(delay, sock, dat):
threading.Timer(delay, send_func).start()
-class TestMessaging(unittest.TestCase):
+class TestMessaging:
def setUp(self):
# TODO: ZMQ tests are too slow; all sleeps will need to be
# replaced with logic to block on the necessary condition
if "ZMQ" in os.environ:
- raise unittest.SkipTest
+ pytest.skip()
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
@@ -75,9 +68,9 @@ class TestMessaging(unittest.TestCase):
msg = messaging.new_message(evt)
except capnp.lib.capnp.KjException:
msg = messaging.new_message(evt, random.randrange(200))
- self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
- self.assertFalse(msg.valid)
- self.assertEqual(evt, msg.which())
+ assert (time.monotonic() - msg.logMonoTime) < 0.1
+ assert not msg.valid
+ assert evt == msg.which()
@parameterized.expand(events)
def test_pub_sock(self, evt):
@@ -99,8 +92,8 @@ class TestMessaging(unittest.TestCase):
# no wait and no msgs in queue
msgs = func(sub_sock)
- self.assertIsInstance(msgs, list)
- self.assertEqual(len(msgs), 0)
+ assert isinstance(msgs, list)
+ assert len(msgs) == 0
# no wait but msgs are queued up
num_msgs = random.randrange(3, 10)
@@ -108,9 +101,9 @@ class TestMessaging(unittest.TestCase):
pub_sock.send(messaging.new_message(sock).to_bytes())
time.sleep(0.1)
msgs = func(sub_sock)
- self.assertIsInstance(msgs, list)
- self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
- self.assertEqual(len(msgs), num_msgs)
+ assert isinstance(msgs, list)
+ assert all(isinstance(msg, expected_type) for msg in msgs)
+ assert len(msgs) == num_msgs
def test_recv_sock(self):
sock = "carState"
@@ -120,14 +113,14 @@ class TestMessaging(unittest.TestCase):
# no wait and no msg in queue, socket should timeout
recvd = messaging.recv_sock(sub_sock)
- self.assertTrue(recvd is None)
+ assert recvd is None
# no wait and one msg in queue
msg = random_carstate()
pub_sock.send(msg.to_bytes())
time.sleep(0.01)
recvd = messaging.recv_sock(sub_sock)
- self.assertIsInstance(recvd, capnp._DynamicStructReader)
+ assert isinstance(recvd, capnp._DynamicStructReader)
# https://github.com/python/mypy/issues/13038
assert_carstate(msg.carState, recvd.carState)
@@ -139,16 +132,16 @@ class TestMessaging(unittest.TestCase):
# no msg in queue, socket should timeout
recvd = messaging.recv_one(sub_sock)
- self.assertTrue(recvd is None)
+ assert recvd is None
# one msg in queue
msg = random_carstate()
pub_sock.send(msg.to_bytes())
recvd = messaging.recv_one(sub_sock)
- self.assertIsInstance(recvd, capnp._DynamicStructReader)
+ assert isinstance(recvd, capnp._DynamicStructReader)
assert_carstate(msg.carState, recvd.carState)
- @zmq_expected_failure
+ @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
def test_recv_one_or_none(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
@@ -157,13 +150,13 @@ class TestMessaging(unittest.TestCase):
# no msg in queue, socket shouldn't block
recvd = messaging.recv_one_or_none(sub_sock)
- self.assertTrue(recvd is None)
+ assert recvd is None
# one msg in queue
msg = random_carstate()
pub_sock.send(msg.to_bytes())
recvd = messaging.recv_one_or_none(sub_sock)
- self.assertIsInstance(recvd, capnp._DynamicStructReader)
+ assert isinstance(recvd, capnp._DynamicStructReader)
assert_carstate(msg.carState, recvd.carState)
def test_recv_one_retry(self):
@@ -179,7 +172,7 @@ class TestMessaging(unittest.TestCase):
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
p.start()
time.sleep(sock_timeout*15)
- self.assertTrue(p.is_alive())
+ assert p.is_alive()
p.terminate()
# wait 15 socket timeouts before sending
@@ -187,9 +180,6 @@ class TestMessaging(unittest.TestCase):
delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
start_time = time.monotonic()
recvd = messaging.recv_one_retry(sub_sock)
- self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
- self.assertIsInstance(recvd, capnp._DynamicStructReader)
+ assert (time.monotonic() - start_time) >= sock_timeout*15
+ assert isinstance(recvd, capnp._DynamicStructReader)
assert_carstate(msg.carState, recvd.carState)
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
old mode 100755
new mode 100644
index 81a1cf2d57..ba5b397aad
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -1,8 +1,6 @@
-#!/usr/bin/env python3
import random
import time
from typing import Sized, cast
-import unittest
import cereal.messaging as messaging
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@@ -10,9 +8,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so
zmq_sleep
-class TestSubMaster(unittest.TestCase):
+class TestSubMaster:
- def setUp(self):
+ def setup_method(self):
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
zmq_sleep(3)
@@ -21,21 +19,21 @@ class TestSubMaster(unittest.TestCase):
sm = messaging.SubMaster(events)
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
- self.assertEqual(len(cast(Sized, p)), len(events))
+ assert len(cast(Sized, p)) == len(events)
def test_init_state(self):
socks = random_socks()
sm = messaging.SubMaster(socks)
- self.assertEqual(sm.frame, -1)
- self.assertFalse(any(sm.updated.values()))
- self.assertFalse(any(sm.alive.values()))
- self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
- self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
- self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
+ assert sm.frame == -1
+ assert not any(sm.updated.values())
+ assert not any(sm.alive.values())
+ assert all(t == 0. for t in sm.recv_time.values())
+ assert all(f == 0 for f in sm.recv_frame.values())
+ assert all(t == 0 for t in sm.logMonoTime.values())
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
- self.assertEqual(len(cast(Sized, p)), len(socks))
+ assert len(cast(Sized, p)) == len(socks)
def test_getitem(self):
sock = "carState"
@@ -59,8 +57,8 @@ class TestSubMaster(unittest.TestCase):
msg = messaging.new_message(sock)
pub_sock.send(msg.to_bytes())
sm.update(1000)
- self.assertEqual(sm.frame, i)
- self.assertTrue(all(sm.updated.values()))
+ assert sm.frame == i
+ assert all(sm.updated.values())
def test_update_timeout(self):
sock = random_sock()
@@ -70,9 +68,9 @@ class TestSubMaster(unittest.TestCase):
start_time = time.monotonic()
sm.update(timeout)
t = time.monotonic() - start_time
- self.assertGreaterEqual(t, timeout/1000.)
- self.assertLess(t, 5)
- self.assertFalse(any(sm.updated.values()))
+ assert t >= timeout/1000.
+ assert t < 5
+ assert not any(sm.updated.values())
def test_avg_frequency_checks(self):
for poll in (True, False):
@@ -118,12 +116,12 @@ class TestSubMaster(unittest.TestCase):
pub_sock.send(msg.to_bytes())
time.sleep(0.01)
sm.update(1000)
- self.assertEqual(sm[sock].vEgo, n)
+ assert sm[sock].vEgo == n
-class TestPubMaster(unittest.TestCase):
+class TestPubMaster:
- def setUp(self):
+ def setup_method(self):
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
zmq_sleep(3)
@@ -156,8 +154,4 @@ class TestPubMaster(unittest.TestCase):
if capnp:
msg.clear_write_flag()
msg = msg.to_bytes()
- self.assertEqual(msg, recvd, i)
-
-
-if __name__ == "__main__":
- unittest.main()
+ assert msg == recvd, i
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
old mode 100755
new mode 100644
index ec96c90bc2..01e859a5a3
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,26 +1,21 @@
-#!/usr/bin/env python3
import os
import tempfile
from typing import Dict
-import unittest
from parameterized import parameterized
import cereal.services as services
from cereal.services import SERVICE_LIST
-class TestServices(unittest.TestCase):
+class TestServices:
@parameterized.expand(SERVICE_LIST.keys())
def test_services(self, s):
service = SERVICE_LIST[s]
- self.assertTrue(service.frequency <= 104)
- self.assertTrue(service.decimation != 0)
+ assert service.frequency <= 104
+ assert service.decimation != 0
def test_generated_header(self):
with tempfile.NamedTemporaryFile(suffix=".h") as f:
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
- self.assertEqual(ret, 0, "generated services header is not valid C")
-
-if __name__ == "__main__":
- unittest.main()
+ assert ret == 0, "generated services header is not valid C"
diff --git a/cereal/services.py b/cereal/services.py
index 6d860ccdcf..5bc8dcfac2 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -16,13 +16,13 @@ _services: dict[str, tuple] = {
"gyroscope2": (True, 100., 100),
"accelerometer": (True, 104., 104),
"accelerometer2": (True, 100., 100),
- "magnetometer": (True, 25., 25),
+ "magnetometer": (True, 25.),
"lightSensor": (True, 100., 100),
"temperatureSensor": (True, 2., 200),
"temperatureSensor2": (True, 2., 200),
"gpsNMEA": (True, 9.),
"deviceState": (True, 2., 1),
- "can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
+ "can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
"controlsState": (True, 100., 10),
"pandaStates": (True, 10., 1),
"peripheralState": (True, 2., 1),
@@ -38,7 +38,7 @@ _services: dict[str, tuple] = {
"carState": (True, 100., 10),
"carControl": (True, 100., 10),
"carOutput": (True, 100., 10),
- "longitudinalPlan": (True, 20., 5),
+ "longitudinalPlan": (True, 20., 10),
"procLog": (True, 0.5, 15),
"gpsLocationExternal": (True, 10., 10),
"gpsLocation": (True, 1., 1),
@@ -47,9 +47,10 @@ _services: dict[str, tuple] = {
"gnssMeasurements": (True, 10., 10),
"clocks": (True, 0.1, 1),
"ubloxRaw": (True, 20.),
- "liveLocationKalman": (True, 20., 5),
+ "livePose": (True, 20., 4),
+ "liveLocationKalman": (True, 20.),
"liveParameters": (True, 20., 5),
- "cameraOdometry": (True, 20., 5),
+ "cameraOdometry": (True, 20., 10),
"lateralPlanDEPRECATED": (True, 20., 5),
"thumbnail": (True, 0.2, 1),
"onroadEvents": (True, 1., 1),
diff --git a/common/params.cc b/common/params.cc
index b056adc3d1..d3648793b0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
int result = -1;
int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
if (fd >= 0) {
- result = fsync(fd);
- close(fd);
+ result = HANDLE_EINTR(fsync(fd));
+ HANDLE_EINTR(close(fd));
}
return result;
}
@@ -320,7 +320,6 @@ std::unordered_mapSSH (More Versatile)
-- -Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH) - -If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device: - comma three: ------ * [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3): ``` - cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot - ``` - -comma two: ------- -* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg): - - ``` - cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot + cd /data && rm -rf ./openpilot && git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot && cd openpilot && sudo reboot ``` After running the command to install the desired branch, your comma device should reboot. @@ -170,16 +141,16 @@ After running the command to install the desired branch, your comma device shoul * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable) * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only) - [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options - - [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings) - - [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set - - [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot - - [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power - - [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button - - [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand - - [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly: - * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles. - * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle. - * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller. +- [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings) +- [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set +- [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot +- [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power +- [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button +- [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand +- [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly: + * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles. + * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle. + * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller. ### Visual Enhancements * **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status @@ -355,7 +326,7 @@ Example: --- -How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md). +How-To instructions can be found in [HOW-TOS.md](HOW-TOS.md).
|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|
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
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
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
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
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
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
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
Parts
- 1 USB-C coupler- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
`ssh comma@192.168.43.1` For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding). -## Notes +### Notes The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username. The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed. -See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. +#### ssh.comma.ai proxy -# Connecting to ssh.comma.ai -SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect). +With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere. -## Setup - -With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. - -## Recommended .ssh/config - -With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
-For example: `ssh comma-ffffffffffffffff` +With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. ``` Host comma-* @@ -41,20 +44,21 @@ Host comma-* User comma IdentityFile ~/.ssh/my_github_key ProxyCommand ssh %h@ssh.comma.ai -W %h:%p + Host ssh.comma.ai Hostname ssh.comma.ai Port 22 IdentityFile ~/.ssh/my_github_key ``` -## One-off connection +### One-off connection ``` ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff ``` (Replace `ffffffffffffffff` with your dongle_id) -## ssh.comma.ai host key fingerprint +### ssh.comma.ai host key fingerprint ``` Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md new file mode 100644 index 0000000000..084b6bf825 --- /dev/null +++ b/docs/how-to/replay-a-drive.md @@ -0,0 +1,14 @@ +# Replay + +Replaying is a critical tool for openpilot development and debugging. + +## Replaying a route +*Hardware required: none* + +Just run `tools/replay/replay --demo`. + +## Replaying CAN data +*Hardware required: jungle and comma 3/3X* + +1. Connect your PC to a jungle. +2. diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md new file mode 100644 index 0000000000..643023fdf4 --- /dev/null +++ b/docs/how-to/turn-the-speed-blue.md @@ -0,0 +1,98 @@ +# Turn the speed blue +*A getting started guide for openpilot development* + +In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. + +And if you have a comma 3/3X, we'll deploy the change to your device for testing. + +## 1. Setup your development environment + +Run this to clone openpilot and install all the dependencies: +```bash +curl -fsSL openpilot.comma.ai | bash +``` + +Navigate to openpilot folder & activate a Python virtual environment +```bash +cd openpilot +source .venv/bin/activate +``` + +Then, compile openpilot: +```bash +scons -j8 +``` + +## 2. Run replay + +We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes. +```bash +# in terminal 1 +tools/replay/replay --demo + +# in terminal 2 +selfdrive/ui/ui +``` + +The openpilot UI should launch and show a replay of the demo route. + +If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect. + +## 3. Make the speed blue + +Search for “mph” with git grep in the `ui` folder. +```bash +$ git grep "mph" selfdrive/ui/ +paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); +``` + +The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. +```bash +$ git diff +diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc +index 821d95115..cc996eaa1 100644 +--- a/selfdrive/ui/paint.cc ++++ b/selfdrive/ui/paint.cc +@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) { + const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363)); + const std::string speed_str = std::to_string((int)std::nearbyint(speed)); + nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); +- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold"); +- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); ++ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold"); ++ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular"); + } + + static void ui_draw_vision_event(UIState *s) { +``` + + +## 4. Rebuild UI, and admire your work + +``` +scons -j8 && selfdrive/ui/ui +``` + + + +## 5. Push your fork to GitHub + +Click fork on GitHub. Then, push with: +```bash +git remote rm origin +git remote add origin git@github.com:
" "
%2
" "%3
" @@ -236,35 +160,15 @@ void TogglesPanel::updateToggles() { params.remove("ExperimentalLongitudinalEnabled"); } op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release); - - if (!CP.getCustomStockLongAvailable()) { - params.remove("CustomStockLong"); - } - custom_stock_long_toggle->setVisible(CP.getCustomStockLongAvailable()); - if (hasLongitudinalControl(CP)) { // normal description and toggle experimental_mode_toggle->setEnabled(true); experimental_mode_toggle->setDescription(e2e_description); long_personality_setting->setEnabled(true); - accel_personality_setting->setEnabled(true); - op_long_toggle->setEnabled(true); - custom_stock_long_toggle->setEnabled(false); - params.remove("CustomStockLong"); - dec_toggle->setEnabled(true); - dynamic_personality_toggle->setEnabled(true); - } else if (custom_stock_long_toggle->isToggled()) { - op_long_toggle->setEnabled(false); - experimental_mode_toggle->setEnabled(false); - long_personality_setting->setEnabled(false); - accel_personality_setting->setEnabled(false); - params.remove("ExperimentalLongitudinalEnabled"); - params.remove("ExperimentalMode"); } else { // no long for now experimental_mode_toggle->setEnabled(false); long_personality_setting->setEnabled(false); - accel_personality_setting->setEnabled(false); params.remove("ExperimentalMode"); const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."); @@ -279,26 +183,12 @@ void TogglesPanel::updateToggles() { } } experimental_mode_toggle->setDescription("" + long_desc + "
" + e2e_description); - - op_long_toggle->setEnabled(CP.getExperimentalLongitudinalAvailable() && !is_release); - custom_stock_long_toggle->setEnabled(CP.getCustomStockLongAvailable()); - dec_toggle->setEnabled(false); - dynamic_personality_toggle->setEnabled(false); - params.remove("DynamicExperimentalControl"); - params.remove("DynamicPersonality"); } experimental_mode_toggle->refresh(); - op_long_toggle->refresh(); - custom_stock_long_toggle->refresh(); - dec_toggle->refresh(); - dynamic_personality_toggle->refresh(); } else { experimental_mode_toggle->setDescription(e2e_description); op_long_toggle->setVisible(false); - custom_stock_long_toggle->setVisible(false); - dec_toggle->setVisible(false); - dynamic_personality_toggle->setVisible(false); } } @@ -307,44 +197,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); - fleetManagerPin = new ButtonControl( - pin_title + pin, tr("TOGGLE"), - tr("Enable or disable PIN requirement for Fleet Manager access.")); - connect(fleetManagerPin, &ButtonControl::clicked, [=]() { - if (params.getBool("FleetManagerPin")) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to turn off PIN requirement?"), tr("Turn Off"), this)) { - params.remove("FleetManagerPin"); - refreshPin(); - } - } else { - params.putBool("FleetManagerPin", true); - refreshPin(); - } - }); - addItem(fleetManagerPin); - - fs_watch = new QFileSystemWatcher(this); - connect(fs_watch, &QFileSystemWatcher::fileChanged, this, &DevicePanel::onPinFileChanged); - - QString pin_path = "/data/otp/otp.conf"; - QString pin_require = "/data/params/d/FleetManagerPin"; - fs_watch->addPath(pin_path); - fs_watch->addPath(pin_require); - refreshPin(); - - // Error Troubleshoot - auto errorBtn = new ButtonControl( - tr("Error Troubleshoot"), tr("VIEW"), - tr("Display error from the tmux session when an error has occurred from a system process.")); - QFileInfo file("/data/community/crashes/error.txt"); - QDateTime modifiedTime = file.lastModified(); - QString modified_time = modifiedTime.toString("yyyy-MM-dd hh:mm:ss "); - connect(errorBtn, &ButtonControl::clicked, [=]() { - const std::string txt = util::read_file("/data/community/crashes/error.txt"); - ConfirmationDialog::rich(modified_time + QString::fromStdString(txt), this); - }); - addItem(errorBtn); - pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"), tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); connect(pair_device, &ButtonControl::clicked, [=]() { @@ -370,33 +222,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(resetCalibBtn); - auto resetMapboxTokenBtn = new ButtonControl(tr("Reset Access Tokens for Map Services"), tr("RESET"), tr("Reset self-service access tokens for Mapbox, Amap, and Google Maps.")); - connect(resetMapboxTokenBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to reset access tokens for all map services?"), tr("Reset"), this)) { - std::vector
" - "
%2
") - .arg(tr("Engage both M.A.D.S. and ACC with a single press of RES+ or SET- button.")) - .arg(tr("Note: Once M.A.D.S. is engaged via this mode, it will remain engaged until it is manually disabled via the M.A.D.S. button or car shut off.")), - "../assets/offroad/icon_blank.png", - }, - { - "MadsCruiseMain", - tr("Toggle M.A.D.S. with Cruise Main"), - tr("Allows M.A.D.S. engagement/disengagement with \"Cruise Main\" cruise control button from the steering wheel."), - "../assets/offroad/icon_blank.png", - } - }; - - // Disengage Lateral on Brake (DLOB) - std::vector" - "%2") - .arg(tr("Formerly known as \"NNFF\", this replaces the lateral \"torque\" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy.")) - .arg(tr("Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported: ") + "#tuning-nnlc"); - - QString nnffDescriptionBuilder(const QString &custom_description) { - 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/offroad/sunnypilot/trips_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/trips_settings.cc deleted file mode 100644 index e21dc675ae..0000000000 --- a/selfdrive/ui/qt/offroad/sunnypilot/trips_settings.cc +++ /dev/null @@ -1,29 +0,0 @@ -#include "selfdrive/ui/qt/offroad/sunnypilot/trips_settings.h" - -TripsPanel::TripsPanel(QWidget* parent) : QFrame(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setMargin(0); - - // main content - main_layout->addSpacing(25); - center_layout = new QStackedLayout(); - - driveStatsWidget = new DriveStats; - driveStatsWidget->setStyleSheet(R"( - QLabel[type="title"] { font-size: 51px; font-weight: 500; } - QLabel[type="number"] { font-size: 78px; font-weight: 500; } - QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; } - )"); - center_layout->addWidget(driveStatsWidget); - - main_layout->addLayout(center_layout, 1); - - setStyleSheet(R"( - * { - color: white; - } - TripsPanel > QLabel { - font-size: 55px; - } - )"); -} diff --git a/selfdrive/ui/qt/offroad/sunnypilot/trips_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/trips_settings.h deleted file mode 100644 index dc77acac75..0000000000 --- a/selfdrive/ui/qt/offroad/sunnypilot/trips_settings.h +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once - -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/sunnypilot/drive_stats.h" - -class TripsPanel : public QFrame { - Q_OBJECT - -public: - explicit TripsPanel(QWidget* parent = 0); - -private: - Params params; - - QStackedLayout* center_layout; - DriveStats *driveStatsWidget; -}; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.h deleted file mode 100644 index b210225f49..0000000000 --- a/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.h +++ /dev/null @@ -1,59 +0,0 @@ -#pragma once - -#include
" - "%2") - .arg(tr("sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects.")) - .arg(tr("Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.")); - - QString toyotaEnhancedBsmDesciptionBuilder(const QString &custom_description) { - QString description = "" + custom_description + "
" + toyotaEnhancedBsmDescription; - return description; - } -}; diff --git a/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.h b/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.h deleted file mode 100644 index 3ea5825f59..0000000000 --- a/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/widgets/controls.h" - -class VisualsPanel : public ListWidget { - Q_OBJECT - -public: - explicit VisualsPanel(QWidget *parent = nullptr); - -private: - Params params; - std::map