diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml index b96a5a56a8..1d3563fb18 100644 --- a/.github/workflows/ci_weekly_report.yaml +++ b/.github/workflows/ci_weekly_report.yaml @@ -38,7 +38,7 @@ jobs: report: needs: [ci_matrix_run] runs-on: ubuntu-latest - if: always() + if: always() && github.repository == 'commaai/openpilot' steps: - name: Get job results uses: actions/github-script@v7 diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml new file mode 100644 index 0000000000..5552586529 --- /dev/null +++ b/.github/workflows/mici_raylib_ui_preview.yaml @@ -0,0 +1,151 @@ +name: "mici raylib ui preview" +on: + push: + branches: + - master + pull_request_target: + types: [assigned, opened, synchronize, reopened, edited] + branches: + - 'master' + paths: + - 'selfdrive/assets/**' + - 'selfdrive/ui/**' + - 'system/ui/**' + workflow_dispatch: + +env: + UI_JOB_NAME: "Create mici raylib UI Report" + REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }} + BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui" + MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib" + # All report files are pushed here + REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports" + +jobs: + preview: + if: github.repository == 'sunnypilot/sunnypilot' + name: preview + runs-on: ubuntu-latest + timeout-minutes: 20 + permissions: + contents: read + pull-requests: write + actions: read + steps: + - uses: actions/checkout@v4 + with: + submodules: true + + - name: Waiting for ui generation to end + uses: lewagon/wait-on-check-action@v1.3.4 + with: + ref: ${{ env.SHA }} + check-name: ${{ env.UI_JOB_NAME }} + repo-token: ${{ secrets.GITHUB_TOKEN }} + allowed-conclusions: success + wait-interval: 20 + + - name: Getting workflow run ID + id: get_run_id + run: | + echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT + + - name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4 + id: download-artifact + uses: dawidd6/action-download-artifact@v6 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + run_id: ${{ steps.get_run_id.outputs.run_id }} + search_artifacts: true + name: mici-raylib-report-1-${{ env.REPORT_NAME }} + path: ${{ github.workspace }}/pr_ui + + - name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4 + uses: actions/checkout@v4 + with: + repository: sunnypilot/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/master_ui_raylib + ref: ${{ env.MASTER_BRANCH_NAME }} + + - name: Saving new master ui + if: github.ref == 'refs/heads/master' && github.event_name == 'push' + working-directory: ${{ github.workspace }}/master_ui_raylib + run: | + git checkout --orphan=new_master_ui_mici_raylib + git rm -rf * + git branch -D ${{ env.MASTER_BRANCH_NAME }} + git branch -m ${{ env.MASTER_BRANCH_NAME }} + git config user.name "GitHub Actions Bot" + git config user.email "<>" + mv ${{ github.workspace }}/pr_ui/* . + git add . + git commit -m "mici raylib video for commit ${{ env.SHA }}" + git push origin ${{ env.MASTER_BRANCH_NAME }} --force + + - name: Setup FFmpeg + uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae + + - name: Finding diff + if: github.event_name == 'pull_request_target' + id: find_diff + run: | + # Find the video file from PR + pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" + mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video" + + master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" + mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video" + + # Run report + export PYTHONPATH=${{ github.workspace }} + baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}" + diff_exit_code=0 + python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$? + + # Copy diff report files + cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/ + cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/ + + REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html" + if [ $diff_exit_code -eq 0 ]; then + DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)" + else + DIFF="❌ Videos differ! [View Diff Report]($REPORT_URL)" + fi + echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT" + + - name: Saving proposed ui + if: github.event_name == 'pull_request_target' + working-directory: ${{ github.workspace }}/master_ui_raylib + run: | + # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference + git config user.name "GitHub Actions Bot" + git config user.email "<>" + git checkout --orphan=${{ env.BRANCH_NAME }} + git rm -rf * + mv ${{ github.workspace }}/pr_ui/* . + git add . + git commit -m "mici raylib video for PR #${{ github.event.number }}" + git push origin ${{ env.BRANCH_NAME }} --force + + # Append diff report to report files branch + git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }} + git checkout ${{ env.REPORT_FILES_BRANCH_NAME }} + cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html + git add diff_pr_${{ github.event.number }}.html + git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit" + git push origin ${{ env.REPORT_FILES_BRANCH_NAME }} + + - name: Comment Video on PR + if: github.event_name == 'pull_request_target' + uses: thollander/actions-comment-pull-request@v2 + with: + message: | + + ## mici raylib UI Preview + ${{ steps.find_diff.outputs.DIFF }} + comment_tag: run_id_video_mici_raylib + pr_number: ${{ github.event.number }} + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml index d3ad2d2419..dacbacbe26 100644 --- a/.github/workflows/sunnypilot-build-prebuilt.yaml +++ b/.github/workflows/sunnypilot-build-prebuilt.yaml @@ -6,10 +6,10 @@ env: CI_DIR: ${{ github.workspace }}/release/ci SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot" - + # Branch configurations STAGING_SOURCE_BRANCH: 'master' - + # Runtime configuration SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}" @@ -75,7 +75,7 @@ jobs: cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')"; echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT - + is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')"; echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT @@ -85,7 +85,7 @@ jobs: fi echo "build=$BUILD" >> $GITHUB_OUTPUT cat $GITHUB_OUTPUT - + validate_tests: runs-on: ubuntu-24.04 needs: [ prepare_strategy ] @@ -119,7 +119,7 @@ jobs: needs.prepare_strategy.result == 'success' && (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') && (!contains(github.event_name, 'pull_request') || - (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) + (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }} steps: - uses: actions/checkout@v4 @@ -134,7 +134,7 @@ jobs: with: path: ${{env.SCONS_CACHE_DIR}} key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }} - # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) + # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) # for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden. restore-keys: | scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }} @@ -148,7 +148,7 @@ jobs: echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT - + # Set up common environment source /etc/profile; export UV_PROJECT_ENVIRONMENT=${HOME}/venv @@ -180,6 +180,15 @@ jobs: ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/ cd $BUILD_DIR sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py + echo "Building sunnypilot's modeld..." + scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld + echo "Building sunnypilot's modeld_v2..." + scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2 + echo "Building sunnypilot's locationd..." + scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd + echo "Building openpilot's locationd..." + scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd + echo "Building rest of sunnypilot" scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal touch ${BUILD_DIR}/prebuilt if [[ "${{ runner.debug }}" == "1" ]]; then @@ -191,37 +200,28 @@ jobs: sudo rm -rf ${OUTPUT_DIR} mkdir -p ${OUTPUT_DIR} rsync -am${RUNNER_DEBUG:+v} \ - --include='**/panda/board/' \ - --include='**/panda/board/obj' \ - --include='**/panda/board/obj/panda.bin.signed' \ - --include='**/panda/board/obj/panda_h7.bin.signed' \ - --include='**/panda/board/obj/bootstub.panda.bin' \ - --include='**/panda/board/obj/bootstub.panda_h7.bin' \ --exclude='.sconsign.dblite' \ --exclude='*.a' \ --exclude='*.o' \ --exclude='*.os' \ --exclude='*.pyc' \ --exclude='moc_*' \ - --exclude='*.cc' \ + --exclude='__pycache__' \ --exclude='Jenkinsfile' \ - --exclude='supercombo.onnx' \ - --exclude='**/panda/board/*' \ - --exclude='**/panda/board/obj/**' \ - --exclude='**/panda/certs/' \ - --exclude='**/panda/crypto/' \ --exclude='**/release/' \ --exclude='**/.github/' \ --exclude='**/selfdrive/ui/replay/' \ --exclude='**/__pycache__/' \ - --exclude='**/selfdrive/ui/*.h' \ - --exclude='**/selfdrive/ui/**/*.h' \ - --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \ --exclude='${{env.SCONS_CACHE_DIR}}' \ --exclude='**/.git/' \ --exclude='**/SConstruct' \ --exclude='**/SConscript' \ --exclude='**/.venv/' \ + --exclude='selfdrive/modeld/models/driving_vision.onnx' \ + --exclude='selfdrive/modeld/models/driving_policy.onnx' \ + --exclude='sunnypilot/modeld*/models/supercombo.onnx' \ + --exclude='third_party/*x86*' \ + --exclude='third_party/*Darwin*' \ --delete-excluded \ --chown=comma:comma \ ${BUILD_DIR}/ ${OUTPUT_DIR}/ @@ -241,8 +241,8 @@ jobs: if: always() run: | PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable - - + + publish: concurrency: # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name. @@ -293,7 +293,7 @@ jobs: echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES" echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}" echo "3. Update as needed (JSON array with no spaces)" - + - name: Tag ${{ needs.prepare_strategy.outputs.environment }} if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }} run: | @@ -302,7 +302,7 @@ jobs: git push -f origin ${TAG} notify: - needs: + needs: - prepare_strategy - build - publish @@ -331,7 +331,7 @@ jobs: ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }} EOF ) - + { echo 'content<> .lfsconfig echo ' locksverify = false' >> .lfsconfig - - name: Push changes if there are diffs - id: push-changes # Add an id so we can reference this step + - name: Restore workflows from source run: | TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" + SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}" + + # Ensure we are on the target branch + git checkout $TARGET_BRANCH + + echo "Restoring .github/workflows from $SOURCE_BRANCH" + git checkout origin/$SOURCE_BRANCH -- .github/workflows + + if ! git diff --cached --quiet; then + echo "Workflows differ. Committing restoration." + git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH" + else + echo "Workflows match $SOURCE_BRANCH." + fi + + - uses: actions/create-github-app-token@v2 + id: ci-token + with: + app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }} + private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }} + + - name: Push changes if there are diffs + id: push-changes + run: | + TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" + + # Use the App Token to set the remote URL with authentication + git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git" # Fetch the latest from remote git fetch origin $TARGET_BRANCH @@ -188,7 +216,7 @@ jobs: exit 0 fi - # If we get here, there are diffs, so push + # Push with the authenticated origin if ! git push origin $TARGET_BRANCH --force; then echo "Failed to push changes to $TARGET_BRANCH" exit 1 diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index 8d6449cb4b..14fa6e1bd5 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -107,8 +107,8 @@ jobs: build_mac: name: build macOS - if: false # temp disable since gcc-arm-embedded install is getting stuck due to checksum mismatch runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} + if: false # There'll be one day that this works. That day is not today. steps: - uses: actions/checkout@v4 with: @@ -116,14 +116,13 @@ jobs: - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Homebrew cache uses: ./.github/workflows/auto-cache - if: false # disabling the cache for now because it is breaking macos builds... with: save: false # No need save here if we manually save it later conditionally path: ~/Library/Caches/Homebrew - key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }} restore-keys: | - brew-macos-${{ env.CACHE_COMMIT_DATE }} - brew-macos + brew-macos-${{ hashFiles('tools/Brewfile') }} + brew-macos- - name: Install dependencies run: ./tools/mac_setup.sh env: @@ -134,7 +133,7 @@ jobs: if: github.ref == 'refs/heads/master' with: path: ~/Library/Caches/Homebrew - key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }} - run: git lfs pull - name: Getting scons cache uses: ./.github/workflows/auto-cache @@ -298,3 +297,29 @@ jobs: with: name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} path: selfdrive/ui/tests/test_ui/raylib_report/screenshots + + create_mici_raylib_ui_report: + name: Create mici raylib UI Report + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} + 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 mici raylib UI Report + run: > + ${{ env.RUN }} "PYTHONWARNINGS=ignore && + source selfdrive/test/setup_xvfb.sh && + WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py" + - name: Upload Raylib UI Report + uses: actions/upload-artifact@v4 + with: + name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + path: selfdrive/ui/tests/diff/report diff --git a/README.md b/README.md index 598e1273a7..71fbb00e4c 100644 --- a/README.md +++ b/README.md @@ -11,66 +11,10 @@ Join the official sunnypilot community forum to stay up to date with all the lat https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot ## 🚘 Running on a dedicated device in a car -* A supported device to run this software - * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x) -* This software -* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot. -* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car - -Detailed instructions for [how to mount the device in a car](https://comma.ai/setup). +First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251). ## Installation -Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch. - -### If you want to use our newest branches (our rewrite) -> [!TIP] ->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links - -* sunnypilot not installed or you installed a version before 0.8.17? - 1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed. - 2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option. - 3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```. - 4. Complete the rest of the installation following the onscreen instructions. - -* sunnypilot already installed and you installed a version after 0.8.17? - 1. On the comma three/3X, go to `Settings` ▶️ `Software`. - 2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot. - 3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector. - 4. Scroll to select the desired branch per Recommended Branches (see below). Example: `staging` - -### Recommended Branches -| Branch | Installation URL | -|:---------------:|:---------------------------------------------:| -| `release` | `https://release.sunnypilot.ai` | -| `staging` | `https://staging.sunnypilot.ai` | -| `dev` | `https://dev.sunnypilot.ai` | -| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` | - -> [!TIP] -> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'. - -> [!NOTE] -> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel. - - -
- -Older legacy branches - -### If you want to use our older legacy branches (*not recommended*) - -> [**IMPORTANT**] -> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches. -> You can still restore the latest sunnylink backup made on the old branches. - -| Branch | Installation URL | -|:------------:|:--------------------------------:| -| `release-c3` | https://release-c3.sunnypilot.ai | -| `staging-c3` | https://staging-c3.sunnypilot.ai | -| `dev-c3` | https://dev-c3.sunnypilot.ai | - -
- +Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235). ## 🎆 Pull Requests We welcome both pull requests and issues on GitHub. Bug fixes are encouraged. diff --git a/RELEASES.md b/RELEASES.md index 58044dc694..3028351400 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,12 @@ +Version 0.10.3 (2025-12-17) +======================== +* New driving model #36249 + * New temporal policy architecture + * New on-policy training physics noise model +* New driver monitoring model #36409 + * Trained on a new dataset, including comma four data +* Improved inter-process communication memory efficiency + Version 0.10.2 (2025-11-19) ======================== * comma four support diff --git a/cereal/log.capnp b/cereal/log.capnp index c5052d6c14..55a47cff0a 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2524,13 +2524,10 @@ struct Event { controlsState @7 :ControlsState; selfdriveState @130 :SelfdriveState; gyroscope @99 :SensorEventData; - gyroscope2 @100 :SensorEventData; accelerometer @98 :SensorEventData; - accelerometer2 @101 :SensorEventData; magnetometer @95 :SensorEventData; lightSensor @96 :SensorEventData; temperatureSensor @97 :SensorEventData; - temperatureSensor2 @123 :SensorEventData; pandaStates @81 :List(PandaState); peripheralState @80 :PeripheralState; radarState @13 :RadarState; @@ -2693,5 +2690,8 @@ struct Event { liveLocationKalman @72 :LiveLocationKalman; liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED); onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED); + gyroscope2DEPRECATED @100 :SensorEventData; + accelerometer2DEPRECATED @101 :SensorEventData; + temperatureSensor2DEPRECATED @123 :SensorEventData; } } diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index b03285f80a..0ad846f0f4 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -2,7 +2,7 @@ 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 +from msgq import fake_event_handle, drain_sock_raw import msgq import os @@ -18,6 +18,20 @@ from openpilot.common.util import MovingAverage NO_TRAVERSAL_LIMIT = 2**64-1 +def pub_sock(endpoint: str) -> PubSocket: + service = SERVICE_LIST.get(endpoint) + segment_size = service.queue_size if service else 0 + return msgq.pub_sock(endpoint, segment_size) + + +def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1", + conflate: bool = False, timeout: Optional[int] = None) -> SubSocket: + service = SERVICE_LIST.get(endpoint) + segment_size = service.queue_size if service else 0 + return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate, + timeout=timeout, segment_size=segment_size) + + def reset_context(): msgq.context = Context() diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc index 7f7e2795c4..dfeeb807ee 100644 --- a/cereal/messaging/socketmaster.cc +++ b/cereal/messaging/socketmaster.cc @@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector &service_list, const std::v assert(services.count(std::string(name)) > 0); service serv = services.at(std::string(name)); - SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true); + SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size); assert(socket != 0); bool is_polled = inList(poll, name) || poll.empty(); if (is_polled) poller_->registerSocket(socket); @@ -187,7 +187,8 @@ SubMaster::~SubMaster() { PubMaster::PubMaster(const std::vector &service_list) { for (auto name : service_list) { assert(services.count(name) > 0); - PubSocket *socket = PubSocket::create(message_context.context(), name); + service serv = services.at(std::string(name)); + PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size); assert(socket); sockets_[name] = socket; } diff --git a/cereal/services.py b/cereal/services.py index 67548bc79e..a2fd5f7dce 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -1,37 +1,44 @@ #!/usr/bin/env python3 +from enum import IntEnum from typing import Optional +# TODO: this should be automatically determined using the capnp schema +class QueueSize(IntEnum): + BIG = 10 * 1024 * 1024 # 10MB - video frames, large AI outputs + MEDIUM = 2 * 1024 * 1024 # 2MB - high freq (CAN), livestream + SMALL = 250 * 1024 # 250KB - most services + + class Service: - def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None): + def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None, + queue_size: QueueSize = QueueSize.SMALL): self.should_log = should_log self.frequency = frequency self.decimation = decimation + self.queue_size = queue_size _services: dict[str, tuple] = { # service: (should_log, frequency, qlog decimation (optional)) # note: the "EncodeIdx" packets will still be in the log "gyroscope": (True, 104., 104), - "gyroscope2": (True, 100., 100), "accelerometer": (True, 104., 104), - "accelerometer2": (True, 100., 100), "magnetometer": (True, 25.), "lightSensor": (True, 100., 100), "temperatureSensor": (True, 2., 200), - "temperatureSensor2": (True, 2., 200), "gpsNMEA": (True, 9.), "deviceState": (True, 2., 1), "touch": (True, 20., 1), - "can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment - "controlsState": (True, 100., 10), + "can": (True, 100., 2053, QueueSize.BIG), # decimation gives ~3 msgs in a full segment + "controlsState": (True, 100., 10, QueueSize.MEDIUM), "selfdriveState": (True, 100., 10), "pandaStates": (True, 10., 1), "peripheralState": (True, 2., 1), "radarState": (True, 20., 5), "roadEncodeIdx": (False, 20., 1), "liveTracks": (True, 20.), - "sendcan": (True, 100., 139), + "sendcan": (True, 100., 139, QueueSize.MEDIUM), "logMessage": (True, 0.), "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), @@ -43,7 +50,7 @@ _services: dict[str, tuple] = { "carOutput": (True, 100., 10), "longitudinalPlan": (True, 20., 10), "driverAssistance": (True, 20., 20), - "procLog": (True, 0.5, 15), + "procLog": (True, 0.5, 15, QueueSize.BIG), "gpsLocationExternal": (True, 10., 10), "gpsLocation": (True, 1., 1), "ubloxGnss": (True, 10.), @@ -65,7 +72,7 @@ _services: dict[str, tuple] = { "wideRoadEncodeIdx": (False, 20., 1), "wideRoadCameraState": (True, 20., 20), "drivingModelData": (True, 20., 10), - "modelV2": (True, 20.), + "modelV2": (True, 20., None, QueueSize.BIG), "managerState": (True, 2., 1), "uploaderState": (True, 0., 1), "navInstruction": (True, 1., 10), @@ -77,10 +84,14 @@ _services: dict[str, tuple] = { "rawAudioData": (False, 20.), "bookmarkButton": (True, 0., 1), "audioFeedback": (True, 0., 1), + "roadEncodeData": (False, 20., None, QueueSize.BIG), + "driverEncodeData": (False, 20., None, QueueSize.BIG), + "wideRoadEncodeData": (False, 20., None, QueueSize.BIG), + "qRoadEncodeData": (False, 20., None, QueueSize.BIG), # sunnypilot - "modelManagerSP": (False, 1., 1), - "backupManagerSP": (False, 1., 1), + "modelManagerSP": (False, 1., 1, QueueSize.BIG), + "backupManagerSP": (False, 1., 1, QueueSize.BIG), "selfdriveStateSP": (True, 100., 10), "longitudinalPlanSP": (True, 20., 10), "onroadEventsSP": (True, 1., 1), @@ -88,23 +99,19 @@ _services: dict[str, tuple] = { "carControlSP": (True, 100., 10), "carStateSP": (True, 100., 10), "liveMapDataSP": (True, 1., 1), - "modelDataV2SP": (True, 20.), + "modelDataV2SP": (True, 20., None, QueueSize.BIG), "liveLocationKalman": (True, 20.), # debug "uiDebug": (True, 0., 1), "testJoystick": (True, 0.), "alertDebug": (True, 20., 5), - "roadEncodeData": (False, 20.), - "driverEncodeData": (False, 20.), - "wideRoadEncodeData": (False, 20.), - "qRoadEncodeData": (False, 20.), "livestreamWideRoadEncodeIdx": (False, 20.), "livestreamRoadEncodeIdx": (False, 20.), "livestreamDriverEncodeIdx": (False, 20.), - "livestreamWideRoadEncodeData": (False, 20.), - "livestreamRoadEncodeData": (False, 20.), - "livestreamDriverEncodeData": (False, 20.), + "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM), + "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM), + "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM), "customReservedRawData0": (True, 0.), "customReservedRawData1": (True, 0.), "customReservedRawData2": (True, 0.), @@ -122,13 +129,13 @@ def build_header(): h += "#include \n" h += "#include \n" - h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n" + h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n" h += "static std::map services = {\n" for k, v in SERVICE_LIST.items(): should_log = "true" if v.should_log else "false" decimation = -1 if v.decimation is None else v.decimation - h += ' { "%s", {"%s", %s, %f, %d}},\n' % \ - (k, k, should_log, v.frequency, decimation) + h += ' { "%s", {"%s", %s, %f, %d, %d}},\n' % \ + (k, k, should_log, v.frequency, decimation, v.queue_size) h += "};\n" h += "#endif\n" diff --git a/common/api/__init__.py b/common/api/__init__.py index 8b261486ba..d0b3dbc9e9 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params): return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params) -def get_key_pair(): +def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]: return CommaConnectApi(None).get_key_pair() diff --git a/common/api/base.py b/common/api/base.py index 682b266056..c37652b455 100644 --- a/common/api/base.py +++ b/common/api/base.py @@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC from openpilot.system.hardware.hw import Paths from openpilot.system.version import get_version - # name : jwt signature algorithm -KEYS = {"id_rsa" : "RS256", - "id_ecdsa" : "ES256"} +# name: jwt signature algorithm +KEYS = {"id_rsa": "RS256", + "id_ecdsa": "ES256"} class BaseApi: @@ -62,7 +62,7 @@ class BaseApi: return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params) @staticmethod - def get_key_pair(): + def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]: for key in KEYS: if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'): with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public: diff --git a/common/model.h b/common/model.h index 03773b633a..f01460cdb6 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "The Cool People (Default)" +#define DEFAULT_MODEL "Dark Souls 2 (Default)" diff --git a/common/params_keys.h b/common/params_keys.h index 38578d7ddc..7cfdf75406 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,6 +71,7 @@ inline static std::unordered_map keys = { {"LastGPSPosition", {PERSISTENT, STRING}}, {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}}, {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}}, + {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}}, {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}}, {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}}, {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}}, @@ -138,6 +139,7 @@ inline static std::unordered_map keys = { {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}}, // MPH or km/h {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}}, {"Brightness", {PERSISTENT | BACKUP, INT, "0"}}, + {"CarList", {PERSISTENT, JSON}}, {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}}, {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}}, {"CarParamsSPPersistent", {PERSISTENT, BYTES}}, @@ -211,6 +213,7 @@ inline static std::unordered_map keys = { {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}}, {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}}, {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}}, {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}}, {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}}, diff --git a/common/prefix.py b/common/prefix.py index 207f8477d7..b19ce1472b 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) - self.msgq_path = os.path.join(Paths.shm_path(), self.prefix) + self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix) self.create_dirs_on_enter = create_dirs_on_enter self.clean_dirs_on_exit = clean_dirs_on_exit self.shared_download_cache = shared_download_cache diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index c7fe1984c5..c2b880f873 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -1,7 +1,7 @@ import os from uuid import uuid4 -from openpilot.common.utils import atomic_write_in_dir +from openpilot.common.utils import atomic_write class TestFileHelpers: @@ -15,5 +15,5 @@ class TestFileHelpers: assert f.read() == "test" os.remove(path) - def test_atomic_write_in_dir(self): - self.run_atomic_write_func(atomic_write_in_dir) + def test_atomic_write(self): + self.run_atomic_write_func(atomic_write) diff --git a/common/utils.py b/common/utils.py index 89c0601f06..71b29a0c4e 100644 --- a/common/utils.py +++ b/common/utils.py @@ -32,8 +32,8 @@ class CallbackReader: @contextlib.contextmanager -def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None, - overwrite: bool = False): +def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = 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) diff --git a/common/version.h b/common/version.h index ef20670781..c489ecc578 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.10.2" +#define COMMA_VERSION "0.10.3" diff --git a/docs/CARS.md b/docs/CARS.md index 4c1e90e18d..5c659d284e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -14,13 +14,13 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|TLX 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| @@ -34,7 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -48,8 +48,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Ford|Focus 2018[2](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Ford|Focus Hybrid 2018[2](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| @@ -82,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|City (Brazil only) 2023|All|openpilot available[1](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Civic 2022-24|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 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -202,171 +202,170 @@ A supported vehicle is one that just works when you install a comma device. All |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 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|RX 2016|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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|RX Hybrid 2016|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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Nissan[6](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[6](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[6](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[6](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|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-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Forester 2017-18|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|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-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|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-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|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-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Legacy 2015-18|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|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 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Outback 2015-17|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Outback 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|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 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Škoda|Fabia 2022-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[16](#footnotes)||| -|Škoda|Kamiq 2021-23[12,14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[16](#footnotes)||| -|Škoda|Karoq 2019-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Kodiaq 2017-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia 2015-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia RS 2016[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia Scout 2017-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Scala 2020-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[16](#footnotes)||| -|Škoda|Superb 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[10](#footnotes)|Model 3 (with HW3) 2019-23[9](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[10](#footnotes)|Model 3 (with HW4) 2024-25[9](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[10](#footnotes)|Model Y (with HW3) 2020-23[9](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[10](#footnotes)|Model Y (with HW4) 2024-25[9](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Forester 2017-18|EyeSight Driver Assistance[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Legacy 2015-18|EyeSight Driver Assistance[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Outback 2015-17|EyeSight Driver Assistance[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Outback 2018-19|EyeSight Driver Assistance[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Škoda|Fabia 2022-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Kamiq 2021-23[11,13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Karoq 2019-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Kodiaq 2017-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia 2015-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia RS 2016[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia Scout 2017-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Scala 2020-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Superb 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model Y (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Avalon 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| +|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Camry 2018-20|All|Stock|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Camry 2021-24|All|openpilot|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Camry 2018-20|All|Stock|0 mph[10](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Camry 2021-24|All|openpilot|0 mph[10](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Highlander 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Highlander Hybrid 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| +|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Prius v 2017|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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| -|Toyota|RAV4 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|RAV4 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| +|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| +|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| +|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Toyota|RAV4 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| -|Toyota|RAV4 Hybrid 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| -|Toyota|RAV4 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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |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 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[16](#footnotes)||| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[16](#footnotes)||| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[16](#footnotes)||| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
-2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
-3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
-4See more setup details for GM.
-52019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-6See more setup details for Nissan.
-7In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
-8Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
-9Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
-10See more setup details for Tesla.
-11openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-12Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-13Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-14Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality.
-15Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-16Model-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.
+2Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
+3See more setup details for GM.
+42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+5See more setup details for Nissan.
+6In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
+7Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
+8Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
+9See more setup details for Tesla.
+10openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+11Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+12Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+13Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality.
+14Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+15Model-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/). @@ -384,7 +383,7 @@ If your car has the following packages or features, then it's a good candidate f | Make | Required Package/Features | | ---- | ------------------------- | -| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. | | Ford | Any car with Lane Centering will likely work. | | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index eb6e75afa2..644c35e0ab 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin tools/replay/replay --demo # in terminal 2 -selfdrive/ui/ui +./selfdrive/ui/ui.py ``` The openpilot UI should launch and show a replay of the demo route. @@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own Now let’s update the speed display color in the UI. -Search for the function responsible for rendering UI text: +Search for the function responsible for rendering the current speed: ```bash -git grep "drawText" selfdrive/ui/qt/onroad/hud.cc +git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py ``` -You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function: +You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function: -```cpp -void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { - QRect real_rect = p.fontMetrics().boundingRect(text); - real_rect.moveCenter({x, y - real_rect.height() / 2}); - - p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color - p.drawText(real_rect.x(), real_rect.bottom(), text); -} +```python +def _draw_current_speed(self, rect: rl.Rectangle) -> None: + """Draw the current vehicle speed and unit.""" + speed_text = str(round(self.speed)) + speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed) + speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) + rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) # <- this sets the speed text color ``` -Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to: +Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline: ```diff -- p.setPen(QColor(0xff, 0xff, 0xff, alpha)); -+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha)); +- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) ++ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255)) ``` -This change will tint all speed-related UI text to blue with the same transparency (`alpha`). - --- -## 4. Rebuild the UI +## 4. Re-run the UI -After making changes, rebuild Openpilot so your new UI is compiled: +After making changes, re-run the UI to see your new UI: ```bash -scons -j$(nproc) && selfdrive/ui/ui +./selfdrive/ui/ui.py ``` ![](https://blog.comma.ai/img/blue_speed_ui.png) diff --git a/msgq_repo b/msgq_repo index a16cf1f608..6abe47bc98 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit a16cf1f608538d14f66bd6142230d8728f2d0abc +Subproject commit 6abe47bc98b83338b6ea04a87a6b2b5c65d09630 diff --git a/opendbc_repo b/opendbc_repo index 61bf5a90c5..74ac678501 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 61bf5a90c5c1917b657b8dd50c4d95e437413170 +Subproject commit 74ac6785011b2861b822651f51d0cd2f01ce79d2 diff --git a/panda b/panda index dee9061b2a..5f3c09c910 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dee9061b2ab83845b8620e8722620fcf50a316dd +Subproject commit 5f3c09c9105f26c6c5c858d5c7f4e375a367fcc1 diff --git a/pyproject.toml b/pyproject.toml index c58d950496..90feace27d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -85,6 +85,7 @@ docs = [ ] testing = [ + "coverage", "hypothesis ==6.47.*", "mypy", "pytest", @@ -115,7 +116,7 @@ dev = [ "pyautogui", "pygame", "pyopencl; platform_machine != 'aarch64'", # broken on arm64 - "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version + "pytools>=2025.1.6; platform_machine != 'aarch64'", "pywinctl", "pyprof2calltree", "tabulate", @@ -125,7 +126,7 @@ dev = [ tools = [ "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')", - "dearpygui>=2.1.0", + "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64 ] [project.urls] @@ -226,7 +227,7 @@ lint.select = [ "TRY203", "TRY400", "TRY401", # try/excepts "RUF008", "RUF100", "TID251", - "PLR1704", + "PLE", "PLR1704", ] lint.ignore = [ "E741", diff --git a/scripts/usbgpu/benchmark.sh b/scripts/usbgpu/benchmark.sh new file mode 100755 index 0000000000..04a76d054e --- /dev/null +++ b/scripts/usbgpu/benchmark.sh @@ -0,0 +1,26 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR/../../tinygrad_repo + +GREEN='\033[0;32m' +NC='\033[0m' + + +#export DEBUG=2 +export PYTHONPATH=. +export AM_RESET=1 +export AMD=1 +export AMD_IFACE=USB +export AMD_LLVM=1 + +python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \ + > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1) +printf "${GREEN}Booted in ${SECONDS}s${NC}\n" +printf "${GREEN}=============${NC}\n" + +printf "\n\n" +printf "${GREEN}Transfer speeds:${NC}\n" +printf "${GREEN}================${NC}\n" +python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds diff --git a/selfdrive/assets/fonts/Audiowide-Regular.ttf b/selfdrive/assets/fonts/Audiowide-Regular.ttf new file mode 100644 index 0000000000..1b6913947b --- /dev/null +++ b/selfdrive/assets/fonts/Audiowide-Regular.ttf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:434a720871336d359378beff5ebff3f9fd654d958693d272c7c6f2e271c7e41c +size 47676 diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png index 4d83ed5cd9..04ffc24356 100644 --- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png +++ b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f27352a18194a1c819e9eaea89cfc11d2964402df0a28efa3ba60ae2d972fe67 -size 13108 +oid sha256:b7eb870d01e5bf6c421e204026a4ea08e177731f2d6b5b17c4ad43c90c1c3e78 +size 23549 diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png index 7aa7f0542a..540b2029a0 100644 --- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png +++ b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25d66e42a28a3367eb40724d28652889089aa762438b475645269e0319c46009 -size 1431 +oid sha256:f7b3bb76ee2359076339285ea6bced5b680e5b919a1b7dee163f36cd819c9ea1 +size 1746 diff --git a/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png b/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png new file mode 100644 index 0000000000..92993e3e00 --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b7dce550c008ff7a65ed19ccf308ecf92cd0118bb544978b7dd7393c5c27ae5 +size 809 diff --git a/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png b/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png new file mode 100644 index 0000000000..53a837afbe --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e102b8b2e71a25d9f818b37d6f75ed958430cb765a07ae50713995779fb6a886 +size 1388 diff --git a/selfdrive/assets/icons_mici/setup/orange_dm.png b/selfdrive/assets/icons_mici/setup/orange_dm.png new file mode 100644 index 0000000000..74cce9d975 --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/orange_dm.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38a108f96f85a154b698693b07f2e4214124b8f2545b7c4490cea0aa998d75fd +size 11855 diff --git a/selfdrive/assets/icons_mici/setup/small_button_disabled.png b/selfdrive/assets/icons_mici/setup/small_button_disabled.png new file mode 100644 index 0000000000..da8bb3eefd --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/small_button_disabled.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ed258d8e0531c19705953ded065c6d5e14929728a2909d8d4e335898fa5d080 +size 4056 diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav index 8983884b25..7bfd97ad71 100644 --- a/selfdrive/assets/sounds/disengage.wav +++ b/selfdrive/assets/sounds/disengage.wav @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c94582be9d921146b3c356e08a7352700c309cb407877c1180542811b2d637fa -size 48078 +oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013 +size 48044 diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav index 39d4c749c8..8633b5ac2d 100644 --- a/selfdrive/assets/sounds/engage.wav +++ b/selfdrive/assets/sounds/engage.wav @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bc2b12bfe816a79307660b6b3d2de87a7643c6ccbfc9d1b33804645ad717682a -size 48078 +oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a +size 48044 diff --git a/selfdrive/assets/sounds/make_beeps.py b/selfdrive/assets/sounds/make_beeps.py new file mode 100644 index 0000000000..6161e80e74 --- /dev/null +++ b/selfdrive/assets/sounds/make_beeps.py @@ -0,0 +1,19 @@ +import numpy as np +from scipy.io import wavfile + + +sr = 48000 +max_int16 = 2**15 - 1 + +def harmonic_beep(freq, duration_seconds): + n_total = int(sr * duration_seconds) + + signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr) + x = np.arange(n_total) + exp_scale = np.exp(-x/5.5e3) + return max_int16 * signal * exp_scale + +engage_beep = harmonic_beep(1661.219, 0.5) +wavfile.write("engage.wav", sr, engage_beep.astype(np.int16)) +disengage_beep = harmonic_beep(1318.51, 0.5) +wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16)) diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 463683fd3c..cd352b2ede 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f | Make | Required Package/Features | | ---- | ------------------------- | -| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. | | Ford | Any car with Lane Centering will likely work. | | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 270111524e..c0ae29916f 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -26,6 +26,18 @@ class MockCarState: return CS, CS_SP +BRAND_EXTRA_GEARS = { + 'ford': [GearShifter.low, GearShifter.manumatic], + 'nissan': [GearShifter.brake], + 'chrysler': [GearShifter.low], + 'honda': [GearShifter.sport], + 'toyota': [GearShifter.sport], + 'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], + 'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic], + 'hyundai': [GearShifter.sport, GearShifter.manumatic] +} + + class CarSpecificEvents: def __init__(self, CP: structs.CarParams): self.CP = CP @@ -36,17 +48,13 @@ class CarSpecificEvents: self.silent_steer_warning = True def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): + extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None) + if self.CP.brand in ('body', 'mock'): events = Events() - elif self.CP.brand == 'ford': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic]) - - elif self.CP.brand == 'nissan': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake]) - elif self.CP.brand == 'chrysler': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low]) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) # Low speed steer alert hysteresis logic if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5): @@ -57,7 +65,7 @@ class CarSpecificEvents: events.add(EventName.belowSteerSpeed) elif self.CP.brand == 'honda': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False) if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) @@ -79,10 +87,11 @@ class CarSpecificEvents: elif self.CP.brand == 'toyota': # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3 - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport]) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) if self.CP.openpilotLongitudinalControl: - if CS.cruiseState.standstill and not CS.brakePressed: + # Only can leave standstill when planner wants to move + if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume: events.add(EventName.resumeRequired) if CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) @@ -94,9 +103,7 @@ class CarSpecificEvents: events.add(EventName.manualRestart) elif self.CP.brand == 'gm': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low, - GearShifter.eco, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise) # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs @@ -107,8 +114,7 @@ class CarSpecificEvents: events.add(EventName.resumeRequired) elif self.CP.brand == 'volkswagen': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise) if self.CP.openpilotLongitudinalControl: if CS.vEgo < self.CP.minEnableSpeed + 0.5: @@ -121,15 +127,14 @@ class CarSpecificEvents: # events.add(EventName.steerTimeLimit) elif self.CP.brand == 'hyundai': - events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic), - pcm_enable=self.CP.pcmCruise, allow_button_cancel=False) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False) else: - events = self.create_common_events(CS, CS_prev) + events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) return events - def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True, + def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True, allow_button_cancel=True): events = Events() diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index eaaf5a51e9..9d0e5c9f15 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 import math -import threading -import time from numbers import Number from cereal import car, log @@ -22,8 +20,6 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose -from openpilot.sunnypilot.livedelay.helpers import get_lat_delay -from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt State = log.SelfdriveState.OpenpilotState @@ -33,7 +29,7 @@ LaneChangeDirection = log.LaneChangeDirection ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) -class Controls(ControlsExt, ModelStateBase): +class Controls(ControlsExt): def __init__(self) -> None: self.params = Params() cloudlog.info("controlsd is waiting for CarParams") @@ -42,7 +38,6 @@ class Controls(ControlsExt, ModelStateBase): # Initialize sunnypilot controlsd extension and base model state ControlsExt.__init__(self, self.CP, self.params) - ModelStateBase.__init__(self) self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP) @@ -231,30 +226,15 @@ class Controls(ControlsExt, ModelStateBase): cc_send.carControl = CC self.pm.send('carControl', cc_send) - def params_thread(self, evt): - while not evt.is_set(): - self.get_params_sp() - - if self.CP.lateralTuning.which() == 'torque': - self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay) - - time.sleep(0.1) - def run(self): rk = Ratekeeper(100, print_delay_threshold=None) - e = threading.Event() - t = threading.Thread(target=self.params_thread, args=(e,)) - try: - t.start() - while True: - self.update() - CC, lac_log = self.state_control() - self.publish(CC, lac_log) - self.run_ext(self.sm, self.pm) - rk.monitor_time() - finally: - e.set() - t.join() + while True: + self.update() + CC, lac_log = self.state_control() + self.publish(CC, lac_log) + self.get_params_sp(self.sm) + self.run_ext(self.sm, self.pm) + rk.monitor_time() def main(): diff --git a/selfdrive/debug/analyze-msg-size.py b/selfdrive/debug/analyze-msg-size.py new file mode 100755 index 0000000000..69015a6be2 --- /dev/null +++ b/selfdrive/debug/analyze-msg-size.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python3 +import argparse +from tqdm import tqdm + +from cereal.services import SERVICE_LIST, QueueSize +from openpilot.tools.lib.logreader import LogReader + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Analyze message sizes from a log route") + parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255", + help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)") + args = parser.parse_args() + + lr = LogReader(args.route) + + szs = {} + for msg in tqdm(lr): + sz = len(msg.as_builder().to_bytes()) + msg_type = msg.which() + if msg_type not in szs: + szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1} + else: + szs[msg_type]['min'] = min(szs[msg_type]['min'], sz) + szs[msg_type]['max'] = max(szs[msg_type]['max'], sz) + szs[msg_type]['sum'] += sz + szs[msg_type]['count'] += 1 + + print() + print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}") + print("-" * 132) + def sort_key(x): + k, v = x + avg = v['sum'] / v['count'] + freq = SERVICE_LIST.get(k, None) + freq_val = freq.frequency if freq else 0.0 + kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0 + return kb_per_min + total_kb_per_min = 0.0 + RINGBUFFER_SIZE_KB = 10 * 1024 # 10MB old default + for k, v in sorted(szs.items(), key=sort_key, reverse=True): + avg = v['sum'] / v['count'] + service = SERVICE_LIST.get(k, None) + freq_val = service.frequency if service else 0.0 + queue_size_kb = (service.queue_size / 1024) if service else 250 # default to SMALL + kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0 + kb_per_sec = kb_per_min / 60 + minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf') + seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf') + total_kb_per_min += kb_per_min + min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf" + sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf" + print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}") + + # Summary section + print() + print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min") + + # Calculate memory usage: old (10MB for all) vs new (from services.py) + OLD_SIZE = 10 * 1024 * 1024 # 10MB was the old default + old_total = len(SERVICE_LIST) * OLD_SIZE + + new_total = sum(s.queue_size for s in SERVICE_LIST.values()) + + # Count by queue size + size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0} + for s in SERVICE_LIST.values(): + size_counts[s.queue_size] += 1 + + savings_pct = (1 - new_total / old_total) * 100 + + print() + print(f"{'Queue Size Comparison':<40}") + print("-" * 60) + print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB") + print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB") + print(f"{'Savings:':<30} {savings_pct:>10.1f}%") + print() + print(f"{'Breakdown:':<30}") + print(f" BIG (10MB): {size_counts[QueueSize.BIG]:>3} services") + print(f" MEDIUM (2MB): {size_counts[QueueSize.MEDIUM]:>3} services") + print(f" SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services") diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index bf4588a40c..2a3ac8b861 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -172,7 +172,7 @@ class PoseCalibrator: ned_from_calib_euler = self._ned_from_calib(pose.orientation) angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity) acceleration_calib = self._transform_calib_from_device(pose.acceleration) - velocity_calib = self._transform_calib_from_device(pose.angular_velocity) + velocity_calib = self._transform_calib_from_device(pose.velocity) return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 1e764af9ba..e0eb918125 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c5a1f0655ddf266ed42ad1980389d96f47cc5e756da1fa3ca1477a920bb9b157 +oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7 size 13926324 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 441c4a16af..76c96670a9 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4 +oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438 size 46271942 diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py deleted file mode 100644 index 6927c9e473..0000000000 --- a/selfdrive/modeld/tests/test_modeld.py +++ /dev/null @@ -1,102 +0,0 @@ -import numpy as np -import random - -import cereal.messaging as messaging -from msgq.visionipc import VisionIpcServer, VisionStreamType -from opendbc.car.car_helpers import get_demo_car_params -from openpilot.common.params import Params -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.common.realtime import DT_MDL -from openpilot.system.manager.process_config import managed_processes -from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state - -CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam -IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8) -IMG_BYTES = IMG.flatten().tobytes() - - -class TestModeld: - - def setup_method(self): - self.vipc_server = VisionIpcServer("camerad") - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height) - self.vipc_server.start_listener() - Params().put("CarParams", get_demo_car_params().to_bytes()) - - self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) - self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) - - managed_processes['modeld'].start() - self.pm.wait_for_readers_to_update("roadCameraState", 10) - - def teardown_method(self): - managed_processes['modeld'].stop() - del self.vipc_server - - def _send_frames(self, frame_id, cams=None): - if cams is None: - cams = ('roadCameraState', 'wideRoadCameraState') - - cs = None - 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(cs.timestampSof + (DT_MDL * 1e9)) - cam_meta = meta_from_camera_state(cam) - - self.pm.send(msg.which(), msg) - self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId, - cs.timestampSof, cs.timestampEof) - return cs - - def _wait(self): - self.sm.update(5000) - if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId: - self.sm.update(1000) - - def test_modeld(self): - for n in range(1, 500): - cs = self._send_frames(n) - self._wait() - - mdl = self.sm['modelV2'] - assert mdl.frameId == n - assert mdl.frameIdExtra == n - assert mdl.timestampEof == cs.timestampEof - assert mdl.frameAge == 0 - assert mdl.frameDropPerc == 0 - - odo = self.sm['cameraOdometry'] - assert odo.frameId == n - assert odo.timestampEof == cs.timestampEof - - def test_dropped_frames(self): - """ - modeld should only run on consecutive road frames - """ - frame_id = -1 - road_frames = list() - for n in range(1, 50): - if (random.random() < 0.1) and n > 3: - cams = random.choice([(), ('wideRoadCameraState', )]) - self._send_frames(n, cams) - else: - self._send_frames(n) - road_frames.append(n) - self._wait() - - if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1: - frame_id = road_frames[-1] - - mdl = self.sm['modelV2'] - odo = self.sm['cameraOdometry'] - assert mdl.frameId == frame_id - assert mdl.frameIdExtra == frame_id - assert odo.frameId == frame_id - if n != frame_id: - assert not self.sm.updated['modelV2'] - assert not self.sm.updated['cameraOdometry'] diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 02e5aafa68..022415af6d 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -40,8 +40,8 @@ def dmonitoringd_thread(): # save rhd virtual toggle every 5 mins if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and - DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and - DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)): + DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and + DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)): params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right) def main(): diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 7697e68b98..4f068c4f5a 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -40,6 +40,9 @@ class DRIVER_MONITOR_SETTINGS: self._PHONE_THRESH2 = 15.0 self._PHONE_MAX_OFFSET = 0.06 self._PHONE_MIN_OFFSET = 0.025 + self._PHONE_DATA_AVG = 0.05 + self._PHONE_DATA_VAR = 3*0.005 + self._PHONE_MAX_COUNT = int(360 / self._DT_DMON) self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 @@ -47,9 +50,11 @@ class DRIVER_MONITOR_SETTINGS: self._POSE_YAW_THRESHOLD = 0.4020 self._POSE_YAW_THRESHOLD_SLACK = 0.5042 self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD - self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned + self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned self._PITCH_NATURAL_THRESHOLD = 0.449 - self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned + self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned + self._PITCH_NATURAL_VAR = 3*0.01 + self._YAW_NATURAL_VAR = 3*0.05 self._PITCH_MAX_OFFSET = 0.124 self._PITCH_MIN_OFFSET = -0.0881 self._YAW_MAX_OFFSET = 0.289 @@ -70,6 +75,9 @@ class DRIVER_MONITOR_SETTINGS: self._WHEELPOS_CALIB_MIN_SPEED = 11 self._WHEELPOS_THRESHOLD = 0.5 self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side + self._WHEELPOS_DATA_AVG = 0.03 + self._WHEELPOS_DATA_VAR = 3*5.5e-5 + self._WHEELPOS_MAX_COUNT = -1 self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change @@ -78,30 +86,33 @@ class DRIVER_MONITOR_SETTINGS: self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts class DistractedType: + NOT_DISTRACTED = 0 DISTRACTED_POSE = 1 << 0 DISTRACTED_BLINK = 1 << 1 DISTRACTED_PHONE = 1 << 2 class DriverPose: - def __init__(self, max_trackable): + def __init__(self, settings): + pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2) + yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2) self.yaw = 0. self.pitch = 0. self.roll = 0. self.yaw_std = 0. self.pitch_std = 0. self.roll_std = 0. - self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) - self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) + self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT) + self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT) self.calibrated = False self.low_std = True self.cfactor_pitch = 1. self.cfactor_yaw = 1. -class DriverPhone: - def __init__(self, max_trackable): +class DriverProb: + def __init__(self, raw_priors, max_trackable): self.prob = 0. - self.prob_offseter = RunningStatFilter(max_trackable=max_trackable) + self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable) self.prob_calibrated = False class DriverBlink: @@ -140,9 +151,11 @@ class DriverMonitoring: self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type()) # init driver status - self.wheelpos_learner = RunningStatFilter() - self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) - self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT) + wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2) + phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2) + self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT) + self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT) + self.pose = DriverPose(settings=self.settings) self.blink = DriverBlink() self.always_on = always_on @@ -234,8 +247,11 @@ class DriverMonitoring: self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit yaw_error = abs(yaw_error) - if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ - yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: + + pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD + yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw + + if pitch_error > pitch_threshold or yaw_error > yaw_threshold: distracted_types.append(DistractedType.DISTRACTED_POSE) if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: @@ -256,9 +272,12 @@ class DriverMonitoring: # calibrates only when there's movement and either face detected if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD): - self.wheelpos_learner.push_and_update(rhd_pred) - if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode: - self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD + self.wheelpos.prob_offseter.push_and_update(rhd_pred) + + self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT + + if self.wheelpos.prob_calibrated or demo_mode: + self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD else: self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished # make sure no switching when engaged @@ -430,7 +449,7 @@ class DriverMonitoring: rpyCalib = [0., 0., 0.] else: highway_speed = sm['carState'].vEgo - enabled = sm['selfdriveState'].enabled + enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low) standstill = sm['carState'].standstill driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 6ea9b80283..75adb6a2c8 100644 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -1,6 +1,7 @@ import numpy as np +import pytest -from cereal import log +from cereal import log, car from openpilot.common.realtime import DT_DMON from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS from openpilot.system.hardware import HARDWARE @@ -204,3 +205,66 @@ class TestMonitoring: assert EventName.driverUnresponsive in \ events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names + +@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [ + (False, False, False), # Both Disabled + (True, False, True), # OP Enabled, Lat Inactive + (False, True, True), # OP Disabled, Lat Active (e.g. MADS) + (True, True, True) # Both Active +]) +def test_enabled_states(enabled_state, lat_active_state, expected): + """ + Test DriverMonitoring.run_step with all 4 combinations of: + - selfdriveState.enabled (True/False) + - carControl.latActive (True/False) + """ + cs = car.CarState.new_message() + cs.vEgo = 30.0 + cs.gearShifter = car.CarState.GearShifter.drive + cs.standstill = False + cs.steeringPressed = False + cs.gasPressed = False + + ss = log.SelfdriveState.new_message() + ss.enabled = enabled_state + + cc = car.CarControl.new_message() + cc.latActive = lat_active_state + + mv2 = log.ModelDataV2.new_message() + mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0] + + lc = log.LiveCalibrationData.new_message() + lc.rpyCalib = [0.0, 0.0, 0.0] + + ds = make_msg(False) + + sm = { + 'carState': cs, + 'selfdriveState': ss, + 'carControl': cc, + 'modelV2': mv2, + 'liveCalibration': lc, + 'driverStateV2': ds + } + + driver_monitoring = DriverMonitoring() + + # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value + captured_args = [] + original_update_events = driver_monitoring._update_events + + def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed): + captured_args.append(op_engaged) + return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed) + + driver_monitoring._update_events = spy_update_events + + driver_monitoring.run_step(sm, demo=False) + + # Assertion + assert len(captured_args) == 1, "Expected _update_events to be called exactly once" + actual_enabled = captured_args[0] + + assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}" + diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index f64f4cbc1e..5d0ce4ecf3 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -11,6 +11,7 @@ #include "cereal/gen/cpp/car.capnp.h" #include "cereal/messaging/messaging.h" +#include "cereal/services.h" #include "common/ratekeeper.h" #include "common/swaglog.h" #include "common/timing.h" @@ -103,7 +104,7 @@ void can_send_thread(std::vector pandas, bool fake_send) { AlignedBuffer aligned_buf; std::unique_ptr context(Context::create()); - std::unique_ptr subscriber(SubSocket::create(context.get(), "sendcan")); + std::unique_ptr subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size)); assert(subscriber != NULL); subscriber->setTimeout(100); diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 202e5843e2..10e912ab22 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -87,15 +87,6 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4) -def steer_saturated_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - steer_text2 = "Steer Left" if sm['carControl'].actuators.torque > 0 else "Steer Right" - return Alert( - "Take Control", - steer_text2, - AlertStatus.userPrompt, AlertSize.mid, - Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.) - - def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating' return Alert( @@ -901,7 +892,11 @@ if HARDWARE.get_device_type() == 'mici': Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1), }, EventName.steerSaturated: { - ET.WARNING: steer_saturated_alert, + ET.WARNING: Alert( + "take control", + "turn exceeds limit", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.), }, EventName.calibrationIncomplete: { ET.PERMANENT: calibration_incomplete_alert, diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index e49a8b0f8c..7bf8fe46d7 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -46,7 +46,8 @@ segments = [ ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"), ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"), ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"), - ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"), + # TODO: get new RAV4 route without enableDsu + # ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"), ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"), ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"), ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 27cc17624e..f57751c067 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -121,6 +121,7 @@ class TestOnroad: params.put_bool("RecordFront", True) set_params_enabled() os.environ['REPLAY'] = '1' + os.environ['MSGQ_PREALLOC'] = '1' os.environ['TESTING_CLOSET'] = '1' if os.path.exists(Paths.log_root()): shutil.rmtree(Paths.log_root()) @@ -206,8 +207,9 @@ class TestOnroad: result += "-------------- UI Draw Timing ------------------\n" result += "------------------------------------------------\n" - # skip first few frames -- connecting to vipc - ts = self.ts['uiDebug']['drawTimeMillis'][15:] + # other processes preempt ui while starting up + offset = int(20 * LOG_OFFSET) + ts = self.ts['uiDebug']['drawTimeMillis'][offset:] result += f"min {min(ts):.2f}ms\n" result += f"max {max(ts):.2f}ms\n" result += f"std {np.std(ts):.2f}ms\n" @@ -282,11 +284,12 @@ class TestOnroad: print("------------------------------------------------") offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET) mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]] - print("Memory usage: ", mems) + print("Overall memory usage: ", mems) + print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode()) # check for big leaks. note that memory usage is # expected to go up while the MSGQ buffers fill up - assert np.average(mems) <= 85, "Average memory usage above 85%" + assert np.average(mems) <= 80, "Average memory usage too high" assert np.max(np.diff(mems)) <= 4, "Max memory increase too high" assert np.average(np.diff(mems)) <= 1, "Average memory increase too high" diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py index 078623c882..8830ef946f 100644 --- a/selfdrive/ui/layouts/settings/device.py +++ b/selfdrive/ui/layouts/settings/device.py @@ -19,6 +19,9 @@ from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_b from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog from openpilot.system.ui.widgets.scroller_tici import Scroller +if gui_app.sunnypilot_ui(): + from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item + # Description constants DESCRIPTIONS = { 'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."), diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py index 5ab82fd8f5..18514feeb9 100644 --- a/selfdrive/ui/layouts/settings/firehose.py +++ b/selfdrive/ui/layouts/settings/firehose.py @@ -1,19 +1,11 @@ import pyray as rl -import time -import threading -from openpilot.common.api import api_get -from openpilot.common.params import Params -from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE from openpilot.system.ui.lib.multilang import tr, trn, tr_noop from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wrap_text import wrap_text -from openpilot.system.ui.widgets import Widget -from openpilot.selfdrive.ui.lib.api_helpers import get_token +from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase TITLE = tr_noop("Firehose Mode") DESCRIPTION = tr_noop( @@ -32,50 +24,17 @@ INSTRUCTIONS = tr_noop( ) -class FirehoseLayout(Widget): - PARAM_KEY = "ApiCache_FirehoseStats" - GREEN = rl.Color(46, 204, 113, 255) - RED = rl.Color(231, 76, 60, 255) - GRAY = rl.Color(68, 68, 68, 255) - LIGHT_GRAY = rl.Color(228, 228, 228, 255) - UPDATE_INTERVAL = 30 # seconds - +class FirehoseLayout(FirehoseLayoutBase): def __init__(self): super().__init__() - self.params = Params() - self.segment_count = self._get_segment_count() - self.scroll_panel = GuiScrollPanel() - self._content_height = 0 - - self.running = True - self.update_thread = threading.Thread(target=self._update_loop, daemon=True) - self.update_thread.start() - self.last_update_time = 0 - - def show_event(self): - self.scroll_panel.set_offset(0) - - def _get_segment_count(self) -> int: - stats = self.params.get(self.PARAM_KEY) - if not stats: - return 0 - try: - return int(stats.get("firehose", 0)) - except Exception: - cloudlog.exception(f"Failed to decode firehose stats: {stats}") - return 0 - - def __del__(self): - self.running = False - if self.update_thread and self.update_thread.is_alive(): - self.update_thread.join(timeout=1.0) + self._scroll_panel = GuiScrollPanel() def _render(self, rect: rl.Rectangle): # Calculate content dimensions content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height) # Handle scrolling and render with clipping - scroll_offset = self.scroll_panel.update(rect, content_rect) + scroll_offset = self._scroll_panel.update(rect, content_rect) rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) self._content_height = self._render_content(rect, scroll_offset) rl.end_scissor_mode() @@ -107,9 +66,9 @@ class FirehoseLayout(Widget): y += 20 + 20 # Contribution count (if available) - if self.segment_count > 0: + if self._segment_count > 0: contrib_text = trn("{} segment of your driving is in the training dataset so far.", - "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count) + "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count) y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE) y += 20 + 20 @@ -121,7 +80,7 @@ class FirehoseLayout(Widget): y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY) # bottom margin + remove effect of scroll offset - return int(round(y - self.scroll_panel.offset + 40)) + return int(round(y - self._scroll_panel.offset + 40)) def _draw_wrapped_text(self, x, y, width, text, font, font_size, color): wrapped = wrap_text(font, text, font_size, width) @@ -129,32 +88,3 @@ class FirehoseLayout(Widget): rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color) y += font_size * FONT_SCALE return round(y) - - def _get_status(self) -> tuple[str, rl.Color]: - network_type = ui_state.sm["deviceState"].networkType - network_metered = ui_state.sm["deviceState"].networkMetered - - if not network_metered and network_type != 0: # Not metered and connected - return tr("ACTIVE"), self.GREEN - else: - return tr("INACTIVE: connect to an unmetered network"), self.RED - - def _fetch_firehose_stats(self): - try: - dongle_id = self.params.get("DongleId") - if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: - return - identity_token = get_token(dongle_id) - response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) - if response.status_code == 200: - data = response.json() - self.segment_count = data.get("firehose", 0) - self.params.put(self.PARAM_KEY, data) - except Exception as e: - cloudlog.error(f"Failed to fetch firehose stats: {e}") - - def _update_loop(self): - while self.running: - if not ui_state.started: - self._fetch_firehose_stats() - time.sleep(self.UPDATE_INTERVAL) diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py index 4b8b7015f8..e4c3098c2e 100644 --- a/selfdrive/ui/layouts/settings/software.py +++ b/selfdrive/ui/layouts/settings/software.py @@ -11,9 +11,19 @@ from openpilot.system.ui.widgets.list_view import button_item, text_item, ListIt from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog from openpilot.system.ui.widgets.scroller_tici import Scroller +if gui_app.sunnypilot_ui(): + from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item + # TODO: remove this. updater fails to respond on startup if time is not correct UPDATED_TIMEOUT = 10 # seconds to wait for updated to respond +# Mapping updater internal states to translated display strings +STATE_TO_DISPLAY_TEXT = { + "checking...": tr("checking..."), + "downloading...": tr("downloading..."), + "finalizing update...": tr("finalizing update..."), +} + def time_ago(date: datetime.datetime | None) -> str: if not date: @@ -100,7 +110,9 @@ class SoftwareLayout(Widget): # Updater responded self._waiting_for_updater = False self._download_btn.action_item.set_enabled(False) - self._download_btn.action_item.set_value(updater_state) + # Use the mapping, with a fallback to the original state string + display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state) + self._download_btn.action_item.set_value(display_text) else: if failed_count > 0: self._download_btn.action_item.set_value(tr("failed to check for update")) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index cd233aa3ac..f5f3a4e9c5 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -11,6 +11,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state if gui_app.sunnypilot_ui(): from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item + from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants @@ -99,7 +100,7 @@ class TogglesLayout(Widget): lambda: tr("Driving Personality"), lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]), buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")], - button_width=255, + button_width=300, callback=self._set_longitudinal_personality, selected_index=self._params.get("LongitudinalPersonality", return_default=True), icon="speed_limit.png" diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index fc72b4f9c6..e1ef387bf7 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -67,8 +67,10 @@ class PrimeState: cloudlog.info(f"Prime type updated to {prime_type}") def _worker_thread(self) -> None: + from openpilot.selfdrive.ui.ui_state import ui_state, device while self._running: - self._fetch_prime_status() + if not ui_state.started and device._awake: + self._fetch_prime_status() for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)): if not self._running: diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py index fd4de9a717..bdffea4cfe 100644 --- a/selfdrive/ui/mici/layouts/home.py +++ b/selfdrive/ui/mici/layouts/home.py @@ -3,18 +3,16 @@ import time from cereal import log import pyray as rl from collections.abc import Callable -from openpilot.system.ui.widgets.label import gui_label, MiciLabel +from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel from openpilot.system.ui.widgets import Widget from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.text import wrap_text -from openpilot.system.version import training_version +from openpilot.system.version import training_version, RELEASE_BRANCHES HEAD_BUTTON_FONT_SIZE = 40 HOME_PADDING = 8 -RELEASE_BRANCH = "release3" - NetworkType = log.DeviceState.NetworkType NETWORK_TYPES = { @@ -111,11 +109,11 @@ class MiciHomeLayout(Widget): self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35) self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35) - self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY) + self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE) self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN) self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN) self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN) - self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True) + self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True) self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN) def show_event(self): @@ -187,27 +185,22 @@ class MiciHomeLayout(Widget): if self._version_text is not None: # release branch - if self._version_text[0] == RELEASE_BRANCH: - version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16) - self._large_version_label.set_text(self._version_text[0]) - self._large_version_label.set_position(version_pos.x, version_pos.y) - self._large_version_label.render() + release_branch = self._version_text[1] in RELEASE_BRANCHES + version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44) + self._version_label.set_text(self._version_text[0]) + self._version_label.set_position(version_pos.x, version_pos.y) + self._version_label.render() - else: - version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44) - self._version_label.set_text(self._version_text[0]) - self._version_label.set_position(version_pos.x, version_pos.y) - self._version_label.render() + self._date_label.set_text(" " + self._version_text[3]) + self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y) + self._date_label.render() - self._date_label.set_text(" " + self._version_text[3]) - self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y) - self._date_label.render() - - self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32) - self._branch_label.set_text(" " + self._version_text[1]) - self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y) - self._branch_label.render() + self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32) + self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1])) + self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y) + self._branch_label.render() + if not release_branch: # 2nd line self._version_commit_label.set_text(self._version_text[2]) self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7) diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py index b52f9ed39a..a83ebd1969 100644 --- a/selfdrive/ui/mici/layouts/main.py +++ b/selfdrive/ui/mici/layouts/main.py @@ -11,6 +11,9 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.lib.application import gui_app +if gui_app.sunnypilot_ui(): + from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout + ONROAD_DELAY = 2.5 # seconds diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py index cdde40d4a6..b01dae6aeb 100644 --- a/selfdrive/ui/mici/layouts/offroad_alerts.py +++ b/selfdrive/ui/mici/layouts/offroad_alerts.py @@ -5,6 +5,7 @@ from dataclasses import dataclass from enum import IntEnum from openpilot.common.params import Params from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS +from openpilot.system.hardware import HARDWARE from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.scroller import Scroller @@ -220,6 +221,7 @@ class MiciOffroadAlerts(Widget): update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1) self.sorted_alerts.append(update_alert_data) update_alert_item = AlertItem(update_alert_data) + update_alert_item.set_click_callback(lambda: HARDWARE.reboot()) self.alert_items.append(update_alert_item) self._scroller.add_widget(update_alert_item) @@ -244,18 +246,18 @@ class MiciOffroadAlerts(Widget): if update_alert_data: if update_available: - # Default text - update_alert_data.text = "update available. go to comma.ai/blog to read the release notes." + version_string = "" # Get new version description and parse version and date new_desc = self.params.get("UpdaterNewDescription") or "" if new_desc: - # Parse description (format: "version / branch / commit / date") + # format: "version / branch / commit / date" parts = new_desc.split(" / ") if len(parts) > 3: version, date = parts[0], parts[3] - update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes." + version_string = f"\nsunnypilot {version}, {date}\n" + update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai." update_alert_data.visible = True active_count += 1 else: diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index 5f20cf7c78..b175a3fd2e 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -1,10 +1,14 @@ from enum import IntEnum -from collections.abc import Callable +import weakref +import math +import numpy as np import pyray as rl +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import FontWeight, gui_app from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.button import SmallButton +from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.slider import SmallSlider from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage @@ -23,11 +27,12 @@ class OnboardingState(IntEnum): class DriverCameraSetupDialog(DriverCameraDialog): - def __init__(self, confirm_callback: Callable): + def __init__(self): super().__init__(no_escape=True) - self.driver_state_renderer = DriverStateRenderer(confirm_mode=True, confirm_callback=confirm_callback) - self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200)) + self.driver_state_renderer = DriverStateRenderer(inset=True) + self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120)) self.driver_state_renderer.load_icons() + self.driver_state_renderer.set_force_active(True) def _render(self, rect): rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) @@ -40,15 +45,15 @@ class DriverCameraSetupDialog(DriverCameraDialog): return -1 # Position dmoji on opposite side from driver - # TODO: we don't have design for RHD yet - is_rhd = False - driver_state_rect = ( - rect.x if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width, - rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2, + is_rhd = self.driver_state_renderer.is_rhd + self.driver_state_renderer.set_position( + rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8, + rect.y + 8, ) - self.driver_state_renderer.set_position(*driver_state_rect) self.driver_state_renderer.render() + self._draw_face_detection(rect) + rl.end_scissor_mode() return -1 @@ -87,19 +92,54 @@ class TrainingGuidePreDMTutorial(SetupTermsPage): )) +class DMBadFaceDetected(SetupTermsPage): + def __init__(self, continue_callback, back_callback): + super().__init__(continue_callback, back_callback, continue_text="power off") + self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60)) + self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN) + + @property + def _content_height(self): + return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset() + + def _render_content(self, scroll_offset): + self._title_header.render(rl.Rectangle( + self._rect.x + 16, + self._rect.y + 16 + scroll_offset, + self._title_header.rect.width, + self._title_header.rect.height, + )) + + self._dm_label.render(rl.Rectangle( + self._rect.x + 16, + self._title_header.rect.y + self._title_header.rect.height + 16, + self._rect.width - 32, + self._dm_label.get_content_height(int(self._rect.width - 32)), + )) + + class TrainingGuideDMTutorial(Widget): + PROGRESS_DURATION = 4 + LOOKING_THRESHOLD_DEG = 30.0 + def __init__(self, continue_callback): super().__init__() - self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60)) - - self._original_continue_callback = continue_callback + self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48)) + self._back_button.set_click_callback(self._show_bad_face_page) + self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35)) # Wrap the continue callback to restore settings def wrapped_continue_callback(): - self._restore_settings() + device.set_offroad_brightness(None) continue_callback() - self._dialog = DriverCameraSetupDialog(wrapped_continue_callback) + self._good_button.set_click_callback(wrapped_continue_callback) + self._good_button.set_enabled(False) + + self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps) + self._dialog = DriverCameraSetupDialog() + self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page) + self._should_show_bad_face_page = False # Disable driver monitoring model when device times out for inactivity def inactivity_callback(): @@ -107,35 +147,113 @@ class TrainingGuideDMTutorial(Widget): device.add_interactive_timeout_callback(inactivity_callback) + def _show_bad_face_page(self): + self._bad_face_page.show_event() + self.hide_event() + self._should_show_bad_face_page = True + + def _hide_bad_face_page(self): + self._bad_face_page.hide_event() + self.show_event() + self._should_show_bad_face_page = False + def show_event(self): super().show_event() self._dialog.show_event() + self._progress.x = 0.0 device.set_offroad_brightness(100) - device.reset_interactive_timeout(300) # 5 minutes - - def _restore_settings(self): - device.set_offroad_brightness(None) - device.reset_interactive_timeout() def _update_state(self): super()._update_state() if device.awake: ui_state.params.put_bool("IsDriverViewEnabled", True) + sm = ui_state.sm + if sm.recv_frame.get("driverMonitoringState", 0) == 0: + return + + dm_state = sm["driverMonitoringState"] + driver_data = self._dialog.driver_state_renderer.get_driver_data() + + if len(driver_data.faceOrientation) == 3: + pitch, yaw, _ = driver_data.faceOrientation + looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG + else: + looking_center = False + + # stay at 100% once reached + if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99: + slow = self._progress.x < 0.25 + duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION + self._progress.x += 1.0 / (duration * gui_app.target_fps) + self._progress.x = min(1.0, self._progress.x) + else: + self._progress.update(0.0) + + self._good_button.set_enabled(self._progress.x >= 0.999) + def _render(self, _): + if self._should_show_bad_face_page: + return self._bad_face_page.render(self._rect) + self._dialog.render(self._rect) - rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - self._title_header.rect.height * 1.5 - 32), - int(self._rect.width), int(self._title_header.rect.height * 1.5 + 32), - rl.BLANK, rl.Color(0, 0, 0, 150)) - self._title_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + self._rect.height - self._title_header.rect.height - 16, - self._title_header.rect.width, - self._title_header.rect.height, + rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80), + int(self._rect.width), 80, rl.BLANK, rl.BLACK) + + # draw white ring around dm icon to indicate progress + ring_thickness = 8 + + # DM icon is 120x120, positioned on opposite side from driver + dm_size = 120 + is_rhd = self._dialog.driver_state_renderer._is_rhd + dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8) + dm_center_y = self._rect.y + dm_size / 2 + 8 + icon_edge_radius = dm_size / 2 + outer_radius = icon_edge_radius + 1 # 2px outward from icon edge + inner_radius = outer_radius - ring_thickness # Inset by ring_thickness + start_angle = 90.0 # Start from bottom + end_angle = start_angle + self._progress.x * 360.0 # Clockwise + + # Fade in alpha + current_angle = end_angle - start_angle + alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255])) + + # White to green + color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0) + r = int(np.interp(color_t, [0.0, 1.0], [255, 0])) + g = int(np.interp(color_t, [0.0, 1.0], [255, 255])) + b = int(np.interp(color_t, [0.0, 1.0], [255, 64])) + ring_color = rl.Color(r, g, b, alpha) + + rl.draw_ring( + rl.Vector2(dm_center_x, dm_center_y), + inner_radius, + outer_radius, + start_angle, + end_angle, + 36, + ring_color, + ) + + self._back_button.render(rl.Rectangle( + self._rect.x + 8, + self._rect.y + self._rect.height - self._back_button.rect.height, + self._back_button.rect.width, + self._back_button.rect.height, )) + self._good_button.render(rl.Rectangle( + self._rect.x + self._rect.width - self._good_button.rect.width - 8, + self._rect.y + self._rect.height - self._good_button.rect.height, + self._good_button.rect.width, + self._good_button.rect.height, + )) + + # rounded border + rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK) + class TrainingGuideRecordFront(SetupTermsPage): def __init__(self, continue_callback): @@ -150,7 +268,7 @@ class TrainingGuideRecordFront(SetupTermsPage): super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes") self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60)) - self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42, + self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42, FontWeight.ROMAN) def show_event(self): @@ -214,13 +332,27 @@ class TrainingGuide(Widget): self._completed_callback = completed_callback self._step = 0 + self_ref = weakref.ref(self) + + def on_continue(): + if obj := self_ref(): + obj._advance_step() + self._steps = [ - TrainingGuideAttentionNotice(continue_callback=self._advance_step), - TrainingGuidePreDMTutorial(continue_callback=self._advance_step), - TrainingGuideDMTutorial(continue_callback=self._advance_step), - TrainingGuideRecordFront(continue_callback=self._advance_step), + TrainingGuideAttentionNotice(continue_callback=on_continue), + TrainingGuidePreDMTutorial(continue_callback=on_continue), + TrainingGuideDMTutorial(continue_callback=on_continue), + TrainingGuideRecordFront(continue_callback=on_continue), ] + def show_event(self): + super().show_event() + device.set_override_interactive_timeout(300) + + def hide_event(self): + super().hide_event() + device.set_override_interactive_timeout(None) + def _advance_step(self): if self._step < len(self._steps) - 1: self._step += 1 @@ -317,6 +449,14 @@ class OnboardingWindow(Widget): self._training_guide = TrainingGuide(completed_callback=self._on_completed_training) self._decline_page = DeclinePage(back_callback=self._on_decline_back) + def show_event(self): + super().show_event() + device.set_override_interactive_timeout(300) + + def hide_event(self): + super().hide_event() + device.set_override_interactive_timeout(None) + @property def completed(self) -> bool: return self._accepted_terms and self._training_done diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 1d5e4989ec..81f0e870ef 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -39,7 +39,7 @@ class MiciFccModal(NavWidget): content_height += self._fcc_logo.height + 20 scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height) - scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height) + scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height)) fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset) diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py index 18731d675e..462b1fc813 100644 --- a/selfdrive/ui/mici/layouts/settings/firehose.py +++ b/selfdrive/ui/mici/layouts/settings/firehose.py @@ -6,14 +6,13 @@ from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.ui.lib.api_helpers import get_token -from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.ui_state import ui_state, device from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop -from openpilot.system.ui.widgets import NavWidget - +from openpilot.system.ui.widgets import Widget, NavWidget TITLE = tr_noop("Firehose Mode") DESCRIPTION = tr_noop( @@ -34,9 +33,7 @@ FAQ_ITEMS = [ ] -class FirehoseLayoutMici(NavWidget): - BACK_TOUCH_AREA_PERCENTAGE = 0.1 - +class FirehoseLayoutBase(Widget): PARAM_KEY = "ApiCache_FirehoseStats" GREEN = rl.Color(46, 204, 113, 255) RED = rl.Color(231, 76, 60, 255) @@ -44,12 +41,10 @@ class FirehoseLayoutMici(NavWidget): LIGHT_GRAY = rl.Color(228, 228, 228, 255) UPDATE_INTERVAL = 30 # seconds - def __init__(self, back_callback): + def __init__(self): super().__init__() - self.set_back_callback(back_callback) - - self.params = Params() - self.segment_count = self._get_segment_count() + self._params = Params() + self._segment_count = self._get_segment_count() self._scroll_panel = GuiScrollPanel2(horizontal=False) self._content_height = 0 @@ -71,7 +66,7 @@ class FirehoseLayoutMici(NavWidget): self._scroll_panel.set_offset(0) def _get_segment_count(self) -> int: - stats = self.params.get(self.PARAM_KEY) + stats = self._params.get(self.PARAM_KEY) if not stats: return 0 try: @@ -83,7 +78,7 @@ class FirehoseLayoutMici(NavWidget): def _render(self, rect: rl.Rectangle): # compute total content height for scrolling content_height = self._measure_content_height(rect) - scroll_offset = self._scroll_panel.update(rect, content_height) + scroll_offset = round(self._scroll_panel.update(rect, content_height)) # start drawing with offset x = int(rect.x + 40) @@ -111,9 +106,9 @@ class FirehoseLayoutMici(NavWidget): y += 20 # Contribution count (if available) - if self.segment_count > 0: + if self._segment_count > 0: contrib_text = trn("{} segment of your driving is in the training dataset so far.", - "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count) + "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count) y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE) y += 20 @@ -165,9 +160,9 @@ class FirehoseLayoutMici(NavWidget): y += int(len(status_lines) * 48 * FONT_SCALE) + 20 # Contribution count - if self.segment_count > 0: + if self._segment_count > 0: contrib_text = trn("{} segment of your driving is in the training dataset so far.", - "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count) + "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count) contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w) y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20 @@ -204,20 +199,28 @@ class FirehoseLayoutMici(NavWidget): def _fetch_firehose_stats(self): try: - dongle_id = self.params.get("DongleId") + dongle_id = self._params.get("DongleId") if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: return identity_token = get_token(dongle_id) response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) if response.status_code == 200: data = response.json() - self.segment_count = data.get("firehose", 0) - self.params.put(self.PARAM_KEY, data) + self._segment_count = data.get("firehose", 0) + self._params.put(self.PARAM_KEY, data) except Exception as e: cloudlog.error(f"Failed to fetch firehose stats: {e}") def _update_loop(self): while self._running: - if not ui_state.started: + if not ui_state.started and device._awake: self._fetch_firehose_stats() time.sleep(self.UPDATE_INTERVAL) + + +class FirehoseLayout(FirehoseLayoutBase, NavWidget): + BACK_TOUCH_AREA_PERCENTAGE = 0.1 + + def __init__(self, back_callback): + super().__init__() + self.set_back_callback(back_callback) diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py new file mode 100644 index 0000000000..1faf49311a --- /dev/null +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -0,0 +1,184 @@ +import pyray as rl +from enum import IntEnum +from collections.abc import Callable + +from openpilot.system.ui.widgets.scroller import Scroller +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl +from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.lib.prime_state import PrimeType +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType + + +class NetworkPanelType(IntEnum): + NONE = 0 + WIFI = 1 + + +class NetworkLayoutMici(NavWidget): + def __init__(self, back_callback: Callable): + super().__init__() + + self._current_panel = NetworkPanelType.WIFI + self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE) + + self._wifi_manager = WifiManager() + self._wifi_manager.set_active(False) + self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE)) + + self._wifi_manager.add_callbacks( + networks_updated=self._on_network_updated, + ) + + _tethering_icon = "icons_mici/settings/network/tethering.png" + + # ******** Tethering ******** + def tethering_toggle_callback(checked: bool): + self._tethering_toggle_btn.set_enabled(False) + self._network_metered_btn.set_enabled(False) + self._wifi_manager.set_tethering_active(checked) + + self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) + + def tethering_password_callback(password: str): + if password: + self._wifi_manager.set_tethering_password(password) + + def tethering_password_clicked(): + tethering_password = self._wifi_manager.tethering_password + dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8, + confirm_callback=tethering_password_callback) + gui_app.set_modal_overlay(dlg) + + txt_tethering = gui_app.texture(_tethering_icon, 64, 53) + self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) + self._tethering_password_btn.set_click_callback(tethering_password_clicked) + + # ******** IP Address ******** + self._ip_address_btn = BigButton("IP Address", "Not connected") + + # ******** Network Metered ******** + def network_metered_callback(value: str): + self._network_metered_btn.set_enabled(False) + metered = { + 'default': MeteredType.UNKNOWN, + 'metered': MeteredType.YES, + 'unmetered': MeteredType.NO + }.get(value, MeteredType.UNKNOWN) + self._wifi_manager.set_current_network_metered(metered) + + # TODO: signal for current network metered type when changing networks, this is wrong until you press it once + # TODO: disable when not connected + self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) + self._network_metered_btn.set_enabled(False) + + wifi_button = BigButton("wi-fi") + wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) + + # ******** Advanced settings ******** + # ******** Roaming toggle ******** + self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming) + + # ******** APN settings ******** + self._apn_btn = BigButton("apn settings", "edit") + self._apn_btn.set_click_callback(self._edit_apn) + + # ******** Cellular metered toggle ******** + self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered) + + # Main scroller ---------------------------------- + self._scroller = Scroller([ + wifi_button, + self._network_metered_btn, + self._tethering_toggle_btn, + self._tethering_password_btn, + # /* Advanced settings + self._roaming_btn, + self._apn_btn, + self._cellular_metered_btn, + # */ + self._ip_address_btn, + ], snap_items=False) + + # Set initial config + roaming_enabled = ui_state.params.get_bool("GsmRoaming") + metered = ui_state.params.get_bool("GsmMetered") + self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered) + + # Set up back navigation + self.set_back_callback(back_callback) + + def _update_state(self): + super()._update_state() + + # If not using prime SIM, show GSM settings and enable IPv4 forwarding + show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE) + self._wifi_manager.set_ipv4_forward(show_cell_settings) + self._roaming_btn.set_visible(show_cell_settings) + self._apn_btn.set_visible(show_cell_settings) + self._cellular_metered_btn.set_visible(show_cell_settings) + + def show_event(self): + super().show_event() + self._current_panel = NetworkPanelType.NONE + self._wifi_ui.show_event() + self._scroller.show_event() + + def hide_event(self): + super().hide_event() + self._wifi_ui.hide_event() + + def _toggle_roaming(self, checked: bool): + self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered")) + + def _edit_apn(self): + def update_apn(apn: str): + apn = apn.strip() + if apn == "": + ui_state.params.remove("GsmApn") + else: + ui_state.params.put("GsmApn", apn) + + self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered")) + + current_apn = ui_state.params.get("GsmApn") or "" + dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn) + gui_app.set_modal_overlay(dlg) + + def _toggle_cellular_metered(self, checked: bool): + self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked) + + def _on_network_updated(self, networks: list[Network]): + # Update tethering state + tethering_active = self._wifi_manager.is_tethering_active() + # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons + self._tethering_toggle_btn.set_enabled(True) + self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) + self._tethering_toggle_btn.set_checked(tethering_active) + + # Update IP address + self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected") + + # Update network metered + self._network_metered_btn.set_value( + { + MeteredType.UNKNOWN: 'default', + MeteredType.YES: 'metered', + MeteredType.NO: 'unmetered' + }.get(self._wifi_manager.current_network_metered, 'default')) + + def _switch_to_panel(self, panel_type: NetworkPanelType): + if panel_type == NetworkPanelType.WIFI: + self._wifi_ui.show_event() + self._current_panel = panel_type + + def _render(self, rect: rl.Rectangle): + self._wifi_manager.process_callbacks() + + if self._current_panel == NetworkPanelType.WIFI: + self._wifi_ui.render(rect) + else: + self._scroller.render(rect) diff --git a/selfdrive/ui/mici/layouts/settings/network.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py similarity index 75% rename from selfdrive/ui/mici/layouts/settings/network.py rename to selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index a62c1d153a..374539c4ce 100644 --- a/selfdrive/ui/mici/layouts/settings/network.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -1,28 +1,20 @@ import math import numpy as np import pyray as rl -from enum import IntEnum from collections.abc import Callable from openpilot.common.swaglog import cloudlog -from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.widgets.label import UnifiedLabel -from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight from openpilot.system.ui.widgets import Widget, NavWidget -from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType +from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType def normalize_ssid(ssid: str) -> str: return ssid.replace("’", "'") # for iPhone hotspots -class NetworkPanelType(IntEnum): - NONE = 0 - WIFI = 1 - - class LoadingAnimation(Widget): def _render(self, _): cx = int(self._rect.x + 70) @@ -95,7 +87,7 @@ class WifiItem(BigDialogOptionButton): def __init__(self, network: Network): super().__init__(network.ssid) - self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64)) + self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT)) self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96) @@ -117,16 +109,16 @@ class WifiItem(BigDialogOptionButton): self._wifi_icon.render(rl.Rectangle( self._rect.x + self.LEFT_MARGIN, self._rect.y, - self._rect.height, + self.SELECTED_HEIGHT, self._rect.height )) if self._selected: - self._label.set_font_size(74) + self._label.set_font_size(self.SELECTED_HEIGHT) self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9))) self._label.set_font_weight(FontWeight.DISPLAY) else: - self._label.set_font_size(70) + self._label.set_font_size(self.HEIGHT) self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58))) self._label.set_font_weight(FontWeight.DISPLAY_REGULAR) @@ -215,7 +207,7 @@ class NetworkInfoPage(NavWidget): self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None) self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)), - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True) self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)), alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) @@ -225,6 +217,10 @@ class NetworkInfoPage(NavWidget): self._network: Network | None = None self._connecting: Callable[[], str | None] | None = None + def show_event(self): + super().show_event() + self._title.reset_scroll() + def update_networks(self, networks: dict[str, Network]): # update current network from latest scan results for ssid, network in networks.items(): @@ -320,6 +316,9 @@ class NetworkInfoPage(NavWidget): class WifiUIMici(BigMultiOptionDialog): + # Wait this long after user interacts with widget to update network list + INACTIVITY_TIMEOUT = 1 + def __init__(self, wifi_manager: WifiManager, back_callback: Callable): super().__init__([], None, None, right_btn_callback=None) @@ -328,7 +327,6 @@ class WifiUIMici(BigMultiOptionDialog): self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page) self._network_info_page.set_connecting(lambda: self._connecting) - self._should_open_network_info_page = False # wait for scroll_to animation self._loading_animation = LoadingAnimation() @@ -336,6 +334,10 @@ class WifiUIMici(BigMultiOptionDialog): self._connecting: str | None = None self._networks: dict[str, Network] = {} + # widget state + self._last_interaction_time = -float('inf') + self._restore_selection = False + self._wifi_manager.add_callbacks( need_auth=self._on_need_auth, activated=self._on_activated, @@ -348,18 +350,12 @@ class WifiUIMici(BigMultiOptionDialog): # Call super to prepare scroller; selection scroll is handled dynamically super().show_event() self._wifi_manager.set_active(True) - self._scroller.show_event() + self._last_interaction_time = -float('inf') def hide_event(self): super().hide_event() self._wifi_manager.set_active(False) - def _update_state(self): - super()._update_state() - if self._should_open_network_info_page: - self._should_open_network_info_page = False - self._open_network_manage_page() - def _open_network_manage_page(self, result=None): self._network_info_page.update_networks(self._networks) gui_app.set_modal_overlay(self._network_info_page) @@ -378,6 +374,10 @@ class WifiUIMici(BigMultiOptionDialog): self._network_info_page.update_networks(self._networks) def _update_buttons(self): + # Don't update buttons while user is actively interacting + if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT: + return + for network in self._networks.values(): # pop and re-insert to eliminate stuttering on update (prevents position lost for a frame) network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None) @@ -388,23 +388,28 @@ class WifiUIMici(BigMultiOptionDialog): else: network_button = WifiItem(network) - def show_network_info_page(_network): - self._network_info_page.set_current_network(_network) - self._should_open_network_info_page = True - - network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net)) - self.add_button(network_button) # remove networks no longer present self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks] + # try to restore previous selection to prevent jumping from adding/removing/reordering buttons + self._restore_selection = True + def _connect_with_password(self, ssid: str, password: str): if password: self._connecting = ssid self._wifi_manager.connect_to_network(ssid, password) self._update_buttons() + def _on_option_selected(self, option: str, smooth_scroll: bool = True): + super()._on_option_selected(option, smooth_scroll) + + # only open if button is already selected + if option in self._networks and option == self._selected_option: + self._network_info_page.set_current_network(self._networks[option]) + self._open_network_manage_page() + def _connect_to_network(self, ssid: str): network = self._networks.get(ssid) if network is None: @@ -438,121 +443,20 @@ class WifiUIMici(BigMultiOptionDialog): def _on_disconnected(self): self._connecting = None + def _update_state(self): + super()._update_state() + if self.is_pressed: + self._last_interaction_time = rl.get_time() + def _render(self, _): + # Update Scroller layout and restore current selection whenever buttons are updated, before first render + current_selection = self.get_selected_option() + if self._restore_selection and current_selection in self._networks: + self._scroller._layout() + BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False) + self._restore_selection = None + super()._render(_) if not self._networks: self._loading_animation.render(self._rect) - - -class NetworkLayoutMici(NavWidget): - def __init__(self, back_callback: Callable): - super().__init__() - - self._current_panel = NetworkPanelType.WIFI - self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE) - - self._wifi_manager = WifiManager() - self._wifi_manager.set_active(False) - self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE)) - - self._wifi_manager.add_callbacks( - networks_updated=self._on_network_updated, - ) - - _tethering_icon = "icons_mici/settings/network/tethering.png" - - # ******** Tethering ******** - def tethering_toggle_callback(checked: bool): - self._tethering_toggle_btn.set_enabled(False) - self._network_metered_btn.set_enabled(False) - self._wifi_manager.set_tethering_active(checked) - - self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) - - def tethering_password_callback(password: str): - if password: - self._wifi_manager.set_tethering_password(password) - - def tethering_password_clicked(): - tethering_password = self._wifi_manager.tethering_password - dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8, - confirm_callback=tethering_password_callback) - gui_app.set_modal_overlay(dlg) - - txt_tethering = gui_app.texture(_tethering_icon, 64, 53) - self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) - self._tethering_password_btn.set_click_callback(tethering_password_clicked) - - # ******** IP Address ******** - self._ip_address_btn = BigButton("IP Address", "Not connected") - - # ******** Network Metered ******** - def network_metered_callback(value: str): - self._network_metered_btn.set_enabled(False) - metered = { - 'default': MeteredType.UNKNOWN, - 'metered': MeteredType.YES, - 'unmetered': MeteredType.NO - }.get(value, MeteredType.UNKNOWN) - self._wifi_manager.set_current_network_metered(metered) - - # TODO: signal for current network metered type when changing networks, this is wrong until you press it once - # TODO: disable when not connected - self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) - self._network_metered_btn.set_enabled(False) - - wifi_button = BigButton("wi-fi") - wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) - - # Main scroller ---------------------------------- - self._scroller = Scroller([ - wifi_button, - self._network_metered_btn, - self._tethering_toggle_btn, - self._tethering_password_btn, - self._ip_address_btn, - ], snap_items=False) - - # Set up back navigation - self.set_back_callback(back_callback) - - def show_event(self): - super().show_event() - self._current_panel = NetworkPanelType.NONE - self._wifi_ui.show_event() - self._scroller.show_event() - - def hide_event(self): - super().hide_event() - self._wifi_ui.hide_event() - - def _on_network_updated(self, networks: list[Network]): - # Update tethering state - tethering_active = self._wifi_manager.is_tethering_active() - # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons - self._tethering_toggle_btn.set_enabled(True) - self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) - self._tethering_toggle_btn.set_checked(tethering_active) - - # Update IP address - self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected") - - # Update network metered - self._network_metered_btn.set_value( - { - MeteredType.UNKNOWN: 'default', - MeteredType.YES: 'metered', - MeteredType.NO: 'unmetered' - }.get(self._wifi_manager.current_network_metered, 'default')) - - def _switch_to_panel(self, panel_type: NetworkPanelType): - self._current_panel = panel_type - - def _render(self, rect: rl.Rectangle): - self._wifi_manager.process_callbacks() - - if self._current_panel == NetworkPanelType.WIFI: - self._wifi_ui.render(rect) - else: - self._scroller.render(rect) diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py index 75238d581a..a452777748 100644 --- a/selfdrive/ui/mici/layouts/settings/settings.py +++ b/selfdrive/ui/mici/layouts/settings/settings.py @@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici -from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici +from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget, NavWidget @@ -67,7 +67,7 @@ class SettingsLayout(NavWidget): PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))), PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))), PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))), - PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))), + PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))), } self._font_medium = gui_app.font(FontWeight.MEDIUM) diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py index 82a78ce37c..1266311a1b 100644 --- a/selfdrive/ui/mici/layouts/settings/toggles.py +++ b/selfdrive/ui/mici/layouts/settings/toggles.py @@ -78,13 +78,13 @@ class TogglesLayoutMici(NavWidget): # CP gating for experimental mode if ui_state.CP is not None: if ui_state.has_longitudinal_control: - self._experimental_btn.set_enabled(True) - self._personality_toggle.set_enabled(True) + self._experimental_btn.set_visible(True) + self._personality_toggle.set_visible(True) else: # no long for now - self._experimental_btn.set_enabled(False) + self._experimental_btn.set_visible(False) self._experimental_btn.set_checked(False) - self._personality_toggle.set_enabled(False) + self._personality_toggle.set_visible(False) ui_state.params.remove("ExperimentalMode") # Refresh toggles from params to mirror external changes diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py index b7f0098073..b5f796bb03 100644 --- a/selfdrive/ui/mici/onroad/alert_renderer.py +++ b/selfdrive/ui/mici/onroad/alert_renderer.py @@ -89,10 +89,6 @@ ALERT_CRITICAL_REBOOT = Alert( class AlertRenderer(Widget): def __init__(self): super().__init__() - self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM) - self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN) - self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD) - self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY) self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86, letter_spacing=-0.02) @@ -204,11 +200,11 @@ class AlertRenderer(Widget): text_x = self._rect.x + ALERT_MARGIN text_width = self._rect.width - ALERT_MARGIN if icon_side == 'left': - text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2 - text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2 + text_x = self._rect.x + self._txt_turn_signal_right.width + text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width elif icon_side == 'right': text_x = self._rect.x + ALERT_MARGIN - text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2 + text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width text_rect = rl.Rectangle( text_x, diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 64d57e8958..5fe33a7e48 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -1,6 +1,7 @@ +import time import numpy as np import pyray as rl -from cereal import car, log +from cereal import messaging, car, log from msgq.visionipc import VisionStreamType from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH @@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView): self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png") + # debug + self._pm = messaging.PubMaster(['uiDebug']) + def is_swiping_left(self) -> bool: """Check if currently swiping left (for scroller to disable).""" return self._bookmark_icon.is_swiping_left() @@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView): super()._handle_mouse_release(mouse_pos) def _render(self, _): + start_draw = time.monotonic() self._switch_stream_if_needed(ui_state.sm) # Update calibration before rendering @@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView): rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175)) self._offroad_label.render(self._content_rect) + # publish uiDebug + msg = messaging.new_message('uiDebug') + msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000 + self._pm.send('uiDebug', msg) + def _switch_stream_if_needed(self, sm): if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams: v_ego = sm['carState'].vEgo diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py index 0f425b10da..89a4926ce9 100644 --- a/selfdrive/ui/mici/onroad/cameraview.py +++ b/selfdrive/ui/mici/onroad/cameraview.py @@ -107,7 +107,6 @@ else: class CameraView(Widget): def __init__(self, name: str, stream_type: VisionStreamType): super().__init__() - # TODO: implement a receiver and connect thread self._name = name # Primary stream self.client = VisionIpcClient(name, stream_type, conflate=True) @@ -197,7 +196,10 @@ class CameraView(Widget): # Clean up shader if self.shader and self.shader.id: rl.unload_shader(self.shader) + self.shader.id = 0 + self.frame = None + self.available_streams.clear() self.client = None def __del__(self): @@ -234,6 +236,9 @@ class CameraView(Widget): if buffer: self._texture_needs_update = True self.frame = buffer + elif not self.client.is_connected(): + # ensure we clear the displayed frame when the connection is lost + self.frame = None if not self.frame: self._draw_placeholder(rect) diff --git a/selfdrive/ui/mici/onroad/confidence_ball.py b/selfdrive/ui/mici/onroad/confidence_ball.py index 91129e3128..44db7d5937 100644 --- a/selfdrive/ui/mici/onroad/confidence_ball.py +++ b/selfdrive/ui/mici/onroad/confidence_ball.py @@ -6,6 +6,8 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.lib.application import gui_app from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP + def draw_circle_gradient(center_x: float, center_y: float, radius: int, top: rl.Color, bottom: rl.Color) -> None: @@ -21,9 +23,10 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int, 20, rl.BLACK) -class ConfidenceBall(Widget): +class ConfidenceBall(Widget, ConfidenceBallSP): def __init__(self, demo: bool = False, scale: float = 1.0, bar: bool = False): - super().__init__() + Widget.__init__(self) + ConfidenceBallSP.__init__(self) self._demo = demo self._scale = scale self._bar = bar @@ -39,6 +42,8 @@ class ConfidenceBall(Widget): # animate status dot in from bottom if ui_state.status == UIStatus.DISENGAGED: self._confidence_filter.update(-0.5) + elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY): + self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1])) else: self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) * (1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1]))) @@ -67,6 +72,9 @@ class ConfidenceBall(Widget): top_dot_color = rl.Color(255, 0, 21, 255) bottom_dot_color = rl.Color(255, 0, 89, 255) + elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY): + top_dot_color = bottom_dot_color = self.get_lat_long_dot_color() + elif ui_state.status == UIStatus.OVERRIDE: top_dot_color = rl.Color(255, 255, 255, 255) bottom_dot_color = rl.Color(82, 82, 82, 255) diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py index f2fa5e8fe8..bab3d6e6f1 100644 --- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py +++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py @@ -15,20 +15,27 @@ EventName = log.OnroadEvent.EventName EVENT_TO_INT = EventName.schema.enumerants +class DriverCameraView(CameraView): + def _calc_frame_matrix(self, rect: rl.Rectangle): + base = super()._calc_frame_matrix(rect) + driver_view_ratio = 1.5 + base[0, 0] *= driver_view_ratio + base[1, 1] *= driver_view_ratio + return base + + class DriverCameraDialog(NavWidget): def __init__(self, no_escape=False): super().__init__() - self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) - self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix - self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix + self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) self.driver_state_renderer = DriverStateRenderer(lines=True) self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200)) self.driver_state_renderer.load_icons() - self._pm = messaging.PubMaster(['selfdriveState']) + self._pm: messaging.PubMaster | None = None if not no_escape: # TODO: this can grow unbounded, should be given some thought - device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld) - self.set_back_callback(self._dismiss) + device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None)) + self.set_back_callback(lambda: gui_app.set_modal_overlay(None)) self.set_back_enabled(not no_escape) # Load eye icons @@ -40,26 +47,24 @@ class DriverCameraDialog(NavWidget): self._load_eye_textures() - def stop_dmonitoringmodeld(self): - ui_state.params.put_bool("IsDriverViewEnabled", False) - gui_app.set_modal_overlay(None) - def show_event(self): super().show_event() ui_state.params.put_bool("IsDriverViewEnabled", True) self._publish_alert_sound(None) - device.reset_interactive_timeout(300) + device.set_override_interactive_timeout(300) ui_state.params.remove("DriverTooDistracted") + self._pm = messaging.PubMaster(['selfdriveState']) def hide_event(self): super().hide_event() - device.reset_interactive_timeout() + ui_state.params.put_bool("IsDriverViewEnabled", False) + device.set_override_interactive_timeout(None) def _handle_mouse_release(self, _): ui_state.params.remove("DriverTooDistracted") - def _dismiss(self): - self.stop_dmonitoringmodeld() + def __del__(self): + self.close() def close(self): if self._camera_view: @@ -84,12 +89,13 @@ class DriverCameraDialog(NavWidget): self._publish_alert_sound(None) return -1 - self._draw_face_detection(rect) + driver_data = self._draw_face_detection(rect) + if driver_data is not None: + self._draw_eyes(rect, driver_data) # Position dmoji on opposite side from driver - dm_state = ui_state.sm["driverMonitoringState"] driver_state_rect = ( - rect.x if dm_state.isRHD else rect.x + rect.width - self.driver_state_renderer.rect.width, + rect.x if self.driver_state_renderer.is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width, rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2, ) self.driver_state_renderer.set_position(*driver_state_rect) @@ -103,6 +109,9 @@ class DriverCameraDialog(NavWidget): def _publish_alert_sound(self, dm_state): """Publish selfdriveState with only alertSound field set""" + if self._pm is None: + return + msg = messaging.new_message('selfdriveState') if dm_state is not None and len(dm_state.events): event_name = EVENT_TO_INT[dm_state.events[0].name] @@ -130,7 +139,7 @@ class DriverCameraDialog(NavWidget): # Show first event (only one should be active at a time) event_name_str = str(dm_state.events[0].name).split('.')[-1] - alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if dm_state.isRHD else rl.GuiTextAlignment.TEXT_ALIGN_LEFT + alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height) gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD, @@ -151,12 +160,10 @@ class DriverCameraDialog(NavWidget): if self._glasses_texture is None: self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size) - def _draw_face_detection(self, rect: rl.Rectangle) -> None: - driver_state = ui_state.sm["driverStateV2"] - is_rhd = driver_state.wheelOnRightProb > 0.5 - driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData - face_detect = driver_data.faceProb > 0.7 - if not face_detect: + def _draw_face_detection(self, rect: rl.Rectangle): + dm_state = ui_state.sm["driverMonitoringState"] + driver_data = self.driver_state_renderer.get_driver_data() + if not dm_state.faceDetected: return # Get face position and orientation @@ -180,7 +187,7 @@ class DriverCameraDialog(NavWidget): scale_y = rect.height / 1080.0 fbox_x = rect.x + rect.width / 2 + offset_x * scale_x fbox_y = rect.y + rect.height / 2 + offset_y * scale_y - box_size = 50 + box_size = 75 line_thickness = 3 line_color = rl.Color(255, 255, 255, int(alpha * 255)) @@ -191,7 +198,9 @@ class DriverCameraDialog(NavWidget): line_thickness, line_color, ) + return driver_data + def _draw_eyes(self, rect: rl.Rectangle, driver_data): # Draw eye indicators based on eye probabilities eye_offset_x = 10 eye_offset_y = 10 @@ -221,13 +230,6 @@ class DriverCameraDialog(NavWidget): glasses_prob = driver_data.sunglassesProb rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob))) - def _calc_driver_frame_matrix(self, rect: rl.Rectangle): - base = self._original_calc_frame_matrix(rect) - driver_view_ratio = 1.5 - base[0, 0] *= driver_view_ratio - base[1, 1] *= driver_view_ratio - return base - if __name__ == "__main__": gui_app.init_window("Driver Camera View (mici)") diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py index 369055846e..356d7ac832 100644 --- a/selfdrive/ui/mici/onroad/driver_state.py +++ b/selfdrive/ui/mici/onroad/driver_state.py @@ -1,5 +1,4 @@ import pyray as rl -from collections.abc import Callable import numpy as np import math from cereal import log @@ -21,15 +20,11 @@ class DriverStateRenderer(Widget): LINES_ANGLE_INCREMENT = 5 LINES_STALE_ANGLES = 3.0 # seconds - def __init__(self, lines: bool = False, confirm_mode: bool = False, confirm_callback: Callable | None = None): + def __init__(self, lines: bool = False, inset: bool = False): super().__init__() self.set_rect(rl.Rectangle(0, 0, self.BASE_SIZE, self.BASE_SIZE)) - self._lines = lines or confirm_mode - - # In confirm mode, user must fill out the circle to confirm some action in the UI - self._confirm_mode = confirm_mode - self._confirm_callback = confirm_callback - self._confirm_angles: dict[int, float] = {} # angle: timestamp + self._lines = lines + self._inset = inset # In line mode, track smoothed angles assert 360 % self.LINES_ANGLE_INCREMENT == 0 @@ -53,12 +48,20 @@ class DriverStateRenderer(Widget): def load_icons(self): """Load or reload the driver face icon texture""" - self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", self._rect.width, self._rect.height) - self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", self._rect.width, self._rect.height) + cone_and_person_size = round(52 / self.BASE_SIZE * self._rect.width) + + # If inset is enabled, push cone and person smaller by 2x the current inset space + if self._inset: + # Current inset space = (rect.width - cone_and_person_size) / 2 + current_inset = (self._rect.width - cone_and_person_size) / 2 + # Reduce size by 2x the current inset (1x on each side) + cone_and_person_size = round(cone_and_person_size - current_inset * 2) + + self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size) + self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size) center_size = round(36 / self.BASE_SIZE * self._rect.width) self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size) - background_size = round(52 / self.BASE_SIZE * self._rect.width) - self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", background_size, background_size) + self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height) def set_should_draw(self, should_draw: bool): self._should_draw = should_draw @@ -77,16 +80,22 @@ class DriverStateRenderer(Widget): """Returns True if dmoji should appear active (either actually active or forced)""" return bool(self._force_active or self._is_active) + @property + def is_rhd(self) -> bool: + return self._is_rhd + def _render(self, _): if DEBUG: rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED) rl.draw_texture(self._dm_background, - int(self._rect.x + (self._rect.width - self._dm_background.width) / 2), - int(self._rect.y + (self._rect.height - self._dm_background.height) / 2), + int(self._rect.x), + int(self._rect.y), rl.Color(255, 255, 255, int(255 * self._fade_filter.x))) - rl.draw_texture(self._dm_person, int(self._rect.x), int(self._rect.y), + rl.draw_texture(self._dm_person, + int(self._rect.x + (self._rect.width - self._dm_person.width) / 2), + int(self._rect.y + (self._rect.height - self._dm_person.height) / 2), rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x))) if self.effective_active: @@ -119,38 +128,18 @@ class DriverStateRenderer(Widget): else: # remove old angles - now = rl.get_time() - self._confirm_angles = {angle: t for angle, t in self._confirm_angles.items() if now - t < self.LINES_STALE_ANGLES} - - looking_center = self._looking_center_filter.x > 0.2 for angle, f in self._head_angles.items(): dst_from_current = ((angle - self._rotation_filter.x) % 360) - 180 target = 1.0 if abs(dst_from_current) <= self.LINES_ANGLE_INCREMENT * 5 else 0.0 if not self._face_detected: target = 0.0 - if self._confirm_mode: - # Extra careful to not add angles when looking near center - if target > 0 and not looking_center: - self._confirm_angles[angle] = now - - # User is looking at area already confirmed, reduce target to indicate where they are - if angle in self._confirm_angles and target == 0: - target = 0.65 - # Reduce all line lengths when looking center if self._looking_center: target = np.interp(self._looking_center_filter.x, [0.0, 1.0], [target, 0.45]) f.update(target) - self._draw_line(angle, f, self._looking_center and angle not in self._confirm_angles) - - # if all lines placed, reset for next time and call callback - if self._confirm_mode: - if len(self._confirm_angles) >= 360 // self.LINES_ANGLE_INCREMENT: - self._confirm_angles = {} - if self._confirm_callback is not None: - self._confirm_callback() + self._draw_line(angle, f, self._looking_center) def _draw_line(self, angle: int, f: FirstOrderFilter, grey: bool): line_length = self._rect.width / 6 @@ -170,10 +159,9 @@ class DriverStateRenderer(Widget): if f.x > 0.01: rl.draw_line_ex((start_x, start_y), (end_x, end_y), 12, color) - def _update_state(self): + def get_driver_data(self): sm = ui_state.sm - # Get monitoring state dm_state = sm["driverMonitoringState"] self._is_active = dm_state.isActiveMode self._is_rhd = dm_state.isRHD @@ -181,6 +169,11 @@ class DriverStateRenderer(Widget): driverstate = sm["driverStateV2"] driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData + return driver_data + + def _update_state(self): + # Get monitoring state + driver_data = self.get_driver_data() driver_orient = driver_data.faceOrientation if len(driver_orient) != 3: diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index bb5171d6e3..7f489ccf98 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -30,20 +30,8 @@ class FontSizes: @dataclass(frozen=True) class Colors: - white: rl.Color = rl.WHITE - disengaged: rl.Color = rl.Color(145, 155, 149, 255) - override: rl.Color = rl.Color(145, 155, 149, 255) # Added - engaged: rl.Color = rl.Color(128, 216, 166, 255) - disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153) - override_bg: rl.Color = rl.Color(145, 155, 149, 204) - engaged_bg: rl.Color = rl.Color(128, 216, 166, 204) - grey: rl.Color = rl.Color(166, 166, 166, 255) - dark_grey: rl.Color = rl.Color(114, 114, 114, 255) - black_translucent: rl.Color = rl.Color(0, 0, 0, 166) - white_translucent: rl.Color = rl.Color(255, 255, 255, 200) - border_translucent: rl.Color = rl.Color(255, 255, 255, 75) - header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114) - header_gradient_end: rl.Color = rl.BLANK + WHITE = rl.WHITE + WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200) FONT_SIZES = FontSizes() @@ -236,16 +224,18 @@ class HudRenderer(Widget): def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" - x = rect.x - y = rect.y - alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and self._can_draw_top_icons and self._engaged) + if alpha < 1e-2: + return + + x = rect.x + y = rect.y # draw drop shadow circle_radius = 162 // 2 rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius, - rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0)) + rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK) set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha)) max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha)) @@ -279,9 +269,9 @@ class HudRenderer(Widget): speed_text = str(round(self.speed)) speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed) speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) - rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) + rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE) unit_text = tr("km/h") if ui_state.is_metric else tr("mph") unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit) unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) - rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent) + rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT) diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py index 3f1badfe84..db316aa636 100644 --- a/selfdrive/ui/mici/onroad/model_renderer.py +++ b/selfdrive/ui/mici/onroad/model_renderer.py @@ -12,6 +12,8 @@ from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient from openpilot.system.ui.widgets import Widget +from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP + CLIP_MARGIN = 500 MIN_DRAW_DISTANCE = 10.0 MAX_DRAW_DISTANCE = 100.0 @@ -32,6 +34,7 @@ LANE_LINE_COLORS = { UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255), UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255), UIStatus.ENGAGED: rl.Color(0, 255, 64, 255), + **LANE_LINE_COLORS_SP, } diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py index 1f6dffe879..c8485a3101 100644 --- a/selfdrive/ui/mici/onroad/torque_bar.py +++ b/selfdrive/ui/mici/onroad/torque_bar.py @@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float, pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32) + # Rotate to start from middle of cap for proper triangulation + pts = np.roll(pts, cap_segs, axis=0) + if DEBUG: n = len(pts) idx = int(time.monotonic() * 12) % max(1, n) # speed: 12 pts/sec @@ -182,13 +185,13 @@ class TorqueBar(Widget): # animate alpha and angle span if not self._demo: - self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED) + self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY)) else: self._torque_line_alpha_filter.update(1.0) torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5]) torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x)) - if ui_state.status != UIStatus.ENGAGED and not self._demo: + if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo: torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x)) # draw curved line polygon torque bar @@ -231,7 +234,7 @@ class TorqueBar(Widget): max(0, abs(self._torque_filter.x) - 0.75) * 4, ) - if ui_state.status != UIStatus.ENGAGED and not self._demo: + if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo: start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x)) gradient = Gradient( diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index d64ab65ef2..3d9aa3f9e2 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -274,18 +274,27 @@ class BigInputDialog(BigDialogBase): class BigDialogOptionButton(Widget): + HEIGHT = 64 + SELECTED_HEIGHT = 74 + def __init__(self, option: str): super().__init__() self.option = option - self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), 64)) + self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT)) self._selected = False self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)), - font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP) + font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + scroll=True) + + def show_event(self): + super().show_event() + self._label.reset_scroll() def set_selected(self, selected: bool): self._selected = selected + self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT def _render(self, _): if DEBUG: @@ -293,11 +302,11 @@ class BigDialogOptionButton(Widget): # FIXME: offset x by -45 because scroller centers horizontally if self._selected: - self._label.set_font_size(74) + self._label.set_font_size(self.SELECTED_HEIGHT) self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9))) self._label.set_font_weight(FontWeight.DISPLAY) else: - self._label.set_font_size(70) + self._label.set_font_size(self.HEIGHT) self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58))) self._label.set_font_weight(FontWeight.DISPLAY_REGULAR) @@ -318,7 +327,7 @@ class BigMultiOptionDialog(BigDialogBase): self._selected_option: str = self._default_option self._last_selected_option: str = self._selected_option - self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0) + self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) if self._right_btn is not None: self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) @@ -326,14 +335,10 @@ class BigMultiOptionDialog(BigDialogBase): self.add_button(BigDialogOptionButton(option)) def add_button(self, button: BigDialogOptionButton): - og_callback = button._click_callback + def click_callback(_btn=button): + self._on_option_selected(_btn.option) - def wrapped_callback(btn=button): - self._on_option_selected(btn.option) - if og_callback: - og_callback() - - button.set_click_callback(wrapped_callback) + button.set_click_callback(click_callback) self._scroller.add_widget(button) def show_event(self): @@ -344,13 +349,23 @@ class BigMultiOptionDialog(BigDialogBase): def get_selected_option(self) -> str: return self._selected_option - def _on_option_selected(self, option: str): + def _on_option_selected(self, option: str, smooth_scroll: bool = True): y_pos = 0.0 for btn in self._scroller._items: - if cast(BigDialogOptionButton, btn).option == option: - y_pos = btn.rect.y + btn = cast(BigDialogOptionButton, btn) + if btn.option == option: + rect_center_y = self._rect.y + self._rect.height / 2 + if btn._selected: + height = btn.rect.height + else: + # when selecting an option under current, account for changing heights + btn_center_y = btn.rect.y + btn.rect.height / 2 # not accurate, just to determine direction + height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT + height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT + y_pos = rect_center_y - (btn.rect.y + height / 2) + break - self._scroller.scroll_to(y_pos, smooth=True) + self._scroller.scroll_to(-y_pos, smooth=smooth_scroll) def _selected_option_changed(self): pass diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 0cba9f4d2d..464c20c226 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -15,6 +15,11 @@ from openpilot.system.ui.lib.application import gui_app from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame from openpilot.common.transformations.orientation import rot_from_euler +if gui_app.sunnypilot_ui(): + from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer + +from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP + OpState = log.SelfdriveState.OpenpilotState CALIBRATED = log.LiveCalibrationData.Status.calibrated ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD @@ -25,6 +30,7 @@ BORDER_COLORS = { UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF), # Blue for disengaged state UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF), # Gray for override state UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF), # Green for engaged state + **BORDER_COLORS_SP, } WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph) diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index 87db7cc636..5443948465 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -68,7 +68,6 @@ else: class CameraView(Widget): def __init__(self, name: str, stream_type: VisionStreamType): super().__init__() - # TODO: implement a receiver and connect thread self._name = name # Primary stream self.client = VisionIpcClient(name, stream_type, conflate=True) @@ -337,12 +336,12 @@ class CameraView(Widget): self._initialize_textures() def _initialize_textures(self): - self._clear_textures() - if not TICI: - self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), - int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) - self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), - int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) + self._clear_textures() + if not TICI: + self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), + int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) + self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), + int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) def _clear_textures(self): if self.texture_y and self.texture_y.id: diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py index 543ea35e81..f69ad8c49c 100644 --- a/selfdrive/ui/onroad/driver_camera_dialog.py +++ b/selfdrive/ui/onroad/driver_camera_dialog.py @@ -14,16 +14,20 @@ class DriverCameraDialog(CameraView): super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER) self.driver_state_renderer = DriverStateRenderer() # TODO: this can grow unbounded, should be given some thought - device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld) + device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None)) ui_state.params.put_bool("IsDriverViewEnabled", True) - def stop_dmonitoringmodeld(self): + def hide_event(self): + super().hide_event() ui_state.params.put_bool("IsDriverViewEnabled", False) - gui_app.set_modal_overlay(None) + self.close() def _handle_mouse_release(self, _): super()._handle_mouse_release(_) - self.stop_dmonitoringmodeld() + gui_app.set_modal_overlay(None) + + def __del__(self): + self.close() def _render(self, rect): super()._render(rect) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index a2459c27e2..79f150deea 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -35,20 +35,20 @@ class FontSizes: @dataclass(frozen=True) class Colors: - white: rl.Color = rl.WHITE - disengaged: rl.Color = rl.Color(145, 155, 149, 255) - override: rl.Color = rl.Color(145, 155, 149, 255) # Added - engaged: rl.Color = rl.Color(128, 216, 166, 255) - disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153) - override_bg: rl.Color = rl.Color(145, 155, 149, 204) - engaged_bg: rl.Color = rl.Color(128, 216, 166, 204) - grey: rl.Color = rl.Color(166, 166, 166, 255) - dark_grey: rl.Color = rl.Color(114, 114, 114, 255) - black_translucent: rl.Color = rl.Color(0, 0, 0, 166) - white_translucent: rl.Color = rl.Color(255, 255, 255, 200) - border_translucent: rl.Color = rl.Color(255, 255, 255, 75) - header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114) - header_gradient_end: rl.Color = rl.BLANK + WHITE = rl.WHITE + DISENGAGED = rl.Color(145, 155, 149, 255) + OVERRIDE = rl.Color(145, 155, 149, 255) # Added + ENGAGED = rl.Color(128, 216, 166, 255) + DISENGAGED_BG = rl.Color(0, 0, 0, 153) + OVERRIDE_BG = rl.Color(145, 155, 149, 204) + ENGAGED_BG = rl.Color(128, 216, 166, 204) + GREY = rl.Color(166, 166, 166, 255) + DARK_GREY = rl.Color(114, 114, 114, 255) + BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166) + WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200) + BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75) + HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114) + HEADER_GRADIENT_END = rl.BLANK UI_CONFIG = UIConfig() @@ -108,8 +108,8 @@ class HudRenderer(Widget): int(rect.y), int(rect.width), UI_CONFIG.header_height, - COLORS.header_gradient_start, - COLORS.header_gradient_end, + COLORS.HEADER_GRADIENT_START, + COLORS.HEADER_GRADIENT_END, ) if self.is_cruise_available: @@ -131,19 +131,19 @@ class HudRenderer(Widget): y = rect.y + 45 set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height) - rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent) - rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent) + rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT) + rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT) - max_color = COLORS.grey - set_speed_color = COLORS.dark_grey + max_color = COLORS.GREY + set_speed_color = COLORS.DARK_GREY if self.is_cruise_set: - set_speed_color = COLORS.white + set_speed_color = COLORS.WHITE if ui_state.status == UIStatus.ENGAGED: - max_color = COLORS.engaged + max_color = COLORS.ENGAGED elif ui_state.status == UIStatus.DISENGAGED: - max_color = COLORS.disengaged + max_color = COLORS.DISENGAGED elif ui_state.status == UIStatus.OVERRIDE: - max_color = COLORS.override + max_color = COLORS.OVERRIDE max_text = tr("MAX") max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x @@ -172,9 +172,9 @@ class HudRenderer(Widget): speed_text = str(round(self.speed)) speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed) speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) - rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) + rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE) unit_text = tr("km/h") if ui_state.is_metric else tr("mph") unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit) unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) - rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent) + rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index b9f601f8fb..cae9765341 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -11,6 +11,8 @@ from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient from openpilot.system.ui.widgets import Widget +from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP + CLIP_MARGIN = 500 MIN_DRAW_DISTANCE = 10.0 MAX_DRAW_DISTANCE = 100.0 @@ -41,9 +43,11 @@ class LeadVehicle: fill_alpha: int = 0 -class ModelRenderer(Widget): +class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP): def __init__(self): - super().__init__() + Widget.__init__(self) + ChevronMetrics.__init__(self) + ModelRendererSP.__init__(self) self._longitudinal_control = False self._experimental_mode = False self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps) @@ -128,6 +132,7 @@ class ModelRenderer(Widget): if render_lead_indicator and radar_state: self._draw_lead_indicator() + self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles) def _update_raw_points(self, model): """Update raw 3D points from model data""" @@ -281,6 +286,10 @@ class ModelRenderer(Widget): allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control self._blend_filter.update(int(allow_throttle)) + if ui_state.rainbow_path: + self.rainbow_path.draw_rainbow_path(self._rect, self._path) + return + if self._experimental_mode: # Draw with acceleration coloring if len(self._exp_gradient.colors) > 1: diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc deleted file mode 100644 index 9ca41e5567..0000000000 --- a/selfdrive/ui/qt/offroad/offroad_home.cc +++ /dev/null @@ -1,158 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ - -#include "selfdrive/ui/qt/offroad/offroad_home.h" - -#include "selfdrive/ui/qt/offroad/experimental_mode.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/prime.h" - -// OffroadHome: the offroad home page - -OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(40, 40, 40, 40); - - // top header - header_layout = new QHBoxLayout(); - header_layout->setContentsMargins(0, 0, 0, 0); - header_layout->setSpacing(16); - - update_notif = new QPushButton(tr("UPDATE")); - update_notif->setVisible(false); - update_notif->setStyleSheet("background-color: #364DEF;"); - QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); - header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - - alert_notif = new QPushButton(); - alert_notif->setVisible(false); - alert_notif->setStyleSheet("background-color: #E22C2C;"); - QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); }); - header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - - version = new ElidedLabel(); - header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight); - - main_layout->addLayout(header_layout); - - // main content - main_layout->addSpacing(25); - center_layout = new QStackedLayout(); - - QWidget *home_widget = new QWidget(this); - { - home_layout = new QHBoxLayout(home_widget); - home_layout->setContentsMargins(0, 0, 0, 0); - home_layout->setSpacing(30); - -#ifndef SUNNYPILOT - // left: PrimeAdWidget - QStackedWidget *left_widget = new QStackedWidget(this); - QVBoxLayout *left_prime_layout = new QVBoxLayout(); - left_prime_layout->setContentsMargins(0, 0, 0, 0); - QWidget *prime_user = new PrimeUserWidget(); - prime_user->setStyleSheet(R"( - border-radius: 10px; - background-color: #333333; - )"); - left_prime_layout->addWidget(prime_user); - left_prime_layout->addStretch(); - left_widget->addWidget(new LayoutWidget(left_prime_layout)); - left_widget->addWidget(new PrimeAdWidget); - left_widget->setStyleSheet("border-radius: 10px;"); - - connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() { - left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1); - }); - - home_layout->addWidget(left_widget, 1); -#endif - - // right: ExperimentalModeButton, SetupWidget - QWidget* right_widget = new QWidget(this); - QVBoxLayout* right_column = new QVBoxLayout(right_widget); - right_column->setContentsMargins(0, 0, 0, 0); - right_widget->setFixedWidth(750); - right_column->setSpacing(30); - - ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); - QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); - right_column->addWidget(experimental_mode, 1); - - SetupWidget *setup_widget = new SetupWidget; - QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings); - right_column->addWidget(setup_widget, 1); - - home_layout->addWidget(right_widget, 1); - } - center_layout->addWidget(home_widget); - - // add update & alerts widgets - update_widget = new UpdateAlert(); - QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); }); - center_layout->addWidget(update_widget); - alerts_widget = new OffroadAlert(); - QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); }); - center_layout->addWidget(alerts_widget); - - main_layout->addLayout(center_layout, 1); - - // set up refresh timer - timer = new QTimer(this); - timer->callOnTimeout(this, &OffroadHome::refresh); - - setStyleSheet(R"( - * { - color: white; - } - OffroadHome { - background-color: black; - } - OffroadHome > QPushButton { - padding: 15px 30px; - border-radius: 5px; - font-size: 40px; - font-weight: 500; - } - OffroadHome > QLabel { - font-size: 55px; - } - )"); -} - -void OffroadHome::showEvent(QShowEvent *event) { - refresh(); - timer->start(10 * 1000); -} - -void OffroadHome::hideEvent(QHideEvent *event) { - timer->stop(); -} - -void OffroadHome::refresh() { - version->setText(getBrand() + " " + QString::fromStdString(params.get("UpdaterCurrentDescription"))); - - bool updateAvailable = update_widget->refresh(); - int alerts = alerts_widget->refresh(); - - // pop-up new notification - int idx = center_layout->currentIndex(); - if (!updateAvailable && !alerts) { - idx = 0; - } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) { - idx = 1; - } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) { - idx = 2; - } - center_layout->setCurrentIndex(idx); - - update_notif->setVisible(updateAvailable); - alert_notif->setVisible(alerts); - if (alerts) { - alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT"))); - } -} diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h deleted file mode 100644 index cac37d58cd..0000000000 --- a/selfdrive/ui/qt/offroad/offroad_home.h +++ /dev/null @@ -1,59 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ - -#pragma once - -#include "common/params.h" -#include "selfdrive/ui/qt/body.h" -#include "selfdrive/ui/qt/widgets/offroad_alerts.h" - -#ifdef SUNNYPILOT -#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" -#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h" -#include "selfdrive/ui/sunnypilot/qt/sidebar.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h" -#define OnroadWindow OnroadWindowSP -#define LayoutWidget LayoutWidgetSP -#define Sidebar SidebarSP -#define ElidedLabel ElidedLabelSP -#define SetupWidget SetupWidgetSP -#else -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/onroad/onroad_home.h" -#include "selfdrive/ui/qt/sidebar.h" -#include "selfdrive/ui/qt/widgets/prime.h" -#endif - -class OffroadHome : public QFrame { - Q_OBJECT - -public: - explicit OffroadHome(QWidget* parent = 0); - - signals: - void openSettings(int index = 0, const QString ¶m = ""); - -protected: - QHBoxLayout *home_layout; - QHBoxLayout *header_layout; - - void showEvent(QShowEvent *event) override; - void refresh(); - -private: - void hideEvent(QHideEvent *event) override; - - Params params; - - QTimer* timer; - ElidedLabel* version; - QStackedLayout* center_layout; - UpdateAlert *update_widget; - OffroadAlert* alerts_widget; - QPushButton* alert_notif; - QPushButton* update_notif; -}; diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/ui/sunnypilot/__init__.py similarity index 100% rename from selfdrive/modeld/tests/__init__.py rename to selfdrive/ui/sunnypilot/__init__.py diff --git a/selfdrive/ui/sunnypilot/layouts/__init__.py b/selfdrive/ui/sunnypilot/layouts/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/layouts/settings/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/selfdrive/ui/sunnypilot/layouts/settings/developer.py new file mode 100644 index 0000000000..f3a2433373 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/developer.py @@ -0,0 +1,106 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import datetime +import os +from pathlib import Path + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout +from openpilot.system.hardware import PC +from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog +from openpilot.system.ui.widgets.list_view import button_item + +from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp + +PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt" + + +class DeveloperLayoutSP(DeveloperLayout): + def __init__(self): + super().__init__() + self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log") + self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch") + self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch") + self._initialize_items() + + for item in self.items: + self._scroller.add_widget(item) + + def _initialize_items(self): + self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"), + tr("Toggle visibility of advanced sunnypilot controls.
This only changes the visibility of the toggles; " + + "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls") + + self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."), + param="EnableGithubRunner") + + self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"), + tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " + + "and even make some edits on some files from your browser. " + + "Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty") + + self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled) + + self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked) + + self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,] + + @staticmethod + def _on_prebuilt_toggled(state): + if state: + Path(PREBUILT_PATH).touch(exist_ok=True) + else: + os.remove(PREBUILT_PATH) + ui_state.params.put_bool("QuickBootToggle", state) + + def _on_delete_confirm(self, result): + if result == DialogResult.CONFIRM: + if os.path.exists(self.error_log_path): + os.remove(self.error_log_path) + + def _on_error_log_closed(self, result, log_exists): + if result == DialogResult.CONFIRM and log_exists: + dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False) + gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm) + + def _on_error_log_clicked(self): + text = "" + if os.path.exists(self.error_log_path): + text = f"{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}

" + try: + with open(self.error_log_path) as file: + text += file.read() + except Exception: + pass + dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path))) + gui_app.set_modal_overlay(dialog) + + def _update_state(self): + disable_updates = ui_state.params.get_bool("DisableUpdates") + show_advanced = ui_state.params.get_bool("ShowAdvancedControls") + + if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"): + ui_state.params.put_bool("QuickBootToggle", prebuilt_file) + self.prebuilt_toggle.action_item.set_state(prebuilt_file) + + self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch)) + self.prebuilt_toggle.action_item.set_enabled(disable_updates) + + if disable_updates: + self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " + + "removes the prebuilt file so compilation of locally edited cpp files can be made.")) + else: + self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.
Enable 'Disable Updates' in the Software panel first.")) + + self.enable_copyparty_toggle.set_visible(show_advanced) + self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch) + self.error_log_btn.set_visible(not self._is_release_branch) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py index 081969cf10..36c5fdb342 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/device.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py @@ -5,8 +5,216 @@ This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, multiple_button_item_sp, button_item_sp, \ + dual_button_item_sp, Spacer +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.button import ButtonStyle +from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog +from openpilot.system.ui.widgets.list_view import text_item +from openpilot.system.ui.widgets.scroller_tici import LineSeparator + +offroad_time_options = { + 0: 0, + 1: 5, + 2: 10, + 3: 15, + 4: 30, + 5: 60, + 6: 120, + 7: 180, + 8: 300, + 9: 600, + 10: 1440, + 11: 1800, +} class DeviceLayoutSP(DeviceLayout): def __init__(self): DeviceLayout.__init__(self) + self._scroller._line_separator = None + + def _initialize_items(self): + DeviceLayout._initialize_items(self) + + # Using dual button with no right button for better alignment + self._always_offroad_btn = dual_button_item_sp( + left_text=lambda: tr("Enable Always Offroad"), + left_callback=self._handle_always_offroad, + right_text="", + right_callback=None, + ) + self._always_offroad_btn.action_item.right_button.set_visible(False) + + self._max_time_offroad = option_item_sp( + title=lambda: tr("Max Time Offroad"), + description=lambda: tr("Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)"), + param="MaxTimeOffroad", + min_value=0, + max_value=11, + value_change_step=1, + on_value_changed=None, + enabled=True, + icon="", + value_map=offroad_time_options, + label_width=360, + use_float_scaling=False, + inline=True, + label_callback=self._update_max_time_offroad_label + ) + + self._device_wake_mode = multiple_button_item_sp( + title=lambda: tr("Wake Up Behavior"), + description=self.wake_mode_description, + param="DeviceBootMode", + buttons=[lambda: tr("Default"), lambda: tr("Offroad")], + button_width=364, + callback=None, + inline=True, + ) + + self._quiet_mode_and_dcam = dual_button_item_sp( + left_text=lambda: tr("Quiet Mode"), + right_text=lambda: tr("Driver Camera Preview"), + left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")), + right_callback=self._show_driver_camera + ) + self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL) + + self._reg_and_training = dual_button_item_sp( + left_text=lambda: tr("Regulatory"), + left_callback=self._on_regulatory, + right_text=lambda: tr("Training Guide"), + right_callback=self._on_review_training_guide + ) + self._reg_and_training.action_item.right_button.set_button_style(ButtonStyle.NORMAL) + + self._onroad_uploads_and_reset_settings = dual_button_item_sp( + left_text=lambda: tr("Onroad Uploads"), + left_callback=lambda: ui_state.params.put_bool("OnroadUploads", not ui_state.params.get_bool("OnroadUploads")), + right_text=lambda: tr("Reset Settings"), + right_callback=self._reset_settings + ) + + self._power_buttons = dual_button_item_sp( + left_text=lambda: tr("Reboot"), + right_text=lambda: tr("Power Off"), + left_callback=self._reboot_prompt, + right_callback=self._power_off_prompt + ) + + items = [ + text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))), + LineSeparator(), + text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))), + LineSeparator(), + self._pair_device_btn, + LineSeparator(), + self._reset_calib_btn, + LineSeparator(), + button_item_sp(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog), + LineSeparator(), + self._device_wake_mode, + LineSeparator(), + self._max_time_offroad, + LineSeparator(height=10), + self._quiet_mode_and_dcam, + self._reg_and_training, + self._onroad_uploads_and_reset_settings, + Spacer(10), + LineSeparator(height=10), + self._power_buttons, + ] + + return items + + def _offroad_transition(self): + self._power_buttons.action_item.right_button.set_visible(ui_state.is_offroad()) + + @staticmethod + def wake_mode_description() -> str: + def_str = tr("Default: Device will boot/wake-up normally & will be ready to engage.") + offrd_str = tr("Offroad: Device will be in Always Offroad mode after boot/wake-up.") + header = tr("Controls state of the device after boot/sleep.") + + return f"{header}\n\n{def_str}\n{offrd_str}" + + @staticmethod + def _reset_settings(): + def _do_reset(result: int): + if result == DialogResult.CONFIRM: + for _key in ui_state.params.all_keys(): + ui_state.params.remove(_key) + HARDWARE.reboot() + + def _second_confirm(result: int): + if result == DialogResult.CONFIRM: + gui_app.set_modal_overlay(ConfirmDialog( + text=tr("The reset cannot be undone. You have been warned."), + confirm_text=tr("Confirm") + ), callback=_do_reset) + + gui_app.set_modal_overlay(ConfirmDialog( + text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."), + confirm_text=tr("Reset") + ), callback=_second_confirm) + + @staticmethod + def _handle_always_offroad(): + if ui_state.engaged: + gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode"))) + return + + _offroad_mode_state = ui_state.params.get_bool("OffroadMode") + _offroad_mode_str = tr("Are you sure you want to exit Always Offroad mode?") if _offroad_mode_state else \ + tr("Are you sure you want to enter Always Offroad mode?") + + def _set_always_offroad(result: int): + if result == DialogResult.CONFIRM and not ui_state.engaged: + ui_state.params.put_bool("OffroadMode", not _offroad_mode_state) + + gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result)) + + @staticmethod + def _update_max_time_offroad_label(value: int) -> str: + label = tr("Always On") if value == 0 else f"{value}" + tr("m") if value < 60 else f"{value // 60}" + tr("h") + label += tr(" (Default)") if value == 1800 else "" + return label + + def _update_state(self): + super()._update_state() + + # Handle Always Offroad button + always_offroad = ui_state.params.get_bool("OffroadMode") + + # Text & Color + offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad") + offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER + self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text) + self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style) + + # Position + if self._scroller._items.__contains__(self._always_offroad_btn): + self._scroller._items.remove(self._always_offroad_btn) + if ui_state.is_offroad() and not always_offroad: + self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn) + elif not ui_state.is_offroad(): + self._scroller._items.insert(0, self._always_offroad_btn) + + # Quiet Mode button + self._quiet_mode_and_dcam.action_item.left_button.set_button_style(ButtonStyle.PRIMARY if ui_state.params.get_bool("QuietMode") else ButtonStyle.NORMAL) + + # Onroad Uploads + self._onroad_uploads_and_reset_settings.action_item.left_button.set_button_style( + ButtonStyle.PRIMARY if ui_state.params.get_bool("OnroadUploads") else ButtonStyle.NORMAL + ) + + # Offroad only buttons + self._quiet_mode_and_dcam.action_item.right_button.set_enabled(ui_state.is_offroad()) + self._reg_and_training.action_item.left_button.set_enabled(ui_state.is_offroad()) + self._reg_and_training.action_item.right_button.set_enabled(ui_state.is_offroad()) + self._onroad_uploads_and_reset_settings.action_item.right_button.set_enabled(ui_state.is_offroad()) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py index add437b127..5820b34cc0 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/models.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py @@ -4,24 +4,248 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from openpilot.common.params import Params +import os +import re +import time +import pyray as rl + +from cereal import custom +from openpilot.common.constants import CV +from openpilot.selfdrive.ui.ui_state import device, ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import DialogResult, Widget +from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog from openpilot.system.ui.widgets.scroller_tici import Scroller -from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.toggle import ON_COLOR + +from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH +from openpilot.system.ui.sunnypilot.lib.styles import style +from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction +from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp +from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item +from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder + +if gui_app.sunnypilot_ui(): + from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item class ModelsLayout(Widget): def __init__(self): super().__init__() + self.model_manager = None + self.download_status = None + self.prev_download_status = None + self.model_dialog = None + self.last_cache_calc_time = 0 - self._params = Params() - items = self._initialize_items() - self._scroller = Scroller(items, line_separator=True, spacing=0) + self._initialize_items() + + self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB") + for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]: + ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100)) + + self._scroller = Scroller(self.items, line_separator=True, spacing=0) def _initialize_items(self): - items = [ + self.current_model_item = ListItemSP( + title=tr("Current Model"), + description="", + action_item=NoElideButtonAction(tr("SELECT")), + callback=self._handle_current_model_clicked + ) - ] - return items + self.supercombo_label = progress_item(tr("Driving Model")) + self.vision_label = progress_item(tr("Vision Model")) + self.policy_label = progress_item(tr("Policy Model")) + + self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "", + lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0), + gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models"))))) + + self.clear_cache_item = ListItemSP( + title=tr("Clear Model Cache"), + description="", + action_item=NoElideButtonAction(tr("CLEAR")), + callback=self._clear_cache + ) + + self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex")) + + self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000, + tr("Set the maximum speed for lane turn desires. Default is 19 mph."), + int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True, + lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" + + f" {'km/h' if ui_state.is_metric else 'mph'}") + + self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"), + tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," + + " the car will plan a turn in that direction at the nearest drivable path. " + + "This prevents situations (like at red lights) where the car might plan the wrong turn direction."), + param="LaneTurnDesire") + + self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50, + tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"), + 1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s") + + self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle") + + self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label, + self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle, + self.lane_turn_value_control, self.lagd_toggle, self.delay_control] + + def _update_lagd_description(self, lagd_toggle: bool): + desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " + + "Keeping this on provides the stock openpilot experience.") + if lagd_toggle: + desc += f"
{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s" + elif ui_state.CP: + sw = float(ui_state.params.get("LagdToggleDelay", "0.2")) + cp = ui_state.CP.steerActuatorDelay + desc += f"
{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s" + self.lagd_toggle.set_description(desc) + + def _is_downloading(self): + return (self.model_manager and self.model_manager.selectedBundle and + self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading) + + @staticmethod + def _calculate_cache_size(): + cache_size = 0.0 + if os.path.exists(CUSTOM_MODEL_PATH): + cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2) + return cache_size + + def _clear_cache(self): + def _callback(response): + if response == DialogResult.CONFIRM: + ui_state.params.put_bool("ModelManager_ClearCache", True) + self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB") + + gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"), + tr("Clear Cache")), callback=_callback) + + def _handle_bundle_download_progress(self): + labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label, + custom.ModelManagerSP.Model.Type.vision: self.vision_label, + custom.ModelManagerSP.Model.Type.policy: self.policy_label} + for label in labels.values(): + label.set_visible(False) + self.cancel_download_item.set_visible(False) + + if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle): + return + + bundle = self.model_manager.selectedBundle if self._is_downloading() or ( + self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed + ) else self.model_manager.activeBundle + if not bundle: + return + + self.download_status = bundle.status + status_changed = self.prev_download_status != self.download_status + self.prev_download_status = self.download_status + + self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex"))) + + if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5: + self.last_cache_calc_time = current_time + self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB") + + if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading: + device._reset_interactive_timeout() + + for model in bundle.models: + if label := labels.get(getattr(model.type, 'raw', model.type)): + label.set_visible(True) + p = model.artifact.downloadProgress + text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY + if p.status == custom.ModelManagerSP.DownloadStatus.downloading: + text, show = f"{int(p.progress)}% - {bundle.displayName}", True + elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached): + status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded") + text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR + elif p.status == custom.ModelManagerSP.DownloadStatus.failed: + text, color = f"download failed - {bundle.displayName}", rl.RED + label.action_item.update(p.progress, text, show, color) + + @staticmethod + def _show_reset_params_dialog(): + def _callback(response): + if response == DialogResult.CONFIRM: + ui_state.params.remove("CalibrationParams") + ui_state.params.remove("LiveTorqueParameters") + msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?") + gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback) + + def _on_model_selected(self, result): + if result != DialogResult.CONFIRM: + return + selected_ref = self.model_dialog.selection_ref + if selected_ref == "Default": + ui_state.params.remove("ModelManager_ActiveBundle") + self._show_reset_params_dialog() + elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None): + ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index) + if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation: + self._show_reset_params_dialog() + self.model_dialog = None + + @staticmethod + def _bundle_to_node(bundle): + return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName}) + + def _get_folders(self, favorites): + bundles = self.model_manager.availableBundles + folders = {} + for bundle in bundles: + folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle) + + folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])] + for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True): + folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True) + name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "") + folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles])) + + if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]): + folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles])) + return folders_list + + def _handle_current_model_clicked(self): + favs = ui_state.params.get("ModelManager_Favs") + favorites = set(favs.split(';')) if favs else set() + folders_list = self._get_folders(favorites) + + active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default" + self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs", + get_folders_fn=self._get_folders, on_exit=self._on_model_selected) + gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected) + + def _update_state(self): + advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls") + turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire") + live_delay: bool = ui_state.params.get_bool("LagdToggle") + + self.lane_turn_desire_toggle.action_item.set_state(turn_desire) + self.lane_turn_value_control.set_visible(turn_desire and advanced_controls) + self.lagd_toggle.action_item.set_state(live_delay) + self.delay_control.set_visible(not live_delay and advanced_controls) + new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100 + if self.lane_turn_value_control.action_item.value_change_step != new_step: + self.lane_turn_value_control.action_item.value_change_step = new_step + + self._update_lagd_description(live_delay) + self.model_manager = ui_state.sm["modelManagerSP"] + self._handle_bundle_download_progress() + active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model") + self.current_model_item.action_item.set_value(active_name) + + if not ui_state.is_offroad(): + self.current_model_item.action_item.set_enabled(False) + self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on")) + else: + self.current_model_item.action_item.set_enabled(True) + self.current_model_item.set_description("") def _render(self, rect): self._scroller.render(rect) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/network.py b/selfdrive/ui/sunnypilot/layouts/settings/network.py new file mode 100644 index 0000000000..14f573c628 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/network.py @@ -0,0 +1,46 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import threading +import time +import pyray as rl + +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets.button import Button, ButtonStyle +from openpilot.system.ui.widgets.network import NetworkUI, PanelType + + +class NetworkUISP(NetworkUI): + def __init__(self, wifi_manager): + super().__init__(wifi_manager) + + self.scan_button = Button(tr("Scan"), self._scan_clicked, button_style=ButtonStyle.NORMAL, font_size=60, border_radius=30) + self.scan_button.set_rect(rl.Rectangle(0, 0, 400, 100)) + + self._scanning = False + self._wifi_manager.add_callbacks(networks_updated=self._on_networks_updated) + + def _scan_clicked(self): + self._scanning = True + self.scan_button.set_text(tr("Scanning...")) + self.scan_button.set_enabled(False) + + threading.Thread(target=self._wifi_manager._update_networks, daemon=True).start() + self._wifi_manager._request_scan() + self._wifi_manager._last_network_update = time.monotonic() + + def _on_networks_updated(self, networks): + if self._scanning: + self._scanning = False + self.scan_button.set_text(tr("Scan")) + self.scan_button.set_enabled(True) + + def _render(self, rect: rl.Rectangle): + super()._render(rect) + + if self._current_panel == PanelType.WIFI: + self.scan_button.set_position(self._rect.x, self._rect.y + 20) + self.scan_button.render() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py index d57a0de9d8..f8a3a85042 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py @@ -4,27 +4,229 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ +import datetime +import os +import platform +import requests +import shutil +import threading +from pathlib import Path +from time import monotonic + from openpilot.common.params import Params +from openpilot.selfdrive.ui.ui_state import device, ui_state +from openpilot.selfdrive.ui.layouts.settings.software import time_ago +from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import DialogResult, Widget +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog +from openpilot.system.ui.widgets.list_view import text_item from openpilot.system.ui.widgets.scroller_tici import Scroller -from openpilot.system.ui.widgets import Widget + +from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction +from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP +from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog +from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item + +MAP_PATH = Path(Paths.mapd_root()) / "offline" class OSMLayout(Widget): def __init__(self): super().__init__() - - self._params = Params() - items = self._initialize_items() - self._scroller = Scroller(items, line_separator=True, spacing=0) + self._current_percent = 0 + self._last_map_size_update = 0 + self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params + self._initialize_items() + self._update_map_size() + self._progress.set_visible(False) + self._state_btn.set_visible(False) + self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...") + self._scroller = Scroller(self.items, line_separator=True, spacing=0) def _initialize_items(self): - items = [ + self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...") + self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps) + self._progress = progress_item(tr("Downloading Map")) + self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db) + self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country")) + self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State")) - ] - return items + self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn] - def _render(self, rect): - self._scroller.render(rect) + def _show_confirm(self, msg, confirm_text, func): + gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None) + + def calculate_size(self): + total_size = 0 + directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else [] + while directories_to_scan: + try: + for entry in os.scandir(directories_to_scan.pop()): + if entry.is_file(): + total_size += entry.stat().st_size + elif entry.is_dir(): + directories_to_scan.append(entry.path) + except OSError: + pass + self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB") + + def _update_map_size(self): + threading.Thread(target=self.calculate_size, daemon=True).start() + + def _do_delete_maps(self): + if MAP_PATH.exists(): + shutil.rmtree(MAP_PATH) + + for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"): + ui_state.params.remove(param) + + self._delete_maps_btn.action_item.set_enabled(True) + self._delete_maps_btn.action_item.set_text(tr("DELETE")) + self._update_map_size() + + def _on_confirm_delete_maps(self): + self._delete_maps_btn.action_item.set_enabled(False) + self._delete_maps_btn.action_item.set_text("DELETING...") + threading.Thread(target=self._do_delete_maps).start() + + def _delete_maps(self): + self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"), + tr("Yes, delete all maps"), self._on_confirm_delete_maps) + + def _update_db(self): + self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"), + lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True)) + + def _select_region(self, region_type): + is_country = region_type == "Country" + btn = self._country_btn if is_country else self._state_btn + btn.action_item.set_enabled(False) + btn.action_item.set_text(tr("FETCHING...")) + threading.Thread(target=self._do_select_region, args=(region_type, btn)).start() + + def _handle_region_selection(self, region_type, locations, key, res, ref): + if res != DialogResult.CONFIRM or not ref: + if region_type == "State" and res == DialogResult.CANCEL: + if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"): + ui_state.params.remove("OsmLocationName") + ui_state.params.remove("OsmLocationTitle") + ui_state.params.remove("OsmLocal") + self._update_labels() + return + + if region_type == "Country": + ui_state.params.put_bool("OsmLocal", True) + ui_state.params.remove("OsmStateName") + ui_state.params.remove("OsmStateTitle") + + ui_state.params.put(f"{key}Name", ref) + name = next((n.data['display_name'] for n in locations if n.ref == ref), ref) + ui_state.params.put(f"{key}Title", name) + + if ref == "US" and region_type == "Country": + self._select_region("State") + else: + self._update_db() + + def _do_select_region(self, region_type, btn): + base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/" + url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json") + try: + data = requests.get(url, timeout=10).json() + locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name']) + except Exception: + locations = [] + + if region_type == "State": + locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")})) + + btn.action_item.set_enabled(True) + btn.action_item.set_text(tr("SELECT")) + + key = "OsmLocation" if region_type == "Country" else "OsmState" + current = ui_state.params.get(f"{key}Name") or "" + + dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search") + dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref) + gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)) + + def _update_labels(self): + downloading = bool(self._mem_params.get("OSMDownloadLocations")) + self._country_btn.set_enabled(not downloading) + self._state_btn.set_enabled(not downloading) + self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US") + self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName"))) + + self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "") + self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "") + + pending = ui_state.params.get_bool("OsmDbUpdatesCheck") + if downloading or pending: + if downloading: + device._reset_interactive_timeout() + self._update_map_size() + self._progress.set_visible(True) + progress = ui_state.params.get("OSMDownloadProgress") + total = progress.get('total_files', 0) if progress else 0 + done = progress.get('downloaded_files', 0) if progress else 0 + failed = total > 0 and not downloading and done < total + + if total > 0: + progress_perc = max(0.0, min(100.0, (done / total) * 100.0)) + else: + progress_perc = 0.0 + + if failed: + text = "0% - Downloading Maps" + btn_text = tr("Error: Invalid download. Retry.") + self._current_percent = 0.0 + elif total > 0 and downloading: + self._current_percent = progress_perc + perc_int = int(progress_perc) + text = f"{perc_int}% - Downloading Maps" + btn_text = f"{done}/{total} ({perc_int}%)" + else: + self._current_percent = 0.0 + text = "0% - Downloading Maps" + btn_text = tr("Downloading Maps...") + + self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed) + self._update_btn.action_item.set_enabled(not downloading) # TODO-SP: introduce CANCEL database download with mapd + self._update_btn.action_item.set_value(btn_text) + self._country_btn.action_item.set_enabled(not downloading) + self._state_btn.action_item.set_enabled(not downloading) + self._delete_maps_btn.action_item.set_enabled(not downloading) + else: + self._progress.set_visible(False) + self._update_btn.action_item.set_enabled(True) + self._country_btn.action_item.set_enabled(True) + self._state_btn.action_item.set_enabled(True) + self._delete_maps_btn.action_item.set_enabled(True) + + ts = ui_state.params.get("OsmDownloadedDate") + dt: datetime.datetime | None = None + + if ts: + try: + ts_f = float(ts) + if ts_f > 0: + dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC) + except (ValueError, TypeError): + dt = None + + formatted = time_ago(dt) + self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted)) def show_event(self): self._scroller.show_event() + + def _update_state(self): + now = monotonic() + if now - self._last_map_size_update >= 1.0: + self._last_map_size_update = now + self._update_labels() + + def _render(self, rect): + self._scroller.render(rect) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py index bf174de90b..bc83c82f85 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py @@ -9,28 +9,28 @@ from enum import IntEnum import pyray as rl from openpilot.selfdrive.ui.layouts.settings import settings as OP -from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout -from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout -from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout -from openpilot.system.ui.lib.application import gui_app, MousePos -from openpilot.system.ui.lib.multilang import tr_noop -from openpilot.system.ui.sunnypilot.lib.styles import style -from openpilot.system.ui.widgets.scroller_tici import Scroller -from openpilot.system.ui.lib.text_measure import measure_text_cached -from openpilot.system.ui.widgets.network import NetworkUI -from openpilot.system.ui.lib.wifi_manager import WifiManager -from openpilot.system.ui.widgets import Widget +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout -from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout -from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout -from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout -from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout +from openpilot.system.ui.lib.application import gui_app, MousePos +from openpilot.system.ui.lib.multilang import tr_noop +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.wifi_manager import WifiManager +from openpilot.system.ui.sunnypilot.lib.styles import style +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.scroller_tici import Scroller # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout @@ -111,10 +111,10 @@ class SettingsLayoutSP(OP.SettingsLayout): self._panels = { OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"), - OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager), icon="icons/network.png"), - OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"), + OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"), + OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"), OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"), - OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"), + OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"), OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"), OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"), OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"), @@ -125,7 +125,7 @@ class SettingsLayoutSP(OP.SettingsLayout): OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"), - OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"), + OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"), } def _draw_sidebar(self, rect: rl.Rectangle): diff --git a/selfdrive/ui/sunnypilot/layouts/settings/software.py b/selfdrive/ui/sunnypilot/layouts/settings/software.py new file mode 100644 index 0000000000..b890dd5b5b --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/software.py @@ -0,0 +1,96 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import os + +from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.multilang import tr, tr_noop +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog + +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp +from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder + + +DESCRIPTIONS = { + 'disable_updates_offroad': tr_noop( + "When enabled, automatic software updates will be off.
This requires a reboot to take effect." + ), + 'disable_updates_onroad': tr_noop( + "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles." + ) +} + + +class SoftwareLayoutSP(SoftwareLayout): + def __init__(self): + super().__init__() + self.disable_updates_toggle = toggle_item_sp( + lambda: tr("Disable Updates"), + description="", + initial_state=ui_state.params.get_bool("DisableUpdates"), + callback=self._on_disable_updates_toggled, + ) + self._scroller.add_widget(self.disable_updates_toggle) + + def _handle_reboot(self, result): + if result == DialogResult.CONFIRM: + ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state()) + ui_state.params.put_bool("DoReboot", True) + else: + self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates")) + + def _on_disable_updates_toggled(self, enabled): + dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot")) + gui_app.set_modal_overlay(dialog, callback=self._handle_reboot) + + def _on_select_branch(self): + current_git_branch = ui_state.params.get("GitBranch") or "" + branches_str = ui_state.params.get("UpdaterAvailableBranches") or "" + branches = [b for b in branches_str.split(",") if b] + current_target = ui_state.params.get("UpdaterTargetBranch") or "" + top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"] + + if HARDWARE.get_device_type() == "tici": + top_level_branches = ["release-tici", "staging-tici"] + branches = [b for b in branches if b.endswith("-tici")] + + top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches] + remaining_branches = [b for b in branches if b not in top_level_branches] + prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")] + non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")] + + folders = [ + TreeFolder("", top_level_nodes), + TreeFolder("Prebuilt Branches", prebuilt_nodes), + TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes), + ] + + def _on_branch_selected(result): + if result == DialogResult.CONFIRM and self._branch_dialog is not None: + selection = self._branch_dialog.selection_ref + if selection: + ui_state.params.put("UpdaterTargetBranch", selection) + self._branch_btn.action_item.set_value(selection) + os.system("pkill -SIGUSR1 -f system.updated.updated") + self._branch_dialog = None + + self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "", + on_exit=_on_branch_selected) + + gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected) + + def _update_state(self): + super()._update_state() + show_advanced = ui_state.params.get_bool("ShowAdvancedControls") + self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad()) + self.disable_updates_toggle.set_visible(show_advanced) + + disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"]) + self.disable_updates_toggle.set_description(disable_updates_desc) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py index b1e12c17ab..2b5497fb56 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py @@ -4,27 +4,340 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from openpilot.common.params import Params -from openpilot.system.ui.widgets.scroller_tici import Scroller -from openpilot.system.ui.widgets import Widget +from cereal import custom +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog +from openpilot.system.ui.widgets.button import ButtonStyle, Button +from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog +from openpilot.system.ui.widgets.label import UnifiedLabel +from openpilot.system.ui.widgets.list_view import button_item, dual_button_item +from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator +from openpilot.system.ui.widgets import Widget, DialogResult +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp +import pyray as rl + +if gui_app.sunnypilot_ui(): + from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item + + +class SunnylinkHeader(Widget): + def __init__(self): + super().__init__() + + self._title = UnifiedLabel( + text="🚀 sunnylink 🚀", + font_size=90, + font_weight=FontWeight.AUDIOWIDE, + text_color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, + wrap_text=False, + elide=False + ) + + self._description = UnifiedLabel( + text=tr("For secure backup, restore, and remote configuration"), + font_size=40, + font_weight=FontWeight.LIGHT, + text_color=rl.Color(0, 255, 0, 255), # Green + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, + wrap_text=True, + elide=False + ) + + self._sponsor_msg = UnifiedLabel( + text=tr("Sponsorship isn't required for basic backup/restore") + "\n" + + tr("Click the Sponsor button for more details"), + font_size=35, + font_weight=FontWeight.LIGHT, + text_color=rl.Color(255, 165, 0, 255), # Orange + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, + wrap_text=True, + elide=False + ) + + self._padding = 20 + self._spacing = 10 + + def set_parent_rect(self, parent_rect: rl.Rectangle) -> None: + super().set_parent_rect(parent_rect) + + content_width = int(parent_rect.width - (self._padding * 2)) + + title_height = self._title.get_content_height(content_width) + desc_height = self._description.get_content_height(content_width) + sponsor_height = self._sponsor_msg.get_content_height(content_width) + + total_height = (self._padding + title_height + self._spacing + + desc_height + self._spacing + sponsor_height + self._padding) + + self._rect.width = parent_rect.width + self._rect.height = total_height + + def _render(self, rect: rl.Rectangle): + content_width = rect.width - (self._padding * 2) + current_y = rect.y + self._padding + + # Render title + title_height = self._title.get_content_height(int(content_width)) + title_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, title_height) + self._title.render(title_rect) + current_y += title_height + self._spacing + + # Render description + desc_height = self._description.get_content_height(int(content_width)) + desc_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, desc_height) + self._description.render(desc_rect) + current_y += desc_height + self._spacing + + # Render sponsor message + sponsor_height = self._sponsor_msg.get_content_height(int(content_width)) + sponsor_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, sponsor_height) + self._sponsor_msg.render(sponsor_rect) + + +class SunnylinkDescriptionItem(Widget): + def __init__(self): + super().__init__() + self._description = UnifiedLabel( + text="", + font_size=40, + font_weight=FontWeight.LIGHT, + text_color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, + wrap_text=True, + elide=False, + ) + self._padding = 20 + + def set_parent_rect(self, parent_rect: rl.Rectangle) -> None: + super().set_parent_rect(parent_rect) + desc_height = self._description.get_content_height(int(parent_rect.width)) + self._padding * 2 + + self._rect.width = parent_rect.width + self._rect.height = desc_height + + def set_text(self, text: str): + self._description.set_text(text) + + def set_color(self, color: rl.Color): + self._description.set_text_color(color) + + def _render(self, rect: rl.Rectangle): + content_width = rect.width - (self._padding * 2) + + desc_height = self._description.get_content_height(int(content_width)) + desc_rect = rl.Rectangle(rect.x + self._padding, rect.y, content_width, desc_height) + self._description.render(desc_rect) class SunnylinkLayout(Widget): def __init__(self): super().__init__() - self._params = Params() + self._sunnylink_pairing_dialog: SunnylinkPairingDialog | None = None + self._restore_in_progress = False + self._backup_in_progress = False + self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled") + items = self._initialize_items() - self._scroller = Scroller(items, line_separator=True, spacing=0) + self._scroller = Scroller(items, line_separator=False, spacing=0) def _initialize_items(self): - items = [ + self._sunnylink_toggle = toggle_item_sp( + title=tr("Enable sunnylink"), + description=tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."), + param="SunnylinkEnabled", + callback=self._sunnylink_toggle_callback + ) + self._sunnylink_description = SunnylinkDescriptionItem() + self._sunnylink_description.set_visible(False) + + self._sponsor_btn = button_item( + title=tr("Sponsor Status"), + button_text=tr("SPONSOR"), + description=tr( + "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."), + callback=lambda: self._handle_pair_btn(False) + ) + self._pair_btn = button_item( + title=tr("Pair GitHub Account"), + button_text=tr("Not Paired"), + description=tr( + "Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink."), + callback=lambda: self._handle_pair_btn(True) + ) + self._sunnylink_uploader_toggle = toggle_item_sp( + title=tr("Enable sunnylink uploader (infrastructure test)"), + description=tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. ") + + tr("(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"), + param="EnableSunnylinkUploader" + ) + self._sunnylink_backup_restore_buttons = dual_button_item( + description="", + left_text=tr("Backup Settings"), + right_text=tr("Restore Settings"), + left_callback=self._handle_backup_btn, + right_callback=self._handle_restore_btn + ) + self._backup_btn: Button = self._sunnylink_backup_restore_buttons.action_item.left_button # store for easy individual access + self._restore_btn: Button = self._sunnylink_backup_restore_buttons.action_item.right_button + self._backup_btn.set_button_style(ButtonStyle.NORMAL) + self._restore_btn.set_button_style(ButtonStyle.PRIMARY) + + items = [ + SunnylinkHeader(), + LineSeparator(), + self._sunnylink_toggle, + self._sunnylink_description, + LineSeparator(), + self._sponsor_btn, + LineSeparator(), + self._pair_btn, + LineSeparator(), + self._sunnylink_uploader_toggle, + LineSeparator(), + self._sunnylink_backup_restore_buttons ] return items + @staticmethod + def _get_sunnylink_dongle_id() -> str: + return ui_state.params.get("SunnylinkDongleId") or tr("N/A") + + def _handle_pair_btn(self, sponsor_pairing: bool = False): + sunnylink_dongle_id = self._get_sunnylink_dongle_id() + if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID: + gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") + + tr("This may be due to weak internet connection or sunnylink registration issue. ") + + tr("Please reboot and try again."))) + elif not self._sunnylink_pairing_dialog: + self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing) + gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None)) + + def _handle_backup_btn(self): + backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup") + gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler) + + def _handle_restore_btn(self): + self._restore_btn.set_enabled(False) + restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore") + gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler) + + def _backup_handler(self, dialog_result: int): + if dialog_result == DialogResult.CONFIRM: + self._backup_in_progress = True + self._backup_btn.set_enabled(False) + ui_state.params.put_bool("BackupManager_CreateBackup", True) + + def _restore_handler(self, dialog_result: int): + if dialog_result == DialogResult.CONFIRM: + self._restore_in_progress = True + self._restore_btn.set_enabled(False) + ui_state.params.put("BackupManager_RestoreVersion", "latest") + + def handle_backup_restore_progress(self): + sunnylink_backup_manager = ui_state.sm["backupManagerSP"] + + backup_status = sunnylink_backup_manager.backupStatus + restore_status = sunnylink_backup_manager.restoreStatus + backup_progress = sunnylink_backup_manager.backupProgress + restore_progress = sunnylink_backup_manager.restoreProgress + + if self._backup_in_progress: + self._restore_btn.set_enabled(False) + self._backup_btn.set_enabled(False) + + if backup_status == custom.BackupManagerSP.Status.inProgress: + self._backup_in_progress = True + text = tr(f"Backing up {backup_progress}%") + self._backup_btn.set_text(text) + + elif backup_status == custom.BackupManagerSP.Status.failed: + self._backup_in_progress = False + self._backup_btn.set_enabled(not ui_state.is_onroad()) + self._backup_btn.set_text(tr("Backup Failed")) + + elif (backup_status == custom.BackupManagerSP.Status.completed or + (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)): + self._backup_in_progress = False + dialog = alert_dialog(tr("Settings backup completed.")) + gui_app.set_modal_overlay(dialog) + self._backup_btn.set_enabled(not ui_state.is_onroad()) + + elif self._restore_in_progress: + self._restore_btn.set_enabled(False) + self._backup_btn.set_enabled(False) + + if restore_status == custom.BackupManagerSP.Status.inProgress: + self._restore_in_progress = True + text = tr(f"Restoring {restore_progress}%") + self._restore_btn.set_text(text) + + elif restore_status == custom.BackupManagerSP.Status.failed: + self._restore_in_progress = False + self._restore_btn.set_enabled(not ui_state.is_onroad()) + self._restore_btn.set_text(tr("Restore Failed")) + dialog = alert_dialog(tr("Unable to restore the settings, try again later.")) + gui_app.set_modal_overlay(dialog) + + elif (restore_status == custom.BackupManagerSP.Status.completed or + (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)): + self._restore_in_progress = False + dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface.")) + gui_app.set_modal_overlay(dialog, callback=lambda: gui_app.request_close()) + + else: + can_enable = self._sunnylink_enabled and not ui_state.is_onroad() + self._backup_btn.set_enabled(can_enable) + self._backup_btn.set_text(tr("Backup Settings")) + self._restore_btn.set_enabled(can_enable) + self._restore_btn.set_text(tr("Restore Settings")) + + def _sunnylink_toggle_callback(self, state: bool): + if state: + description = tr( + "Welcome back!! We're excited to see you've enabled sunnylink again!") + color = rl.Color(0, 255, 0, 255) # Green + else: + description = ("😢 " + tr("Not going to lie, it's sad to see you disabled sunnylink") + + tr(", but we'll be here when you're ready to come back.")) + color = rl.Color(255, 165, 0, 255) # Orange + self._sunnylink_description.set_text(description) + self._sunnylink_description.set_color(color) + self._sunnylink_description.set_visible(True) + self._sunnylink_toggle.show_description(False) + + def _update_state(self): + super()._update_state() + self._sunnylink_enabled = ui_state.params.get_bool("SunnylinkEnabled") + self._sunnylink_toggle.set_right_value(tr("Dongle ID") + ": " + self._get_sunnylink_dongle_id()) + self._sunnylink_toggle.action_item.set_enabled(not ui_state.is_onroad()) + self._sunnylink_toggle.action_item.set_state(self._sunnylink_enabled) + self._sunnylink_uploader_toggle.action_item.set_enabled(self._sunnylink_enabled) + self.handle_backup_restore_progress() + + sponsor_btn_text = tr("THANKS ♥") if ui_state.sunnylink_state.is_sponsor() else tr("SPONSOR") + tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor") + self._sponsor_btn.action_item.set_text(sponsor_btn_text) + self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color()) + self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled) + + pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired") + self._pair_btn.action_item.set_text(pair_btn_text) + self._pair_btn.action_item.set_enabled(self._sunnylink_enabled) + def _render(self, rect): self._scroller.render(rect) def show_event(self): + super().show_event() self._scroller.show_event() + self._sunnylink_description.set_visible(False) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py deleted file mode 100644 index d04816a411..0000000000 --- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle.py +++ /dev/null @@ -1,30 +0,0 @@ -""" -Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - -This file is part of sunnypilot and is licensed under the MIT License. -See the LICENSE.md file in the root directory for more details. -""" -from openpilot.common.params import Params -from openpilot.system.ui.widgets.scroller_tici import Scroller -from openpilot.system.ui.widgets import Widget - - -class VehicleLayout(Widget): - def __init__(self): - super().__init__() - - self._params = Params() - items = self._initialize_items() - self._scroller = Scroller(items, line_separator=True, spacing=0) - - def _initialize_items(self): - items = [ - - ] - return items - - def _render(self, rect): - self._scroller.render(rect) - - def show_event(self): - self._scroller.show_event() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py new file mode 100644 index 0000000000..0dd12d76f4 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py @@ -0,0 +1,67 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.list_view import ButtonAction +from openpilot.system.ui.widgets.scroller_tici import Scroller + +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.factory import BrandSettingsFactory +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.platform_selector import PlatformSelector, LegendWidget +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP + + +class VehicleLayout(Widget): + def __init__(self): + super().__init__() + self._brand_settings = None + self._brand_items = [] + self._current_brand = None + self._platform_selector = PlatformSelector(self._update_brand_settings) + + self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("SELECT")), + callback=self._platform_selector._on_clicked) + self._vehicle_item.title_color = self._platform_selector.color + self._legend_widget = LegendWidget(self._platform_selector) + + self.items = [self._vehicle_item, self._legend_widget] + self._scroller = Scroller(self.items, line_separator=True, spacing=0) + + @staticmethod + def get_brand(): + if bundle := ui_state.params.get("CarPlatformBundle"): + return bundle.get("brand", "") + elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK": + return ui_state.CP.brand + return "" + + def _update_brand_settings(self): + self._vehicle_item._title = self._platform_selector.text + self._vehicle_item.title_color = self._platform_selector.color + vehicle_text = tr("REMOVE") if ui_state.params.get("CarPlatformBundle") else tr("SELECT") + self._vehicle_item.action_item.set_text(vehicle_text) + + brand = self.get_brand() + if brand != self._current_brand: + self._current_brand = brand + self._brand_settings = BrandSettingsFactory.create_brand_settings(brand) + self._brand_items = self._brand_settings.items if self._brand_settings else [] + + self.items = [self._vehicle_item, self._legend_widget] + self._brand_items + self._scroller = Scroller(self.items, line_separator=True, spacing=0) + + def _update_state(self): + self._update_brand_settings() + if self._brand_settings: + self._brand_settings.update_settings() + self._platform_selector.refresh() + + def _render(self, rect): + self._scroller.render(rect) + + def show_event(self): + self._scroller.show_event() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py new file mode 100644 index 0000000000..8d83fdf916 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py @@ -0,0 +1,16 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import abc + + +class BrandSettings(abc.ABC): + def __init__(self): + self.items = [] + + @abc.abstractmethod + def update_settings(self) -> None: + """Update the settings based on the current vehicle brand.""" diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py new file mode 100644 index 0000000000..d1c9ea5d64 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class BodySettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py new file mode 100644 index 0000000000..ad62dba56f --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class ChryslerSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py new file mode 100644 index 0000000000..678732296f --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py @@ -0,0 +1,45 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.body import BodySettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.chrysler import ChryslerSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.ford import FordSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.gm import GMSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.honda import HondaSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.hyundai import HyundaiSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.mazda import MazdaSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.nissan import NissanSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.psa import PSASettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.rivian import RivianSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.subaru import SubaruSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.tesla import TeslaSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.toyota import ToyotaSettings +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.volkswagen import VolkswagenSettings + + +class BrandSettingsFactory: + _BRAND_MAP: dict[str, type[BrandSettings]] = { + "body": BodySettings, + "chrysler": ChryslerSettings, + "ford": FordSettings, + "gm": GMSettings, + "honda": HondaSettings, + "hyundai": HyundaiSettings, + "mazda": MazdaSettings, + "nissan": NissanSettings, + "psa": PSASettings, + "rivian": RivianSettings, + "subaru": SubaruSettings, + "tesla": TeslaSettings, + "toyota": ToyotaSettings, + "volkswagen": VolkswagenSettings, + } + + @staticmethod + def create_brand_settings(brand: str) -> BrandSettings | None: + cls = BrandSettingsFactory._BRAND_MAP.get(brand) + return cls() if cls is not None else None diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py new file mode 100644 index 0000000000..8871087e03 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class FordSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py new file mode 100644 index 0000000000..edcd17cdb8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class GMSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py new file mode 100644 index 0000000000..fec68795a6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class HondaSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py new file mode 100644 index 0000000000..f6849eb201 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py @@ -0,0 +1,59 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp +from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR + + +class HyundaiSettings(BrandSettings): + def __init__(self): + super().__init__() + self.alpha_long_available = False + + tuning_texts = [tr("Off"), tr("Dynamic"), tr("Predictive")] + self.longitudinal_tuning_item = multiple_button_item_sp(tr("Custom Longitudinal Tuning"), "", tuning_texts, + button_width=300, callback=self._on_tuning_selected, + param="HyundaiLongitudinalTuning", inline=False) + self.items = [self.longitudinal_tuning_item] + + @staticmethod + def _on_tuning_selected(index): + ui_state.params.put("HyundaiLongitudinalTuning", index) + + def update_settings(self): + self.alpha_long_available = False + bundle = ui_state.params.get("CarPlatformBundle") + if bundle: + platform = bundle.get("platform") + self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR) + elif ui_state.CP: + self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable + + tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0") + long_enabled = ui_state.has_longitudinal_control + + long_tuning_descs = [ + tr("Your vehicle will use the Default longitudinal tuning."), + tr("Your vehicle will use the Dynamic longitudinal tuning."), + tr("Your vehicle will use the Predictive longitudinal tuning."), + ] + long_tuning_desc = long_tuning_descs[tuning_param] if tuning_param < len(long_tuning_descs) else long_tuning_descs[0] + + longitudinal_tuning_disabled = not ui_state.is_offroad() or not long_enabled + if longitudinal_tuning_disabled: + if not ui_state.is_offroad(): + long_tuning_desc = tr("This feature is unavailable while the car is onroad.") + elif not long_enabled: + long_tuning_desc = tr("This feature is unavailable because sunnypilot Longitudinal Control (Alpha) is not enabled.") + + self.longitudinal_tuning_item.action_item.set_enabled(not longitudinal_tuning_disabled) + self.longitudinal_tuning_item.set_description(long_tuning_desc) + self.longitudinal_tuning_item.show_description(True) + self.longitudinal_tuning_item.action_item.set_selected_button(tuning_param) + self.longitudinal_tuning_item.set_visible(self.alpha_long_available) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py new file mode 100644 index 0000000000..d354f0f34b --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class MazdaSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py new file mode 100644 index 0000000000..7b3446a1a7 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class NissanSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py new file mode 100644 index 0000000000..6b767d332a --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class PSASettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py new file mode 100644 index 0000000000..876aa2d2ea --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class RivianSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py new file mode 100644 index 0000000000..66e7ec1d5a --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py @@ -0,0 +1,54 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp +from opendbc.car.subaru.values import CAR, SubaruFlags + + +class SubaruSettings(BrandSettings): + def __init__(self): + super().__init__() + self.has_stop_and_go = False + + self.stop_and_go_toggle = toggle_item_sp(tr("Stop and Go (Beta)"), "", param="SubaruStopAndGo", callback=self._on_toggle_changed) + + self.stop_and_go_manual_parking_brake_toggle = toggle_item_sp(tr("Stop and Go for Manual Parking Brake (Beta)"), "", + param="SubaruStopAndGoManualParkingBrake", callback=self._on_toggle_changed) + + self.items = [self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle] + + def _on_toggle_changed(self, _): + self.update_settings() + + def stop_and_go_disabled_msg(self): + if not self.has_stop_and_go: + return tr("This feature is currently not available on this platform.") + elif not ui_state.is_offroad(): + return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.") + return "" + + def update_settings(self): + bundle = ui_state.params.get("CarPlatformBundle") + if bundle: + platform = bundle.get("platform") + config = CAR[platform].config + self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID)) + elif ui_state.CP: + self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID)) + + disabled_msg = self.stop_and_go_disabled_msg() + descriptions = [ + tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms."), + tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. " + + "Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!") + ] + + for toggle, desc in zip([self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle], descriptions, strict=True): + toggle.action_item.set_enabled(self.has_stop_and_go and ui_state.is_offroad()) + toggle.set_description(f"{disabled_msg}

{desc}" if disabled_msg else desc) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py new file mode 100644 index 0000000000..46d536c651 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py @@ -0,0 +1,43 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp + +COOP_STEERING_MIN_KMH = 23 +OEM_STEERING_MIN_KMH = 48 +KM_TO_MILE = 0.621371 + + +class TeslaSettings(BrandSettings): + def __init__(self): + super().__init__() + self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering") + self.items = [self.coop_steering_toggle] + + def update_settings(self): + is_metric = ui_state.is_metric + unit = "km/h" if is_metric else "mph" + + display_value_coop = COOP_STEERING_MIN_KMH if is_metric else round(COOP_STEERING_MIN_KMH * KM_TO_MILE) + display_value_oem = OEM_STEERING_MIN_KMH if is_metric else round(OEM_STEERING_MIN_KMH * KM_TO_MILE) + + coop_steering_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.") + coop_steering_warning = tr(f"Warning: May experience steering oscillations below {display_value_oem} {unit} during turns, " + + "recommend disabling this feature if you experience these.") + coop_steering_desc = ( + f"{coop_steering_warning}

" + + f"{tr('Allows the driver to provide limited steering input while openpilot is engaged.')}
" + + f"{tr(f'Only works above {display_value_coop} {unit}.')}" + ) + + if not ui_state.is_offroad(): + coop_steering_desc = f"{coop_steering_disabled_msg}

{coop_steering_desc}" + + self.coop_steering_toggle.set_description(coop_steering_desc) + self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad()) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py new file mode 100644 index 0000000000..ac3d04f367 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py @@ -0,0 +1,59 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.multilang import tr, tr_noop +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp + + +DESCRIPTIONS = { + 'enforce_stock_longitudinal': tr_noop( + 'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.' + ), +} + + +class ToyotaSettings(BrandSettings): + def __init__(self): + super().__init__() + + self.enforce_stock_longitudinal = toggle_item_sp( + lambda: tr("Enforce Factory Longitudinal Control"), + description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]), + initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"), + callback=self._on_enable_enforce_stock_longitudinal, + enabled=lambda: not ui_state.engaged, + ) + + self.items = [self.enforce_stock_longitudinal, ] + + def _on_enable_enforce_stock_longitudinal(self, state: bool): + if state: + def confirm_callback(result: int): + if result == DialogResult.CONFIRM: + ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True) + if ui_state.params.get_bool("AlphaLongitudinalEnabled"): + ui_state.params.put_bool("AlphaLongitudinalEnabled", False) + ui_state.params.put_bool("OnroadCycleRequested", True) + else: + self.enforce_stock_longitudinal.action_item.set_state(False) + + content = (f"

{self.enforce_stock_longitudinal.title}


" + + f"

{self.enforce_stock_longitudinal.description}

") + + dlg = ConfirmDialog(content, tr("Enable"), rich=True) + gui_app.set_modal_overlay(dlg, callback=confirm_callback) + + else: + ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False) + ui_state.params.put_bool("OnroadCycleRequested", True) + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py new file mode 100644 index 0000000000..a6d44c5e4d --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py @@ -0,0 +1,15 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings + + +class VolkswagenSettings(BrandSettings): + def __init__(self): + super().__init__() + + def update_settings(self): + pass diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py new file mode 100644 index 0000000000..db90595274 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py @@ -0,0 +1,138 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json +import os +import pyray as rl +from collections.abc import Callable +from functools import partial + +from openpilot.common.basedir import BASEDIR +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import DialogResult, Widget +from openpilot.system.ui.widgets.button import Button, ButtonStyle +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog + +from openpilot.system.ui.sunnypilot.lib.styles import style +from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder +from openpilot.selfdrive.ui.ui_state import ui_state + +CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json") + + +class LegendWidget(Widget): + def __init__(self, platform_selector): + super().__init__() + self.set_rect(rl.Rectangle(0, 0, 0, 350)) + self._platform_selector = platform_selector + self._font = gui_app.font(FontWeight.NORMAL) + self._bold_font = gui_app.font(FontWeight.BOLD) + + def _render(self, rect): + x = rect.x + 20 + y = rect.y + 20 + rl.draw_text_ex(self._font, tr("Select vehicle to force fingerprint manually."), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR) + y += 80 + rl.draw_text_ex(self._font, tr("Colors represent vehicle fingerprint status:"), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR) + y += 80 + + items = [ + (style.GREEN, tr("Fingerprinted automatically")), + (style.BLUE, tr("Manually selected fingerprint")), + (style.YELLOW, tr("Not fingerprinted or manually selected")), + ] + for color, text in items: + p_color = self._platform_selector.color + is_active = p_color.r == color.r and p_color.g == color.g and p_color.b == color.b and p_color.a == color.a + rl.draw_rectangle(int(x), int(y + 5), 30, 30, color) + font = self._bold_font if is_active else self._font + text_color = rl.WHITE if is_active else style.ITEM_DESC_TEXT_COLOR + rl.draw_text_ex(font, f"- {text}", rl.Vector2(x + 50, y - 7), 40, 0, text_color) + y += 50 + + +class PlatformSelector(Button): + def __init__(self, on_platform_change: Callable[[], None] | None = None): + super().__init__(tr("Vehicle"), self._on_clicked, button_style=ButtonStyle.NORMAL) + self.set_rect(rl.Rectangle(0, 0, 0, 120)) + + with open(CAR_LIST_JSON_OUT) as car_list_json: + self._platforms = json.load(car_list_json) + + self._on_platform_change = on_platform_change + self.refresh() + + @property + def text(self): + return self._label._text + + def set_parent_rect(self, parent_rect): + super().set_parent_rect(parent_rect) + self._rect.width = parent_rect.width + + def _on_clicked(self): + if ui_state.params.get("CarPlatformBundle"): + ui_state.params.remove("CarPlatformBundle") + self.refresh() + if self._on_platform_change: + self._on_platform_change() + else: + self._show_platform_dialog() + + def _set_platform(self, platform_name): + if data := self._platforms.get(platform_name): + ui_state.params.put("CarPlatformBundle", {**data, "name": platform_name}) + self.refresh() + if self._on_platform_change: + self._on_platform_change() + + def _on_platform_selected(self, dialog, res): + if res == DialogResult.CONFIRM and dialog.selection_ref: + offroad_msg = tr("This setting will take effect immediately.") if ui_state.is_offroad else \ + tr("This setting will take effect once the device enters offroad state.") + + confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm")) + + callback = partial(self._confirm_platform, dialog.selection_ref) + gui_app.set_modal_overlay(confirm_dialog, callback=callback) + + def _confirm_platform(self, platform_name, res): + if res == DialogResult.CONFIRM: + self._set_platform(platform_name) + + def _show_platform_dialog(self): + platforms = sorted(self._platforms.keys()) + makes = sorted({self._platforms[p].get('make') for p in platforms}) + folders = [TreeFolder(make, [TreeNode(p, { + 'display_name': p, + 'search_tags': f"{p} {self._platforms[p].get('make')} {' '.join(map(str, self._platforms[p].get('year', [])))} {self._platforms[p].get('model', p)}" + }) for p in platforms if self._platforms[p].get('make') == make]) for make in makes] + dialog = TreeOptionDialog( + tr("Select a vehicle"), + folders, + search_title=tr("Search your vehicle"), + search_subtitle=tr("Enter model year (e.g., 2021) and model (Toyota Corolla):"), + search_funcs=[lambda node: node.data.get('display_name', ''), lambda node: node.data.get('search_tags', '')] + ) + callback = partial(self._on_platform_selected, dialog) + dialog.on_exit = callback + gui_app.set_modal_overlay(dialog, callback=callback) + + def refresh(self): + self.color = style.YELLOW + self._platform = tr("Unrecognized Vehicle") + self.set_text(tr("No vehicle selected")) + + if bundle := ui_state.params.get("CarPlatformBundle"): + self._platform = bundle.get("name", "") + self.set_text(self._platform) + self.color = style.BLUE + elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK": + self._platform = ui_state.CP.carFingerprint + self.set_text(self._platform) + self.color = style.GREEN + self.set_enabled(True) diff --git a/selfdrive/ui/sunnypilot/mici/layouts/__init__.py b/selfdrive/ui/sunnypilot/mici/layouts/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py new file mode 100644 index 0000000000..c6a2d58257 --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py @@ -0,0 +1,39 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from enum import IntEnum + +from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP +from openpilot.selfdrive.ui.mici.widgets.button import BigButton +from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici + +ICON_SIZE = 70 + +OP.PanelType = IntEnum( # type: ignore + "PanelType", + [es.name for es in OP.PanelType] + [ + "SUNNYLINK", + ], + start=0, +) + + +class SettingsLayoutSP(OP.SettingsLayout): + def __init__(self): + OP.SettingsLayout.__init__(self) + + sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png") + sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK)) + self._panels.update({ + OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))), + }) + + items = self._scroller._items.copy() + + items.insert(1, sunnylink_btn) + self._scroller._items.clear() + for item in items: + self._scroller.add_widget(item) diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py new file mode 100644 index 0000000000..2ab035c1cf --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py @@ -0,0 +1,192 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable + +import pyray as rl +from cereal import custom +from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2 +from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog +from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.system.ui.lib.multilang import tr + +from openpilot.system.ui.widgets.scroller import Scroller +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle +from openpilot.system.ui.lib.application import gui_app, MousePos +from openpilot.system.ui.widgets import NavWidget +from openpilot.selfdrive.ui.ui_state import ui_state + + +class SunnylinkLayoutMici(NavWidget): + def __init__(self, back_callback: Callable): + super().__init__() + self.set_back_callback(back_callback) + self._restore_in_progress = False + self._backup_in_progress = False + self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled") + + self._sunnylink_toggle = BigToggle(text="", + initial_state=self._sunnylink_enabled, + toggle_callback=SunnylinkLayoutMici._sunnylink_toggle_callback) + self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False) + self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True) + self._backup_btn = BigButton(tr("backup settings"), "", "") + self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False)) + self._restore_btn = BigButton(tr("restore settings"), "", "") + self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True)) + self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False, + toggle_callback=SunnylinkLayoutMici._sunnylink_uploader_callback) + + self._scroller = Scroller([ + self._sunnylink_toggle, + self._sunnylink_sponsor_button, + self._sunnylink_pair_button, + self._backup_btn, + self._restore_btn, + self._sunnylink_uploader_toggle + ], snap_items=False) + + def _update_state(self): + super()._update_state() + self._sunnylink_enabled = ui_state.sunnylink_enabled + self._sunnylink_toggle.set_text(tr("enable sunnylink")) + self._sunnylink_pair_button.set_visible(self._sunnylink_enabled) + self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled) + self._backup_btn.set_visible(self._sunnylink_enabled) + self._restore_btn.set_visible(self._sunnylink_enabled) + self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled) + self.handle_backup_restore_progress() + + if ui_state.sunnylink_state.is_sponsor(): + self._sunnylink_sponsor_button.set_text(tr("thanks")) + self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower()) + self._sunnylink_sponsor_button.set_enabled(False) + else: + self._sunnylink_sponsor_button.set_text(tr("sponsor")) + self._sunnylink_sponsor_button.set_value("") + + if ui_state.sunnylink_state.is_paired(): + self._sunnylink_pair_button.set_text(tr("paired")) + else: + self._sunnylink_pair_button.set_text(tr("pair")) + + def show_event(self): + super().show_event() + self._scroller.show_event() + ui_state.update_params() + + def _render(self, rect: rl.Rectangle): + self._scroller.render(rect) + + @staticmethod + def _sunnylink_toggle_callback(state: bool): + ui_state.params.put_bool("SunnylinkEnabled", state) + ui_state.update_params() + + @staticmethod + def _sunnylink_uploader_callback(state: bool): + ui_state.params.put_bool("EnableSunnylinkUploader", state) + + def _handle_backup_restore_btn(self, restore: bool = False): + lbl = tr("slide to restore") if restore else tr("slide to backup") + icon = "icons_mici/settings/device/update.png" + dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler) + gui_app.set_modal_overlay(dlg) + + def _backup_handler(self): + self._backup_in_progress = True + self._backup_btn.set_enabled(False) + ui_state.params.put_bool("BackupManager_CreateBackup", True) + + def _restore_handler(self): + self._restore_in_progress = True + self._restore_btn.set_enabled(False) + ui_state.params.put("BackupManager_RestoreVersion", "latest") + + def handle_backup_restore_progress(self): + sunnylink_backup_manager = ui_state.sm["backupManagerSP"] + + backup_status = sunnylink_backup_manager.backupStatus + restore_status = sunnylink_backup_manager.restoreStatus + backup_progress = sunnylink_backup_manager.backupProgress + restore_progress = sunnylink_backup_manager.restoreProgress + + if self._backup_in_progress: + self._restore_btn.set_enabled(False) + self._backup_btn.set_enabled(False) + + if backup_status == custom.BackupManagerSP.Status.inProgress: + self._backup_in_progress = True + self._backup_btn.set_text(tr("backing up")) + text = tr(f"{backup_progress}%") + self._backup_btn.set_value(text) + + elif backup_status == custom.BackupManagerSP.Status.failed: + self._backup_in_progress = False + self._backup_btn.set_enabled(not ui_state.is_onroad()) + self._backup_btn.set_text(tr("backup")) + self._backup_btn.set_value(tr("failed")) + + elif (backup_status == custom.BackupManagerSP.Status.completed or + (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)): + self._backup_in_progress = False + gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description="")) + self._backup_btn.set_enabled(not ui_state.is_onroad()) + + elif self._restore_in_progress: + self._restore_btn.set_enabled(False) + self._backup_btn.set_enabled(False) + + if restore_status == custom.BackupManagerSP.Status.inProgress: + self._restore_in_progress = True + self._restore_btn.set_text(tr("restoring")) + text = tr(f"{restore_progress}%") + self._restore_btn.set_value(text) + + elif restore_status == custom.BackupManagerSP.Status.failed: + self._restore_in_progress = False + self._restore_btn.set_enabled(not ui_state.is_onroad()) + self._restore_btn.set_text(tr("restore")) + self._restore_btn.set_value(tr("failed")) + gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later.")) + + elif (restore_status == custom.BackupManagerSP.Status.completed or + (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)): + self._restore_in_progress = False + gui_app.set_modal_overlay(BigConfirmationDialogV2( + title="slide to restart", icon="icons_mici/settings/device/reboot.png", + confirm_callback=lambda: gui_app.request_close())) + + else: + can_enable = self._sunnylink_enabled and not ui_state.is_onroad() + self._backup_btn.set_enabled(can_enable) + self._backup_btn.set_text(tr("backup settings")) + self._backup_btn.set_value("") + self._restore_btn.set_enabled(can_enable) + self._restore_btn.set_text(tr("restore settings")) + self._restore_btn.set_value("") + + +class SunnylinkPairBigButton(BigButton): + def __init__(self, sponsor_pairing: bool = False): + self.sponsor_pairing = sponsor_pairing + super().__init__("", "", "") + + def _update_state(self): + super()._update_state() + + def _handle_mouse_release(self, mouse_pos: MousePos): + super()._handle_mouse_release(mouse_pos) + + dlg: BigDialog | SunnylinkPairingDialog | None = None + if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID): + dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "") + elif self.sponsor_pairing: + dlg = SunnylinkPairingDialog(sponsor_pairing=True) + elif not self.sponsor_pairing: + dlg = SunnylinkPairingDialog(sponsor_pairing=False) + if dlg: + gui_app.set_modal_overlay(dlg) diff --git a/selfdrive/ui/sunnypilot/mici/onroad/__init__.py b/selfdrive/ui/sunnypilot/mici/onroad/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py b/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py new file mode 100644 index 0000000000..4a1aa92241 --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py @@ -0,0 +1,26 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS +from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus + + +class ConfidenceBallSP: + @staticmethod + def get_animate_status_probs(): + if ui_state.status == UIStatus.LAT_ONLY: + return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs + + # UIStatus.LONG_ONLY + return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs + + @staticmethod + def get_lat_long_dot_color(): + if ui_state.status == UIStatus.LAT_ONLY: + return BORDER_COLORS[UIStatus.LAT_ONLY] + + # UIStatus.LONG_ONLY + return BORDER_COLORS[UIStatus.LONG_ONLY] diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py new file mode 100644 index 0000000000..5a718947cf --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py @@ -0,0 +1,13 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from openpilot.selfdrive.ui.ui_state import UIStatus + +LANE_LINE_COLORS_SP = { + UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255), + UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255), +} diff --git a/selfdrive/ui/sunnypilot/mici/widgets/__init__.py b/selfdrive/ui/sunnypilot/mici/widgets/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py new file mode 100644 index 0000000000..e2cef2fa07 --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py @@ -0,0 +1,57 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import base64 + +import pyray as rl +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog +from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST +from openpilot.system.ui.lib.application import FontWeight, gui_app +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.label import MiciLabel + + +class SunnylinkPairingDialog(PairingDialog): + """Dialog for device pairing with QR code.""" + + def __init__(self, sponsor_pairing: bool = False): + PairingDialog.__init__(self) + self._sponsor_pairing = sponsor_pairing + label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor") + self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD, + color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True) + + def _get_pairing_url(self) -> str: + qr_string = "https://github.com/sponsors/sunnyhaibin" + + if self._sponsor_pairing: + try: + sl_dongle_id = self._params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID + token = SunnylinkApi(sl_dongle_id).get_token() + inner_string = f"1|{sl_dongle_id}|{token}" + payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8') + qr_string = f"{API_HOST}/sso?state={payload_bytes}" + except Exception: + cloudlog.exception("Failed to get pairing token") + + return qr_string + + def _update_state(self): + NavWidget._update_state(self) + + +if __name__ == "__main__": + gui_app.init_window("pairing device") + pairing = SunnylinkPairingDialog(sponsor_pairing=True) + try: + for _ in gui_app.render(): + result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + if result != -1: + break + finally: + del pairing diff --git a/selfdrive/ui/sunnypilot/onroad/__init__.py b/selfdrive/ui/sunnypilot/onroad/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py new file mode 100644 index 0000000000..0a5739cc00 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py @@ -0,0 +1,13 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from openpilot.selfdrive.ui.ui_state import UIStatus + +BORDER_COLORS_SP = { + UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF), # Cyan for lateral-only state + UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF), # Purple for longitudinal-only state +} diff --git a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py b/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py new file mode 100644 index 0000000000..a8a342c129 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py @@ -0,0 +1,147 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import numpy as np + +import pyray as rl +from openpilot.common.constants import CV +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached + + +class ChevronOptions: + OFF = 0 + DISTANCE_ONLY = 1 + SPEED_ONLY = 2 + TTC_ONLY = 3 + ALL = 4 + + +class ChevronMetrics: + def __init__(self): + self._lead_status_alpha: float = 0.0 + self._font = gui_app.font(FontWeight.SEMI_BOLD) + + def update_alpha(self, has_lead: bool): + """Update the alpha value for fade in/out animation""" + if not has_lead: + self._lead_status_alpha = max(0.0, self._lead_status_alpha - 0.05) + else: + self._lead_status_alpha = min(1.0, self._lead_status_alpha + 0.1) + + def should_render(self) -> bool: + """Check if dev UI should be rendered""" + return ui_state.chevron_metrics != ChevronOptions.OFF and self._lead_status_alpha > 0.0 + + def _draw_lead(self, lead_data, lead_vehicle, v_ego: float, rect: rl.Rectangle): + """Draw lead vehicle status information (distance, speed, TTC)""" + if not self.should_render(): + return + + d_rel = lead_data.dRel + v_rel = lead_data.vRel + + if not lead_vehicle.chevron or len(lead_vehicle.chevron) < 2: + return + + chevron_x = lead_vehicle.chevron[1][0] + chevron_y = lead_vehicle.chevron[1][1] + sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35 + + text_lines = self._build_text_lines(d_rel, v_rel, v_ego) + if not text_lines: + return + + self._render_text_lines(text_lines, chevron_x, chevron_y, sz, rect) + + @staticmethod + def _build_text_lines(d_rel: float, v_rel: float, v_ego: float) -> list[str]: + """Build text lines based on chevron info setting""" + text_lines = [] + + # Distance + if ui_state.chevron_metrics == ChevronOptions.DISTANCE_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL: + val = max(0.0, d_rel) + unit = "m" if ui_state.is_metric else "ft" + if not ui_state.is_metric: + val *= 3.28084 + text_lines.append(f"{val:.0f} {unit}") + + # Speed + if ui_state.chevron_metrics == ChevronOptions.SPEED_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL: + multiplier = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH + val = max(0.0, (v_rel + v_ego) * multiplier) + unit = "km/h" if ui_state.is_metric else "mph" + text_lines.append(f"{val:.0f} {unit}") + + # Time to collision + if ui_state.chevron_metrics == ChevronOptions.TTC_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL: + val = (d_rel / v_ego) if (d_rel > 0 and v_ego > 0) else 0.0 + ttc_text = f"{val:.1f} s" if (0 < val < 200) else "---" + text_lines.append(ttc_text) + + return text_lines + + def _render_text_lines(self, text_lines: list[str], chevron_x: float, chevron_y: float, + sz: float, rect: rl.Rectangle): + """Render text lines with proper centering and positioning""" + font_size = 40 + line_height = 50 + margin = 20 + + text_y = chevron_y + sz + 15 + total_height = len(text_lines) * line_height + + # Adjust Y position if text would go off screen + if text_y + total_height > rect.height - margin: + y_max = min(chevron_y, rect.height - margin) + text_y = y_max - 15 - total_height + text_y = max(margin, text_y) + + alpha = int(255 * self._lead_status_alpha) + text_color = rl.Color(255, 255, 255, alpha) + shadow_color = rl.Color(0, 0, 0, int(200 * self._lead_status_alpha)) + + for i, line in enumerate(text_lines): + y = int(text_y + (i * line_height)) + if y + line_height > rect.height - margin: + break + + # Measure actual text width for proper centering + text_size = measure_text_cached(self._font, line, font_size, 0) + text_width = text_size.x + + # Center the text horizontally on the chevron + x = int(chevron_x - text_width / 2) + x = int(np.clip(x, margin, rect.width - text_width - margin)) + + # Draw shadow + rl.draw_text_ex(self._font, line, rl.Vector2(x + 2, y + 2), font_size, 0, shadow_color) + # Draw text + rl.draw_text_ex(self._font, line, rl.Vector2(x, y), font_size, 0, text_color) + + def draw_lead_status(self, sm, radar_state, rect, lead_vehicles): + lead_one = radar_state.leadOne + lead_two = radar_state.leadTwo + + has_lead_one = lead_one.status if lead_one else False + has_lead_two = lead_two.status if lead_two else False + + self.update_alpha(has_lead_one or has_lead_two) + + if not self.should_render(): + return + + v_ego = sm['carState'].vEgo + + if has_lead_one and lead_vehicles[0].chevron: + self._draw_lead(lead_one, lead_vehicles[0], v_ego, rect) + + if has_lead_two and lead_vehicles[1].chevron: + d_rel_diff = abs(lead_one.dRel - lead_two.dRel) if has_lead_one else float('inf') + if d_rel_diff > 3.0: + self._draw_lead(lead_two, lead_vehicles[1], v_ego, rect) diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py new file mode 100644 index 0000000000..14a224ae77 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py @@ -0,0 +1,164 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import ( + UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement, + DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement, + AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement, + SteeringTorqueEpsElement, BearingDegElement, AltitudeElement +) +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets import Widget + + +class DeveloperUiRenderer(Widget): + DEV_UI_OFF = 0 + DEV_UI_RIGHT = 1 + DEV_UI_BOTTOM = 2 + DEV_UI_BOTH = 3 + + def __init__(self): + super().__init__() + self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD) + self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD) + self.dev_ui_mode = self.DEV_UI_OFF + + self.rel_dist_elem = RelDistElement() + self.rel_speed_elem = RelSpeedElement() + self.steering_angle_elem = SteeringAngleElement() + self.desired_lat_accel_elem = DesiredLateralAccelElement() + self.actual_lat_accel_elem = ActualLateralAccelElement() + self.desired_steer_elem = DesiredSteeringAngleElement() + self.a_ego_elem = AEgoElement() + self.lead_speed_elem = LeadSpeedElement() + self.friction_elem = FrictionCoefficientElement() + self.lat_accel_factor_elem = LatAccelFactorElement() + self.steering_torque_elem = SteeringTorqueEpsElement() + self.bearing_elem = BearingDegElement() + self.altitude_elem = AltitudeElement() + + def _update_state(self) -> None: + self.dev_ui_mode = ui_state.developer_ui + + def _render(self, rect: rl.Rectangle) -> None: + if self.dev_ui_mode == self.DEV_UI_OFF: + return + + sm = ui_state.sm + if sm.recv_frame["carState"] < ui_state.started_frame: + return + + if self.dev_ui_mode == self.DEV_UI_RIGHT: + self._draw_right_dev_ui(rect) + elif self.dev_ui_mode == self.DEV_UI_BOTTOM: + self._draw_bottom_dev_ui(rect) + elif self.dev_ui_mode == self.DEV_UI_BOTH: + self._draw_right_dev_ui(rect) + self._draw_bottom_dev_ui(rect) + + def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None: + sm = ui_state.sm + controls_state = sm['controlsState'] + + UI_BORDER_SIZE = 20 + container_width = 184 + x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2) + y = int(rect.y + UI_BORDER_SIZE * 1.5) + + elements = [ + self.rel_dist_elem.update(sm, ui_state.is_metric), + self.rel_speed_elem.update(sm, ui_state.is_metric), + self.steering_angle_elem.update(sm, ui_state.is_metric), + ] + if controls_state.lateralControlState.which() == 'torqueState': + elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric)) + elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric)) + else: + elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric)) + + current_y = y + for element in elements: + current_y += self._draw_right_dev_ui_element(x, current_y, element) + + def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int: + x += 0 + y += 230 + container_width = 184 + label_size = 28 + value_size = 60 + unit_size = 28 + label_width = measure_text_cached(self._font_bold, element.label, label_size, 0).x + centered_label_x = x + (container_width - label_width) / 2 + rl.draw_text_ex(self._font_bold, element.label, rl.Vector2(centered_label_x, y), label_size, 0, rl.WHITE) + + y += 45 + value_width = measure_text_cached(self._font_bold, element.value, value_size, 0).x + centered_value_x = x + (container_width - value_width) / 2 + rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(centered_value_x, y), value_size, 0, element.color) + + if element.unit: + units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x + + units_x = x + container_width - 10 + units_y = y + (value_size / 2) + (units_height / 2) + + rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE) + + return 130 + + def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None: + sm = ui_state.sm + bar_height = 61 + y = int(rect.y + rect.height - bar_height) + + rl.draw_rectangle(int(rect.x), y, int(rect.width), bar_height, + rl.Color(0, 0, 0, 100)) + + elements = [ + self.a_ego_elem.update(sm, ui_state.is_metric), + self.lead_speed_elem.update(sm, ui_state.is_metric), + ] + + # Add torque-specific elements if using torque control + if sm['controlsState'].lateralControlState.which() == 'torqueState': + if sm.valid['liveTorqueParameters']: + elements.extend([ + self.friction_elem.update(sm, ui_state.is_metric), + self.lat_accel_factor_elem.update(sm, ui_state.is_metric), + ]) + else: + # Non-torque: show steering torque and GPS data + elements.append(self.steering_torque_elem.update(sm, ui_state.is_metric)) + + if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']: + elements.append(self.bearing_elem.update(sm, ui_state.is_metric)) + + # Add altitude if GPS available + if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']: + elements.append(self.altitude_elem.update(sm, ui_state.is_metric)) + + current_x = int(rect.x + 90) + center_y = y + bar_height // 2 + for element in elements: + current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element) + + def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int: + font_size = 38 + + label_text = f"{element.label} " + label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x + rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE) + + value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x + rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color) + + if element.unit: + rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE) + + return 400 diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py new file mode 100644 index 0000000000..e8daca8868 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py @@ -0,0 +1,303 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from dataclasses import dataclass + +from openpilot.common.constants import CV + + +@dataclass +class UiElement: + value: str + label: str + unit: str + color: rl.Color + + +class LeadInfoElement: + @staticmethod + def get_lead_status(sm): + lead_one = sm['radarState'].leadOne + return lead_one.status, lead_one.dRel, lead_one.vRel + + @staticmethod + def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color: + if use_v_rel: + if lead_v_rel < -4.4704: + return rl.RED + elif lead_v_rel < 0: + return rl.Color(255, 188, 0, 255) # Orange + else: + if lead_d_rel < 5: + return rl.RED + elif lead_d_rel < 15: + return rl.Color(255, 188, 0, 255) # Orange + return rl.WHITE + + +class LateralControlElement: + @staticmethod + def get_lat_color(lat_active: bool, steer_override: bool, angle_steers: float = 0.0, + check_angle: bool = False) -> rl.Color: + color = rl.WHITE + if lat_active: + color = rl.Color(145, 155, 149, 255) if steer_override else rl.Color(0, 255, 0, 255) + + if check_angle and lat_active: + if abs(angle_steers) > 180: + color = rl.RED + elif abs(angle_steers) > 90: + color = rl.Color(255, 188, 0, 255) + else: + # Keep green/grey from above + pass + elif check_angle and not lat_active: + if abs(angle_steers) > 180: + color = rl.RED + elif abs(angle_steers) > 90: + color = rl.Color(255, 188, 0, 255) + + return color + + +class RelDistElement(LeadInfoElement): + def __init__(self): + self.unit = "m" + + def update(self, sm, is_metric: bool) -> UiElement: + lead_status, lead_d_rel, _ = self.get_lead_status(sm) + value = f"{lead_d_rel:.0f}" if lead_status else "-" + color = self.get_lead_color(lead_d_rel) if lead_status else rl.WHITE + return UiElement(value, "REL DIST", self.unit, color) + + +class RelSpeedElement(LeadInfoElement): + def __init__(self): + self.unit = "km/h" + + def update(self, sm, is_metric: bool) -> UiElement: + lead_status, _, lead_v_rel = self.get_lead_status(sm) + + self.unit = "km/h" if is_metric else "mph" + + conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH + value = f"{lead_v_rel * conversion:.0f}" if lead_status else "-" + color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE + + return UiElement(value, "REL SPEED", self.unit, color) + + +class SteeringAngleElement(LateralControlElement): + def __init__(self): + self.unit = "" + + def update(self, sm, is_metric: bool) -> UiElement: + car_state = sm['carState'] + angle_steers = car_state.steeringAngleDeg + lat_active = sm['carControl'].latActive + steer_override = car_state.steeringPressed + + value = f"{angle_steers:.1f}°" + color = self.get_lat_color(lat_active, steer_override, angle_steers, check_angle=True) + + return UiElement(value, "REAL STEER", self.unit, color) + + +class DesiredSteeringAngleElement(LateralControlElement): + def __init__(self): + self.unit = "" + + def update(self, sm, is_metric: bool) -> UiElement: + car_state = sm['carState'] + controls_state = sm['controlsState'] + lat_active = sm['carControl'].latActive + angle_steers = car_state.steeringAngleDeg + steer_angle_desired = controls_state.lateralControlState.angleState.steeringAngleDeg + + value = f"{steer_angle_desired:.1f}°" if lat_active else "-" + + color = rl.WHITE + if lat_active: + if abs(angle_steers) > 180: + color = rl.RED + elif abs(angle_steers) > 90: + color = rl.Color(255, 188, 0, 255) + else: + color = rl.Color(0, 255, 0, 255) + + return UiElement(value, "DESIRED STEER", self.unit, color) + + +class ActualLateralAccelElement(LateralControlElement): + def __init__(self): + self.unit = "m/s^2" + + def update(self, sm, is_metric: bool) -> UiElement: + controls_state = sm['controlsState'] + curvature = controls_state.curvature + v_ego = sm['carState'].vEgo + roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0 + lat_active = sm['carControl'].latActive + steer_override = sm['carState'].steeringPressed + + actual_lat_accel = (curvature * v_ego ** 2) - (roll * 9.81) + value = f"{actual_lat_accel:.2f}" + color = self.get_lat_color(lat_active, steer_override) + + return UiElement(value, "ACTUAL L.A.", self.unit, color) + + +class DesiredLateralAccelElement(LateralControlElement): + def __init__(self): + self.unit = "m/s^2" + + def update(self, sm, is_metric: bool) -> UiElement: + controls_state = sm['controlsState'] + desired_curvature = controls_state.desiredCurvature + v_ego = sm['carState'].vEgo + roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0 + lat_active = sm['carControl'].latActive + steer_override = sm['carState'].steeringPressed + + desired_lat_accel = (desired_curvature * v_ego ** 2) - (roll * 9.81) + value = f"{desired_lat_accel:.2f}" if lat_active else "-" + color = self.get_lat_color(lat_active, steer_override) + + return UiElement(value, "DESIRED L.A.", self.unit, color) + + +class AEgoElement: + def __init__(self): + self.unit = "m/s^2" + + def update(self, sm, is_metric: bool) -> UiElement: + a_ego = sm['carState'].aEgo + value = f"{a_ego:.1f}" + return UiElement(value, "ACC.", self.unit, rl.WHITE) + + +class LeadSpeedElement(LeadInfoElement): + def __init__(self): + self.unit = "km/h" + + def update(self, sm, is_metric: bool) -> UiElement: + lead_status, _, lead_v_rel = self.get_lead_status(sm) + v_ego = sm['carState'].vEgo + + self.unit = "km/h" if is_metric else "mph" + + conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH + value = f"{(lead_v_rel + v_ego) * conversion:.0f}" if lead_status else "-" + color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE + + return UiElement(value, "L.S.", self.unit, color) + + +class FrictionCoefficientElement: + def __init__(self): + self.unit = "" + + def update(self, sm, is_metric: bool) -> UiElement: + ltp = sm['liveTorqueParameters'] + friction_coef = ltp.frictionCoefficientFiltered + live_valid = ltp.liveValid + + value = f"{friction_coef:.3f}" + color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE + return UiElement(value, "FRIC.", self.unit, color) + + +class LatAccelFactorElement: + def __init__(self): + self.unit = "" + + def update(self, sm, is_metric: bool) -> UiElement: + ltp = sm['liveTorqueParameters'] + lat_accel_factor = ltp.latAccelFactorFiltered + live_valid = ltp.liveValid + + value = f"{lat_accel_factor:.3f}" + color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE + return UiElement(value, "L.A.F.", self.unit, color) + + +class SteeringTorqueEpsElement: + def __init__(self): + self.unit = "N·dm" + + def update(self, sm, is_metric: bool) -> UiElement: + steering_torque_eps = sm['carState'].steeringTorqueEps + value = f"{abs(steering_torque_eps):.1f}" + return UiElement(value, "E.T.", self.unit, rl.WHITE) + + +class GpsInfoElement: + @staticmethod + def get_gps_data(sm): + if sm.valid['gpsLocationExternal']: + return sm['gpsLocationExternal'], True + elif sm.valid['gpsLocation']: + return sm['gpsLocation'], True + return None, False + + +class BearingDegElement(GpsInfoElement): + def __init__(self): + self.unit = "" + + def update(self, sm, is_metric: bool) -> UiElement: + gps_data, valid = self.get_gps_data(sm) + if not valid: + return UiElement("OFF | -", "B.D.", self.unit, rl.WHITE) + + bearing_accuracy_deg = gps_data.bearingAccuracyDeg + bearing_deg = gps_data.bearingDeg + + if bearing_accuracy_deg != 180.0: + value = f"{bearing_deg:.0f}°" + if (337.5 <= bearing_deg <= 360) or (0 <= bearing_deg <= 22.5): + dir_value = "N" + elif 22.5 < bearing_deg < 67.5: + dir_value = "NE" + elif 67.5 <= bearing_deg <= 112.5: + dir_value = "E" + elif 112.5 < bearing_deg < 157.5: + dir_value = "SE" + elif 157.5 <= bearing_deg <= 202.5: + dir_value = "S" + elif 202.5 < bearing_deg < 247.5: + dir_value = "SW" + elif 247.5 <= bearing_deg <= 292.5: + dir_value = "W" + else: # 292.5 < bearing_deg < 337.5 + dir_value = "NW" + else: + value = "-" + dir_value = "OFF" + + return UiElement(f"{dir_value} | {value}", "B.D.", self.unit, rl.WHITE) + + +class AltitudeElement(GpsInfoElement): + def __init__(self): + self.unit = "m" + + def update(self, sm, is_metric: bool) -> UiElement: + gps_data, valid = self.get_gps_data(sm) + + gps_accuracy = 0.0 + altitude = 0.0 + + if valid: + altitude = gps_data.altitude + if sm.valid['gpsLocationExternal']: + gps_accuracy = gps_data.horizontalAccuracy + else: + gps_accuracy = 1.0 # Simulate valid for legacy check + + value = f"{altitude:.1f}" if gps_accuracy != 0.0 else "-" + return UiElement(value, "ALT.", self.unit, rl.WHITE) diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py new file mode 100644 index 0000000000..33582df191 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -0,0 +1,20 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer + + +class HudRendererSP(HudRenderer): + def __init__(self): + super().__init__() + self.developer_ui = DeveloperUiRenderer() + + def _render(self, rect: rl.Rectangle) -> None: + super()._render(rect) + self.developer_ui.render(rect) diff --git a/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/onroad/model_renderer.py new file mode 100644 index 0000000000..5d78997662 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/model_renderer.py @@ -0,0 +1,14 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics +from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath + + +class ModelRendererSP: + def __init__(self): + self.rainbow_path = RainbowPath() + self.chevron_metrics = ChevronMetrics() diff --git a/selfdrive/ui/sunnypilot/onroad/rainbow_path.py b/selfdrive/ui/sunnypilot/onroad/rainbow_path.py new file mode 100644 index 0000000000..cd76261f89 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/rainbow_path.py @@ -0,0 +1,78 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import time +import colorsys +import pyray as rl +from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient + + +class RainbowPath: + DEFAULT_NUM_SEGMENTS = 8 + DEFAULT_SPEED = 50.0 # degrees per second + DEFAULT_SATURATION = 0.9 + DEFAULT_LIGHTNESS = 0.6 + BASE_ALPHA = 0.8 + ALPHA_FADE = 0.3 # Alpha reduction from bottom to top + + def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None): + self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS + self.speed = speed if speed is not None else self.DEFAULT_SPEED + self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION + self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS + + def set_speed(self, speed: float): + self.speed = speed + + def set_num_segments(self, num_segments: int): + self.num_segments = num_segments + + def set_saturation(self, saturation: float): + self.saturation = max(0.0, min(1.0, saturation)) + + def set_lightness(self, lightness: float): + self.lightness = max(0.0, min(1.0, lightness)) + + def get_gradient(self) -> Gradient: + time_offset = time.monotonic() + hue_offset = (time_offset * self.speed) % 360.0 + + segment_colors = [] + gradient_stops = [] + + for i in range(self.num_segments): + position = i / (self.num_segments - 1) + hue = (hue_offset + position * 360.0) % 360.0 + alpha = self.BASE_ALPHA * (1.0 - position * self.ALPHA_FADE) + color = self._hsla_to_color( + hue / 360.0, + self.saturation, + self.lightness, + alpha + ) + gradient_stops.append(position) + segment_colors.append(color) + + return Gradient( + start=(0.0, 1.0), # Bottom of path + end=(0.0, 0.0), # Top of path + colors=segment_colors, + stops=gradient_stops, + ) + + @staticmethod + def _hsla_to_color(h: float, s: float, l: float, a: float) -> rl.Color: + rgb = colorsys.hls_to_rgb(h, l, s) + return rl.Color( + int(rgb[0] * 255), + int(rgb[1] * 255), + int(rgb[2] * 255), + int(a * 255) + ) + + def draw_rainbow_path(self, rect, path): + gradient = self.get_gradient() + draw_polygon(rect, path.projected_points, gradient=gradient) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py new file mode 100644 index 0000000000..ca8125512a --- /dev/null +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -0,0 +1,84 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from cereal import messaging, log, custom +from openpilot.common.params import Params +from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState + +OpenpilotState = log.SelfdriveState.OpenpilotState +MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState + + +class UIStateSP: + def __init__(self): + self.params = Params() + self.sm_services_ext = [ + "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP", + "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay" + ] + + self.sunnylink_state = SunnylinkState() + + def update(self) -> None: + if self.sunnylink_enabled: + self.sunnylink_state.start() + else: + self.sunnylink_state.stop() + + @staticmethod + def update_status(ss, ss_sp, onroad_evt) -> str: + state = ss.state + mads = ss_sp.mads + mads_state = mads.state + + if state == OpenpilotState.preEnabled: + return "override" + + if state == OpenpilotState.overriding: + if not mads.available: + return "override" + + if any(e.overrideLongitudinal for e in onroad_evt): + return "override" + + if mads_state in (MADSState.paused, MADSState.overriding): + return "override" + + # MADS specific statuses + if not mads.available: + return "engaged" if ss.enabled else "disengaged" + + if not mads.enabled and not ss.enabled: + return "disengaged" + + if mads.enabled and ss.enabled: + return "engaged" + + if mads.enabled: + return "lat_only" + + if ss.enabled: + return "long_only" + + return "disengaged" + + def update_params(self) -> None: + CP_SP_bytes = self.params.get("CarParamsSPPersistent") + if CP_SP_bytes is not None: + self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP) + self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled") + self.developer_ui = self.params.get("DevUIInfo") + self.rainbow_path = self.params.get_bool("RainbowMode") + self.chevron_metrics = self.params.get("ChevronInfo") + + +class DeviceSP: + def __init__(self): + self._params = Params() + + def _set_awake(self, on: bool): + if on and self._params.get("DeviceBootMode", return_default=True) == 1: + self._params.put_bool("OffroadMode", True) diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index d926a7ae86..98f2a5e8ce 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -2,3 +2,8 @@ test test_translations test_ui/report_1 test_ui/raylib_report + +diff/*.mp4 +diff/*.html +diff/.coverage +diff/htmlcov/ diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py new file mode 100755 index 0000000000..be7af5438a --- /dev/null +++ b/selfdrive/ui/tests/diff/diff.py @@ -0,0 +1,201 @@ +#!/usr/bin/env python3 +import os +import sys +import subprocess +import tempfile +import base64 +import webbrowser +import argparse +from pathlib import Path +from openpilot.common.basedir import BASEDIR + +DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report" + + +def extract_frames(video_path, output_dir): + output_pattern = str(output_dir / "frame_%04d.png") + cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y'] + subprocess.run(cmd, capture_output=True, check=True) + frames = sorted(output_dir.glob("frame_*.png")) + return frames + + +def compare_frames(frame1_path, frame2_path): + result = subprocess.run(['cmp', '-s', frame1_path, frame2_path]) + return result.returncode == 0 + + +def frame_to_data_url(frame_path): + with open(frame_path, 'rb') as f: + data = f.read() + return f"data:image/png;base64,{base64.b64encode(data).decode()}" + + +def create_diff_video(video1, video2, output_path): + """Create a diff video using ffmpeg blend filter with difference mode.""" + print("Creating diff video...") + cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path] + subprocess.run(cmd, capture_output=True, check=True) + + +def find_differences(video1, video2): + with tempfile.TemporaryDirectory() as tmpdir: + tmpdir = Path(tmpdir) + + print(f"Extracting frames from {video1}...") + frames1_dir = tmpdir / "frames1" + frames1_dir.mkdir() + frames1 = extract_frames(video1, frames1_dir) + + print(f"Extracting frames from {video2}...") + frames2_dir = tmpdir / "frames2" + frames2_dir.mkdir() + frames2 = extract_frames(video2, frames2_dir) + + if len(frames1) != len(frames2): + print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}") + min_frames = min(len(frames1), len(frames2)) + frames1 = frames1[:min_frames] + frames2 = frames2[:min_frames] + + print(f"Comparing {len(frames1)} frames...") + different_frames = [] + frame_data = [] + + for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)): + is_different = not compare_frames(f1, f2) + if is_different: + different_frames.append(i) + + if i < 10 or i >= len(frames1) - 10 or is_different: + frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)}) + + return different_frames, frame_data, len(frames1) + + +def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames): + chunks = [] + if different_frames: + current_chunk = [different_frames[0]] + for i in range(1, len(different_frames)): + if different_frames[i] == different_frames[i - 1] + 1: + current_chunk.append(different_frames[i]) + else: + chunks.append(current_chunk) + current_chunk = [different_frames[i]] + chunks.append(current_chunk) + + result_text = ( + f"✅ Videos are identical! ({total_frames} frames)" + if len(different_frames) == 0 + else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)" + ) + + html = f"""

UI Diff

+ + + + + + +
+

Video 1

+ +		 +

Video 2

+ +		 +

Pixel Diff

+ +
+ +
+

Results: {result_text}

+""" + return html + + +def main(): + parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report') + parser.add_argument('video1', help='First video file') + parser.add_argument('video2', help='Second video file') + parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)') + parser.add_argument("--basedir", type=str, help="Base directory for output", default="") + parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser') + + args = parser.parse_args() + + os.makedirs(DIFF_OUT_DIR, exist_ok=True) + + print("=" * 60) + print("VIDEO DIFF - HTML REPORT") + print("=" * 60) + print(f"Video 1: {args.video1}") + print(f"Video 2: {args.video2}") + print(f"Output: {args.output}") + print() + + # Create diff video + diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4") + create_diff_video(args.video1, args.video2, diff_video_path) + + different_frames, frame_data, total_frames = find_differences(args.video1, args.video2) + + if different_frames is None: + sys.exit(1) + + print() + print("Generating HTML report...") + html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames) + + with open(DIFF_OUT_DIR / args.output, 'w') as f: + f.write(html) + + # Open in browser by default + if not args.no_open: + print(f"Opening {args.output} in browser...") + webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}') + + return 0 if len(different_frames) == 0 else 1 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py new file mode 100755 index 0000000000..9da157660e --- /dev/null +++ b/selfdrive/ui/tests/diff/replay.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python3 +import os +import time +import coverage +import pyray as rl +from dataclasses import dataclass +from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR + +os.environ["RECORD"] = "1" +if "RECORD_OUTPUT" not in os.environ: + os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4" + +os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"]) + +from openpilot.common.params import Params +from openpilot.system.version import terms_version, training_version +from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout + +FPS = 60 +HEADLESS = os.getenv("WINDOWED", "0") == "1" + + +@dataclass +class DummyEvent: + click: bool = False + # TODO: add some kind of intensity + swipe_left: bool = False + swipe_right: bool = False + swipe_down: bool = False + + +SCRIPT = [ + (0, DummyEvent()), + (FPS * 1, DummyEvent(click=True)), + (FPS * 2, DummyEvent(click=True)), + (FPS * 3, DummyEvent()), +] + + +def setup_state(): + params = Params() + params.put("HasAcceptedTerms", terms_version) + params.put("CompletedTrainingVersion", training_version) + params.put("DongleId", "test123456789") + params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30") + return None + + +def inject_click(coords): + events = [] + x, y = coords[0] + events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic())) + for x, y in coords[1:]: + events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic())) + x, y = coords[-1] + events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic())) + + with gui_app._mouse._lock: + gui_app._mouse._events.extend(events) + + +def handle_event(event: DummyEvent): + if event.click: + inject_click([(gui_app.width // 2, gui_app.height // 2)]) + if event.swipe_left: + inject_click([(gui_app.width * 3 // 4, gui_app.height // 2), + (gui_app.width // 4, gui_app.height // 2), + (0, gui_app.height // 2)]) + if event.swipe_right: + inject_click([(gui_app.width // 4, gui_app.height // 2), + (gui_app.width * 3 // 4, gui_app.height // 2), + (gui_app.width, gui_app.height // 2)]) + if event.swipe_down: + inject_click([(gui_app.width // 2, gui_app.height // 4), + (gui_app.width // 2, gui_app.height * 3 // 4), + (gui_app.width // 2, gui_app.height)]) + + +def run_replay(): + setup_state() + os.makedirs(DIFF_OUT_DIR, exist_ok=True) + + if not HEADLESS: + rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN) + gui_app.init_window("ui diff test", fps=FPS) + main_layout = MiciMainLayout() + main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + + frame = 0 + script_index = 0 + + for should_render in gui_app.render(): + while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame: + _, event = SCRIPT[script_index] + handle_event(event) + script_index += 1 + + ui_state.update() + + if should_render: + main_layout.render() + + frame += 1 + + if script_index >= len(SCRIPT): + break + + gui_app.close() + + print(f"Total frames: {frame}") + print(f"Video saved to: {os.environ['RECORD_OUTPUT']}") + + +def main(): + cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici']) + with cov.collect(): + run_replay() + cov.stop() + cov.save() + cov.report() + cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov')) + print("HTML report: htmlcov/index.html") + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/tests/profile_onroad.py b/selfdrive/ui/tests/profile_onroad.py index b1fa4acc48..fde4f25ffe 100755 --- a/selfdrive/ui/tests/profile_onroad.py +++ b/selfdrive/ui/tests/profile_onroad.py @@ -88,9 +88,9 @@ if __name__ == "__main__": print("Running...") patch_submaster(message_chunks) - W, H = 1928, 1208 + W, H = 2048, 1216 vipc = VisionIpcServer("camerad") - vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208) + vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H) vipc.start_listener() yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2 yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes() diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py index e64398d227..e209ab8060 100755 --- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py +++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py @@ -105,7 +105,7 @@ def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None): def setup_settings_firehose(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 850) @@ -115,7 +115,7 @@ def setup_settings_developer(click, pm: PubMaster, scroll=None): Params().put("CarParamsPersistent", CP.to_bytes()) setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 950) @@ -171,37 +171,37 @@ def setup_settings_steering(click, pm: PubMaster, scroll=None): def setup_settings_cruise(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - click(278, 1017) - scroll(-140, 278, 950) + scroll(-4, 278, 950) + click(278, 860) def setup_settings_visuals(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 330) def setup_settings_display(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 420) def setup_settings_osm(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 520) def setup_settings_trips(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 630) def setup_settings_vehicle(click, pm: PubMaster, scroll=None): setup_settings(click, pm) - scroll(-1000, 278, 950) + scroll(-20, 278, 950) click(278, 750) @@ -342,9 +342,14 @@ class TestUI: time.sleep(0.01) pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs) - def scroll(self, clicks, x, y, *args, **kwargs): - pyautogui.scroll(clicks, self.ui.left + x, self.ui.top + y, *args, **kwargs) - time.sleep(UI_DELAY) + def scroll(self, clicks: int, x, y, *args, **kwargs): + if clicks == 0: + return + click = -1 if clicks < 0 else 1 # -1 = down, 1 = up + for _ in range(abs(clicks)): + pyautogui.scroll(click, self.ui.left + x, self.ui.top + y, *args, **kwargs) # scroll for individual clicks since we need to delay between clicks + time.sleep(0.01) # small delay between scroll clicks to work properly + time.sleep(2) # wait for scroll to fully settle @with_processes(["ui"]) def test_ui(self, name, setup_case): @@ -364,6 +369,7 @@ def create_screenshots(): with OpenpilotPrefix(): params = Params() params.put("DongleId", "123456789012345") + params.put("SunnylinkDongleId", "123456789012345") # Set branch name params.put("UpdaterCurrentDescription", VERSION) diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po index 5a3e891b87..f12aebaeb3 100644 --- a/selfdrive/ui/translations/app_ko.po +++ b/selfdrive/ui/translations/app_ko.po @@ -68,10 +68,10 @@ msgid "" "control alpha. Changing this setting will restart openpilot if the car is " "powered on." msgstr "" -"경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동" -"(AEB)을 비활성화합니다.

이 차량에서는 openpilot 종방향 제어 대신 " -"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설" -"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전" +"경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동" +"(AEB)을 비활성화합니다.

이 차량에서는 openpilot 롱컨 제어 대신 " +"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설" +"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전" "원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다." #: selfdrive/ui/layouts/settings/device.py:148 @@ -130,7 +130,7 @@ msgstr "동의" #: selfdrive/ui/layouts/settings/toggles.py:70 #, python-format msgid "Always-On Driver Monitoring" -msgstr "항상 켜짐 운전자 모니터링" +msgstr "운전자 모니터링 항상 켜짐" #: selfdrive/ui/layouts/settings/toggles.py:186 #, python-format @@ -138,7 +138,7 @@ msgid "" "An alpha version of openpilot longitudinal control can be tested, along with " "Experimental mode, on non-release branches." msgstr "" -"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트" +"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트" "할 수 있습니다." #: selfdrive/ui/layouts/settings/device.py:187 @@ -192,7 +192,7 @@ msgstr "확인" #: selfdrive/ui/widgets/exp_mode_button.py:50 #, python-format msgid "CHILL MODE ON" -msgstr "칠 모드 켜짐" +msgstr "안정적 모드 켜짐" #: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73 #: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136 @@ -283,7 +283,7 @@ msgstr "해제 후 재시작" #: selfdrive/ui/layouts/settings/device.py:103 #, python-format msgid "Disengage to Reset Calibration" -msgstr "해제 후 보정 재설정" +msgstr "해제 후 캘리브레이션 재설정" #: selfdrive/ui/layouts/settings/toggles.py:32 msgid "Display speed in km/h instead of mph." @@ -372,7 +372,7 @@ msgstr "openpilot 사용" msgid "" "Enable the openpilot longitudinal control (alpha) toggle to allow " "Experimental mode." -msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요." +msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요." #: system/ui/widgets/network.py:204 #, python-format @@ -415,7 +415,7 @@ msgid "" "Experimental mode is currently unavailable on this car since the car's stock " "ACC is used for longitudinal control." msgstr "" -"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습" +"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습" "니다." #: system/ui/widgets/network.py:373 @@ -430,11 +430,11 @@ msgstr "설정 완료" #: selfdrive/ui/layouts/settings/settings.py:66 msgid "Firehose" -msgstr "Firehose" +msgstr "파이어호스" #: selfdrive/ui/layouts/settings/firehose.py:18 msgid "Firehose Mode" -msgstr "Firehose 모드" +msgstr "파이어호스 모드" #: selfdrive/ui/layouts/settings/firehose.py:25 msgid "" @@ -462,7 +462,7 @@ msgstr "" "최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 " "Wi‑Fi에 연결하세요.\n" "\n" -"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니" +"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니" "다.\n" "\n" "\n" @@ -470,7 +470,7 @@ msgstr "" "\n" "어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n" "\n" -"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택" +"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택" "적으로 가져갑니다.\n" "\n" "좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니" @@ -544,7 +544,7 @@ msgstr "LTE" #: selfdrive/ui/layouts/settings/developer.py:64 #, python-format msgid "Longitudinal Maneuver Mode" -msgstr "종방향 매뉴버 모드" +msgstr "롱컨 기동 모드" #: selfdrive/ui/onroad/hud_renderer.py:148 #, python-format @@ -623,7 +623,7 @@ msgstr "미리보기" #: selfdrive/ui/widgets/prime.py:44 #, python-format msgid "PRIME FEATURES:" -msgstr "prime 기능:" +msgstr "프라임 기능:" #: selfdrive/ui/layouts/settings/device.py:48 #, python-format @@ -646,7 +646,7 @@ msgid "" "Pair your device with comma connect (connect.comma.ai) and claim your comma " "prime offer." msgstr "" -"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세" +"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세" "요." #: selfdrive/ui/widgets/setup.py:91 @@ -748,7 +748,7 @@ msgstr "규제 정보" #: selfdrive/ui/layouts/settings/toggles.py:98 #, python-format msgid "Relaxed" -msgstr "편안함" +msgstr "편안한" #: selfdrive/ui/widgets/prime.py:47 #, python-format @@ -773,7 +773,7 @@ msgstr "재설정" #: selfdrive/ui/layouts/settings/device.py:51 #, python-format msgid "Reset Calibration" -msgstr "보정 재설정" +msgstr "캘리브레이션 재설정" #: selfdrive/ui/layouts/settings/device.py:65 #, python-format @@ -841,7 +841,7 @@ msgid "" "cycle through these personalities with your steering wheel distance button." msgstr "" "표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적" -"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어" +"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어" "링의 차간 버튼으로 이 성향들을 전환할 수 있습니다." #: selfdrive/ui/onroad/alert_renderer.py:59 @@ -892,7 +892,7 @@ msgstr "제거" #: selfdrive/ui/layouts/sidebar.py:117 msgid "Unknown" -msgstr "알 수 없음" +msgstr "알수없음" #: selfdrive/ui/layouts/settings/software.py:48 #, python-format @@ -994,7 +994,7 @@ msgstr "카메라 시작 중" #: selfdrive/ui/widgets/prime.py:63 #, python-format msgid "comma prime" -msgstr "comma prime" +msgstr "comma 프라임" #: system/ui/widgets/network.py:142 #, python-format @@ -1054,7 +1054,7 @@ msgstr "지금" #: selfdrive/ui/layouts/settings/developer.py:71 #, python-format msgid "openpilot Longitudinal Control (Alpha)" -msgstr "openpilot 종방향 제어(알파)" +msgstr "openpilot 롱컨 제어(알파)" #: selfdrive/ui/onroad/alert_renderer.py:51 #, python-format @@ -1076,9 +1076,9 @@ msgid "" "some turns. The Experimental mode logo will also be shown in the top right " "corner." msgstr "" -"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 " +"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 " "아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니" -"다:

엔드투엔드 종방향 제어


주행 모델이 가속과 제동을 제어합니" +"다:

엔드투엔드 롱컨 제어


주행 모델이 가속과 제동을 제어합니" "다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 " "판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한" "으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.

" @@ -1111,7 +1111,7 @@ msgstr "" #: selfdrive/ui/layouts/settings/toggles.py:183 #, python-format msgid "openpilot longitudinal control may come in a future update." -msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다." +msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다." #: selfdrive/ui/layouts/settings/device.py:26 msgid "" @@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전" #, python-format msgid "{} segment of your driving is in the training dataset so far." msgid_plural "{} segments of your driving is in the training dataset so far." -msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다." +msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다." #: selfdrive/ui/widgets/prime.py:62 #, python-format @@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨" #: selfdrive/ui/widgets/setup.py:22 #, python-format msgid "🔥 Firehose Mode 🔥" -msgstr "🔥 Firehose 모드 🔥" +msgstr "🔥 파이어호스 모드 🔥" diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po new file mode 100644 index 0000000000..cf78fb5a33 --- /dev/null +++ b/selfdrive/ui/translations/app_uk.po @@ -0,0 +1,1258 @@ +# Ukrainian translations for PACKAGE package. +# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER +# This file is distributed under the same license as the PACKAGE package. +# Automatically generated, 2025. +# +msgid "" +msgstr "" +"Project-Id-Version: \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2025-11-19 12:21+0200\n" +"PO-Revision-Date: 2025-11-19 13:27+0200\n" +"Last-Translator: KeeFeeRe \n" +"Language-Team: none\n" +"Language: uk\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && " +"n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n" +"X-Generator: Poedit 3.8\n" + +#: selfdrive/ui/layouts/settings/device.py:160 +#, python-format +msgid " Steering torque response calibration is complete." +msgstr " Калібрування реакції крутного моменту керма завершено." + +#: selfdrive/ui/layouts/settings/device.py:158 +#, python-format +msgid " Steering torque response calibration is {}% complete." +msgstr "Калібрування реакції крутного моменту керма завершено на {}%." + +#: selfdrive/ui/layouts/settings/device.py:133 +#, python-format +msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}." +msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}." + +#: selfdrive/ui/layouts/sidebar.py:43 +msgid "--" +msgstr "--" + +#: selfdrive/ui/widgets/prime.py:47 +#, python-format +msgid "1 year of drive storage" +msgstr "1 рік зберігання поїздок" + +#: selfdrive/ui/widgets/prime.py:47 +#, python-format +msgid "24/7 LTE connectivity" +msgstr "Підключення LTE 24/7" + +#: selfdrive/ui/layouts/sidebar.py:46 +msgid "2G" +msgstr "2G" + +#: selfdrive/ui/layouts/sidebar.py:47 +msgid "3G" +msgstr "3G" + +#: selfdrive/ui/layouts/sidebar.py:49 +msgid "5G" +msgstr "5G" + +#: selfdrive/ui/layouts/settings/developer.py:23 +msgid "" +"WARNING: openpilot longitudinal control is in alpha for this car and will " +"disable Automatic Emergency Braking (AEB).

On this car, openpilot " +"defaults to the car's built-in ACC instead of openpilot's longitudinal " +"control. Enable this to switch to openpilot longitudinal control. Enabling " +"Experimental mode is recommended when enabling openpilot longitudinal " +"control alpha. Changing this setting will restart openpilot if the car is " +"powered on." +msgstr "" +"ПОПЕРЕДЖЕННЯ: поздовжнє керування openpilot для цього автомобіля знаходиться " +"в стадії альфа-тестування і вимкне автоматичне екстрене гальмування (AEB)." + +#: selfdrive/ui/layouts/settings/device.py:148 +#, python-format +msgid "

Steering lag calibration is complete." +msgstr "

Калібрування затримки кермування завершено." + +#: selfdrive/ui/layouts/settings/device.py:146 +#, python-format +msgid "

Steering lag calibration is {}% complete." +msgstr "

Калібрування затримки кермування завершено на {}%." + +#: selfdrive/ui/layouts/settings/firehose.py:138 +#, python-format +msgid "ACTIVE" +msgstr "АКТИВНИЙ" + +#: selfdrive/ui/layouts/settings/developer.py:15 +msgid "" +"ADB (Android Debug Bridge) allows connecting to your device over USB or over " +"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info." +msgstr "" +"ADB (Android Debug Bridge) дозволяє підключатися до вашого пристрою через " +"USB або мережу. Дивіться https://docs.comma.ai/how-to/connect-to-comma для " +"отримання додаткової інформації." + +#: selfdrive/ui/widgets/ssh_key.py:30 +msgid "ADD" +msgstr "ДОДАТИ" + +#: system/ui/widgets/network.py:139 +#, python-format +msgid "APN Setting" +msgstr "Налаштування APN" + +#: selfdrive/ui/widgets/offroad_alerts.py:109 +#, python-format +msgid "Acknowledge Excessive Actuation" +msgstr "Визнайте надмірне спрацьовування" + +#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95 +#, python-format +msgid "Advanced" +msgstr "Розширені" + +#: selfdrive/ui/layouts/settings/toggles.py:98 +#, python-format +msgid "Aggressive" +msgstr "Агресивн." + +#: selfdrive/ui/layouts/onboarding.py:116 +#, python-format +msgid "Agree" +msgstr "Погодитися" + +#: selfdrive/ui/layouts/settings/toggles.py:70 +#, python-format +msgid "Always-On Driver Monitoring" +msgstr "Постійний моніторинг водія" + +#: selfdrive/ui/layouts/settings/toggles.py:186 +#, python-format +msgid "" +"An alpha version of openpilot longitudinal control can be tested, along with " +"Experimental mode, on non-release branches." +msgstr "" +"Альфа-версію поздовжнього керування openpilot можна протестувати разом з " +"експериментальним режимом на нерелізних гілках." + +#: selfdrive/ui/layouts/settings/device.py:187 +#, python-format +msgid "Are you sure you want to power off?" +msgstr "Ви впевнені, що хочете вимкнути?" + +#: selfdrive/ui/layouts/settings/device.py:175 +#, python-format +msgid "Are you sure you want to reboot?" +msgstr "Ви впевнені, що хочете перезавантажити?" + +#: selfdrive/ui/layouts/settings/device.py:119 +#, python-format +msgid "Are you sure you want to reset calibration?" +msgstr "Ви впевнені, що хочете скинути калібрування?" + +#: selfdrive/ui/layouts/settings/software.py:171 +#, python-format +msgid "Are you sure you want to uninstall?" +msgstr "Ви впевнені, що хочете видалити?" + +#: system/ui/widgets/network.py:99 +#: selfdrive/ui/layouts/onboarding.py:147 +#, python-format +msgid "Back" +msgstr "Назад" + +#: selfdrive/ui/widgets/prime.py:38 +#, python-format +msgid "Become a comma prime member at connect.comma.ai" +msgstr "Станьте членом comma prime на connect.comma.ai" + +#: selfdrive/ui/widgets/pairing_dialog.py:119 +#, python-format +msgid "Bookmark connect.comma.ai to your home screen to use it like an app" +msgstr "" +"Додайте connect.comma.ai до головного екрану, щоб використовувати його як " +"додаток." + +#: selfdrive/ui/layouts/settings/device.py:68 +#, python-format +msgid "CHANGE" +msgstr "ЗМІНИТИ" + +#: selfdrive/ui/layouts/settings/software.py:50 +#: selfdrive/ui/layouts/settings/software.py:115 +#: selfdrive/ui/layouts/settings/software.py:126 +#: selfdrive/ui/layouts/settings/software.py:155 +#, python-format +msgid "CHECK" +msgstr "ПЕРЕВІРИТИ" + +#: selfdrive/ui/widgets/exp_mode_button.py:50 +#, python-format +msgid "CHILL MODE ON" +msgstr "СПОКІЙНИЙ РЕЖИМ" + +#: system/ui/widgets/network.py:155 +#: selfdrive/ui/layouts/sidebar.py:73 +#: selfdrive/ui/layouts/sidebar.py:134 +#: selfdrive/ui/layouts/sidebar.py:136 +#: selfdrive/ui/layouts/sidebar.py:138 +#, python-format +msgid "CONNECT" +msgstr "CONNECT" + +#: system/ui/widgets/network.py:369 +#, python-format +msgid "CONNECTING..." +msgstr "ПІДКЛЮЧА..." + +#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 +#: system/ui/widgets/network.py:318 system/ui/widgets/keyboard.py:81 +#, python-format +msgid "Cancel" +msgstr "Скасувати" + +#: system/ui/widgets/network.py:134 +#, python-format +msgid "Cellular Metered" +msgstr "Лімітне стільникове з'єднання" + +#: selfdrive/ui/layouts/settings/device.py:68 +#, python-format +msgid "Change Language" +msgstr "Змінити мову" + +#: selfdrive/ui/layouts/settings/toggles.py:125 +#, python-format +msgid "Changing this setting will restart openpilot if the car is powered on." +msgstr "" +"Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль " +"увімкнено." + +#: selfdrive/ui/widgets/pairing_dialog.py:118 +#, python-format +msgid "Click \"add new device\" and scan the QR code on the right" +msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч." + +#: selfdrive/ui/widgets/offroad_alerts.py:104 +#, python-format +msgid "Close" +msgstr "Закрити" + +#: selfdrive/ui/layouts/settings/software.py:49 +#, python-format +msgid "Current Version" +msgstr "Поточна версія" + +#: selfdrive/ui/layouts/settings/software.py:118 +#, python-format +msgid "DOWNLOAD" +msgstr "ВАНТАЖ" + +#: selfdrive/ui/layouts/onboarding.py:115 +#, python-format +msgid "Decline" +msgstr "Відхилити" + +#: selfdrive/ui/layouts/onboarding.py:148 +#, python-format +msgid "Decline, uninstall openpilot" +msgstr "Відхилити, видалити openpilot" + +#: selfdrive/ui/layouts/settings/settings.py:64 +msgid "Developer" +msgstr "Розробник" + +#: selfdrive/ui/layouts/settings/settings.py:59 +msgid "Device" +msgstr "Пристрій" + +#: selfdrive/ui/layouts/settings/toggles.py:58 +#, python-format +msgid "Disengage on Accelerator Pedal" +msgstr "Вимкнення при натисканні на педаль газу" + +#: selfdrive/ui/layouts/settings/device.py:184 +#, python-format +msgid "Disengage to Power Off" +msgstr "Вимкніть openpilot, щоб вимкнути пристрій" + +#: selfdrive/ui/layouts/settings/device.py:172 +#, python-format +msgid "Disengage to Reboot" +msgstr "Вимкніть openpilot, щоб перезавантажити" + +#: selfdrive/ui/layouts/settings/device.py:103 +#, python-format +msgid "Disengage to Reset Calibration" +msgstr "Деактивуйте для скидання калібрування" + +#: selfdrive/ui/layouts/settings/toggles.py:32 +msgid "Display speed in km/h instead of mph." +msgstr "Відображати швидкість у км/год замість миль/год." + +#: selfdrive/ui/layouts/settings/device.py:59 +#, python-format +msgid "Dongle ID" +msgstr "ID ключа" + +#: selfdrive/ui/layouts/settings/software.py:50 +#, python-format +msgid "Download" +msgstr "Завантажити" + +#: selfdrive/ui/layouts/settings/device.py:62 +#, python-format +msgid "Driver Camera" +msgstr "Камера водія" + +#: selfdrive/ui/layouts/settings/toggles.py:96 +#, python-format +msgid "Driving Personality" +msgstr "Стиль водіння" + +#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139 +#, python-format +msgid "EDIT" +msgstr "РЕДАГ." + +#: selfdrive/ui/layouts/sidebar.py:138 +msgid "ERROR" +msgstr "ПОМИЛКА" + +#: selfdrive/ui/layouts/sidebar.py:45 +msgid "ETH" +msgstr "ETH" + +#: selfdrive/ui/widgets/exp_mode_button.py:50 +#, python-format +msgid "EXPERIMENTAL MODE ON" +msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ" + +#: selfdrive/ui/layouts/settings/toggles.py:228 +#: selfdrive/ui/layouts/settings/developer.py:166 +#, python-format +msgid "Enable" +msgstr "Увімкнути" + +#: selfdrive/ui/layouts/settings/developer.py:39 +#, python-format +msgid "Enable ADB" +msgstr "Увімкнути ADB" + +#: selfdrive/ui/layouts/settings/toggles.py:64 +#, python-format +msgid "Enable Lane Departure Warnings" +msgstr "Увімкнути попередження про виїзд зі смуги" + +#: system/ui/widgets/network.py:129 +#, python-format +msgid "Enable Roaming" +msgstr "Увімкнути роумінг" + +#: selfdrive/ui/layouts/settings/developer.py:48 +#, python-format +msgid "Enable SSH" +msgstr "Увімкнути SSH" + +#: system/ui/widgets/network.py:120 +#, python-format +msgid "Enable Tethering" +msgstr "Увімкнути точку доступу" + +#: selfdrive/ui/layouts/settings/toggles.py:30 +msgid "Enable driver monitoring even when openpilot is not engaged." +msgstr "Увімкнути моніторинг водія, навіть коли openpilot не ввімкнено." + +#: selfdrive/ui/layouts/settings/toggles.py:46 +#, python-format +msgid "Enable openpilot" +msgstr "Увімкнути openpilot" + +#: selfdrive/ui/layouts/settings/toggles.py:189 +#, python-format +msgid "" +"Enable the openpilot longitudinal control (alpha) toggle to allow " +"Experimental mode." +msgstr "" +"Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути " +"експериментальний режим." + +#: system/ui/widgets/network.py:204 +#, python-format +msgid "Enter APN" +msgstr "Введіть APN" + +#: system/ui/widgets/network.py:241 +#, python-format +msgid "Enter SSID" +msgstr "Введіть SSID" + +#: system/ui/widgets/network.py:254 +#, python-format +msgid "Enter new tethering password" +msgstr "Введіть новий пароль для модему" + +#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 +#, python-format +msgid "Enter password" +msgstr "Введіть пароль" + +#: selfdrive/ui/widgets/ssh_key.py:89 +#, python-format +msgid "Enter your GitHub username" +msgstr "Введіть ваш логін GitHub" + +#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160 +#, python-format +msgid "Error" +msgstr "Помилка" + +#: selfdrive/ui/layouts/settings/toggles.py:52 +#, python-format +msgid "Experimental Mode" +msgstr "Експериментальний режим" + +#: selfdrive/ui/layouts/settings/toggles.py:181 +#, python-format +msgid "" +"Experimental mode is currently unavailable on this car since the car's stock " +"ACC is used for longitudinal control." +msgstr "" +"Експериментальний режим наразі недоступний для цього автомобіля, оскільки " +"для поздовжнього керування використовується штатний адаптивний круїз-" +"контроль (ACC)." + +#: system/ui/widgets/network.py:373 +#, python-format +msgid "FORGETTING..." +msgstr "ЗАБУВАЮ..." + +#: selfdrive/ui/widgets/setup.py:44 +#, python-format +msgid "Finish Setup" +msgstr "Завершити налаштування" + +#: selfdrive/ui/layouts/settings/settings.py:63 +msgid "Firehose" +msgstr "Злива" + +#: selfdrive/ui/layouts/settings/firehose.py:18 +msgid "Firehose Mode" +msgstr "Режим зливи" + +#: selfdrive/ui/layouts/settings/firehose.py:25 +msgid "" +"For maximum effectiveness, bring your device inside and connect to a good " +"USB-C adapter and Wi-Fi weekly.\n" +"\n" +"Firehose Mode can also work while you're driving if connected to a hotspot " +"or unlimited SIM card.\n" +"\n" +"\n" +"Frequently Asked Questions\n" +"\n" +"Does it matter how or where I drive? Nope, just drive as you normally " +"would.\n" +"\n" +"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a " +"subset of your segments.\n" +"\n" +"What's a good USB-C adapter? Any fast phone or laptop charger should be " +"fine.\n" +"\n" +"Does it matter which software I run? Yes, only upstream openpilot (and " +"particular forks) are able to be used for training." +msgstr "" +"Для максимальної ефективності щотижня заносьте пристрій у приміщення та " +"підключайте його до якісного адаптера USB-C і Wi-Fi.\n" +"\n" +"Режим Зливи також може працювати під час руху, якщо пристрій підключено до " +"точки доступу або SIM-картки з необмеженим трафіком.\n" +"\n" +"\n" +"Поширені запитання\n" +"\n" +"Чи має значення, як і де я їду? Ні, просто їдьте, як зазвичай.\n" +"\n" +"Чи всі мої сегменти потрапляють у режим Зливи? Ні, ми вибірково вибираємо " +"підмножину ваших сегментів.\n" +"\n" +"Що таке хороший адаптер USB-C? Будь-який швидкий зарядний пристрій для " +"телефону або ноутбука підійде.\n" +"\n" +"Чи має значення, яке програмне забезпечення я використовую? Так, для " +"навчання можна використовувати тільки upstream openpilot (і певні його " +"форки)." + +#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451 +#, python-format +msgid "Forget" +msgstr "Заб-и" + +#: system/ui/widgets/network.py:319 +#, python-format +msgid "Forget Wi-Fi Network \"{}\"?" +msgstr "Забути мережу Wi-Fi \"{}\"?" + +#: selfdrive/ui/layouts/sidebar.py:71 +#: selfdrive/ui/layouts/sidebar.py:125 +msgid "GOOD" +msgstr "ДОБРА" + +#: selfdrive/ui/widgets/pairing_dialog.py:117 +#, python-format +msgid "Go to https://connect.comma.ai on your phone" +msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні." + +#: selfdrive/ui/layouts/sidebar.py:129 +msgid "HIGH" +msgstr "ВИСОКА" + +#: system/ui/widgets/network.py:155 +#, python-format +msgid "Hidden Network" +msgstr "Прихована мережа" + +#: selfdrive/ui/layouts/settings/firehose.py:140 +#, python-format +msgid "INACTIVE: connect to an unmetered network" +msgstr "НЕАКТИВНО: підключення до мережі без ліміту трафіку" + +#: selfdrive/ui/layouts/settings/software.py:53 +#: selfdrive/ui/layouts/settings/software.py:144 +#, python-format +msgid "INSTALL" +msgstr "ВСТАНОВ." + +#: system/ui/widgets/network.py:150 +#, python-format +msgid "IP Address" +msgstr "IP-адреса" + +#: selfdrive/ui/layouts/settings/software.py:53 +#, python-format +msgid "Install Update" +msgstr "Встановити оновлення" + +#: selfdrive/ui/layouts/settings/developer.py:56 +#, python-format +msgid "Joystick Debug Mode" +msgstr "Режим зневадження джойстика" + +#: selfdrive/ui/widgets/ssh_key.py:29 +msgid "LOADING" +msgstr "ЗАВАНТАЖЕННЯ" + +#: selfdrive/ui/layouts/sidebar.py:48 +msgid "LTE" +msgstr "LTE" + +#: selfdrive/ui/layouts/settings/developer.py:64 +#, python-format +msgid "Longitudinal Maneuver Mode" +msgstr "Режим поздовжнього маневрування" + +#: selfdrive/ui/onroad/hud_renderer.py:148 +#, python-format +msgid "MAX" +msgstr "МАКС" + +#: selfdrive/ui/widgets/setup.py:75 +#, python-format +msgid "" +"Maximize your training data uploads to improve openpilot's driving models." +msgstr "" +"Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot." + +#: selfdrive/ui/layouts/settings/device.py:59 +#: selfdrive/ui/layouts/settings/device.py:60 +#, python-format +msgid "N/A" +msgstr "Н/Д" + +#: selfdrive/ui/layouts/sidebar.py:142 +msgid "NO" +msgstr "НЕМАЄ" + +#: selfdrive/ui/layouts/settings/settings.py:60 +msgid "Network" +msgstr "Мережа" + +#: selfdrive/ui/widgets/ssh_key.py:114 +#, python-format +msgid "No SSH keys found" +msgstr "Не знайдено ключів SSH" + +#: selfdrive/ui/widgets/ssh_key.py:126 +#, python-format +msgid "No SSH keys found for user '{}'" +msgstr "Користувач '{}' не має ключів на GitHub" + +#: selfdrive/ui/widgets/offroad_alerts.py:320 +#, python-format +msgid "No release notes available." +msgstr "Інформація про випуск відсутня." + +#: selfdrive/ui/layouts/sidebar.py:73 +#: selfdrive/ui/layouts/sidebar.py:134 +msgid "OFFLINE" +msgstr "ОФЛАЙН" + +#: system/ui/widgets/confirm_dialog.py:93 system/ui/widgets/html_render.py:263 +#: selfdrive/ui/layouts/sidebar.py:127 +#, python-format +msgid "OK" +msgstr "OK" + +#: selfdrive/ui/layouts/sidebar.py:72 +#: selfdrive/ui/layouts/sidebar.py:136 +#: selfdrive/ui/layouts/sidebar.py:144 +msgid "ONLINE" +msgstr "ОНЛАЙН" + +#: selfdrive/ui/widgets/setup.py:20 +#, python-format +msgid "Open" +msgstr "ВІДКРИТИ" + +#: selfdrive/ui/layouts/settings/device.py:48 +#, python-format +msgid "PAIR" +msgstr "ПІДКЛЮЧИТИ" + +#: selfdrive/ui/layouts/sidebar.py:142 +msgid "PANDA" +msgstr "PANDA" + +#: selfdrive/ui/layouts/settings/device.py:62 +#, python-format +msgid "PREVIEW" +msgstr "ПОКАЖИ" + +#: selfdrive/ui/widgets/prime.py:44 +#, python-format +msgid "PRIME FEATURES:" +msgstr "XАРАКТЕРИСТИКИ PRIME:" + +#: selfdrive/ui/layouts/settings/device.py:48 +#, python-format +msgid "Pair Device" +msgstr "Підключити пристрій" + +#: selfdrive/ui/widgets/setup.py:19 +#, python-format +msgid "Pair device" +msgstr "Підключити пристрій" + +#: selfdrive/ui/widgets/pairing_dialog.py:92 +#, python-format +msgid "Pair your device to your comma account" +msgstr "Підключіть свій пристрій до обліковки comma connect" + +#: selfdrive/ui/widgets/setup.py:48 +#: selfdrive/ui/layouts/settings/device.py:24 +#, python-format +msgid "" +"Pair your device with comma connect (connect.comma.ai) and claim your comma " +"prime offer." +msgstr "" +"Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте " +"свою пропозицію comma prime." + +#: selfdrive/ui/widgets/setup.py:91 +#, python-format +msgid "Please connect to Wi-Fi to complete initial pairing" +msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення." + +#: selfdrive/ui/layouts/settings/device.py:55 +#: selfdrive/ui/layouts/settings/device.py:187 +#, python-format +msgid "Power Off" +msgstr "Вимкнути" + +#: system/ui/widgets/network.py:144 +#, python-format +msgid "Prevent large data uploads when on a metered Wi-Fi connection" +msgstr "" +"Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-" +"з'єднання з обмеженим трафіком" + +#: system/ui/widgets/network.py:135 +#, python-format +msgid "Prevent large data uploads when on a metered cellular connection" +msgstr "" +"Запобігати великим завантаженням даних під час лімітного стільникового " +"з'єднання" + +#: selfdrive/ui/layouts/settings/device.py:25 +msgid "" +"Preview the driver facing camera to ensure that driver monitoring has good " +"visibility. (vehicle must be off)" +msgstr "" +"Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що " +"система моніторингу водія має добру видимість. (автомобіль повинен бути " +"вимкнений)" + +#: selfdrive/ui/widgets/pairing_dialog.py:150 +#, python-format +msgid "QR Code Error" +msgstr "Помилка QR-коду" + +#: selfdrive/ui/widgets/ssh_key.py:31 +msgid "REMOVE" +msgstr "ВИДАЛИТИ" + +#: selfdrive/ui/layouts/settings/device.py:51 +#, python-format +msgid "RESET" +msgstr "Скинути" + +#: selfdrive/ui/layouts/settings/device.py:65 +#, python-format +msgid "REVIEW" +msgstr "ДИВИТИСЬ" + +#: selfdrive/ui/layouts/settings/device.py:55 +#: selfdrive/ui/layouts/settings/device.py:175 +#, python-format +msgid "Reboot" +msgstr "Перезавантажити" + +#: selfdrive/ui/onroad/alert_renderer.py:66 +#, python-format +msgid "Reboot Device" +msgstr "Перезавантажте пристрій" + +#: selfdrive/ui/widgets/offroad_alerts.py:112 +#, python-format +msgid "Reboot and Update" +msgstr "Перезавантажити та оновити" + +#: selfdrive/ui/layouts/settings/toggles.py:27 +msgid "" +"Receive alerts to steer back into the lane when your vehicle drifts over a " +"detected lane line without a turn signal activated while driving over 31 mph " +"(50 km/h)." +msgstr "" +"Отримувати попередження про необхідність повернутися в смугу, коли ваш " +"автомобіль перетинає виявлену лінію розмітки без увімкненого сигналу " +"повороту під час руху зі швидкістю понад 31 миль/год (50 км/год)." + +#: selfdrive/ui/layouts/settings/toggles.py:76 +#, python-format +msgid "Record and Upload Driver Camera" +msgstr "Писати та вантажити відео з камери водія" + +#: selfdrive/ui/layouts/settings/toggles.py:82 +#, python-format +msgid "Record and Upload Microphone Audio" +msgstr "Запис та завантаження аудіо з мікрофона" + +#: selfdrive/ui/layouts/settings/toggles.py:33 +msgid "" +"Record and store microphone audio while driving. The audio will be included " +"in the dashcam video in comma connect." +msgstr "" +"Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено " +"до відео з відеореєстратора в comma connect." + +#: selfdrive/ui/layouts/settings/device.py:67 +#, python-format +msgid "Regulatory" +msgstr "Нормативні документи" + +#: selfdrive/ui/layouts/settings/toggles.py:98 +#, python-format +msgid "Relaxed" +msgstr "Спокійний" + +#: selfdrive/ui/widgets/prime.py:47 +#, python-format +msgid "Remote access" +msgstr "Віддалений доступ" + +#: selfdrive/ui/widgets/prime.py:47 +#, python-format +msgid "Remote snapshots" +msgstr "Віддалені знімки" + +#: selfdrive/ui/widgets/ssh_key.py:123 +#, python-format +msgid "Request timed out" +msgstr "Час запиту вичерпано" + +#: selfdrive/ui/layouts/settings/device.py:119 +#, python-format +msgid "Reset" +msgstr "Скинути" + +#: selfdrive/ui/layouts/settings/device.py:51 +#, python-format +msgid "Reset Calibration" +msgstr "Скинути калібрування" + +#: selfdrive/ui/layouts/settings/device.py:65 +#, python-format +msgid "Review Training Guide" +msgstr "Переглянути посібник з навчання" + +#: selfdrive/ui/layouts/settings/device.py:27 +msgid "Review the rules, features, and limitations of openpilot" +msgstr "Перегляньте правила, функції та обмеження openpilot" + +#: selfdrive/ui/layouts/settings/software.py:61 +#, python-format +msgid "SELECT" +msgstr "ВИБРАТИ" + +#: selfdrive/ui/layouts/settings/developer.py:53 +#, python-format +msgid "SSH Keys" +msgstr "SSH ключі" + +#: system/ui/widgets/network.py:310 +#, python-format +msgid "Scanning Wi-Fi networks..." +msgstr "Пошук мереж..." + +#: system/ui/widgets/option_dialog.py:36 +#, python-format +msgid "Select" +msgstr "Вибрати" + +#: selfdrive/ui/layouts/settings/software.py:191 +#, python-format +msgid "Select a branch" +msgstr "Виберіть гілку" + +#: selfdrive/ui/layouts/settings/device.py:91 +#, python-format +msgid "Select a language" +msgstr "Виберіть мову" + +#: selfdrive/ui/layouts/settings/device.py:60 +#, python-format +msgid "Serial" +msgstr "Серійний номер" + +#: selfdrive/ui/widgets/offroad_alerts.py:106 +#, python-format +msgid "Snooze Update" +msgstr "Відкласти оновлення" + +#: selfdrive/ui/layouts/settings/settings.py:62 +msgid "Software" +msgstr "Програма" + +#: selfdrive/ui/layouts/settings/toggles.py:98 +#, python-format +msgid "Standard" +msgstr "Стандарт" + +#: selfdrive/ui/layouts/settings/toggles.py:22 +msgid "" +"Standard is recommended. In aggressive mode, openpilot will follow lead cars " +"closer and be more aggressive with the gas and brake. In relaxed mode " +"openpilot will stay further away from lead cars. On supported cars, you can " +"cycle through these personalities with your steering wheel distance button." +msgstr "" +"Рекомендується стандартний режим. В агресивному режимі openpilot буде " +"триматися ближче до автомобілів попереду і більш агресивно використовувати " +"газ і гальма. У спокійному режимі openpilot буде триматися на більшій " +"відстані від автомобілів попереду. На підтримуваних автомобілях ви можете " +"перемикатися між цими режимами за допомогою кнопки дистанції на кермі." + +#: selfdrive/ui/onroad/alert_renderer.py:59 +#: selfdrive/ui/onroad/alert_renderer.py:65 +#, python-format +msgid "System Unresponsive" +msgstr "Система не реагує" + +#: selfdrive/ui/onroad/alert_renderer.py:58 +#, python-format +msgid "TAKE CONTROL IMMEDIATELY" +msgstr "КЕРМУЙТЕ НЕГАЙНО" + +#: selfdrive/ui/layouts/sidebar.py:71 +#: selfdrive/ui/layouts/sidebar.py:125 +#: selfdrive/ui/layouts/sidebar.py:127 +#: selfdrive/ui/layouts/sidebar.py:129 +msgid "TEMP" +msgstr "ТЕМП" + +#: selfdrive/ui/layouts/settings/software.py:61 +#, python-format +msgid "Target Branch" +msgstr "Цільова гілка" + +#: system/ui/widgets/network.py:124 +#, python-format +msgid "Tethering Password" +msgstr "Пароль для точки доступу" + +#: selfdrive/ui/layouts/settings/settings.py:61 +msgid "Toggles" +msgstr "Перемикачі" + +#: selfdrive/ui/layouts/settings/software.py:72 +#, python-format +msgid "UNINSTALL" +msgstr "ВИДАЛИТИ" + +#: selfdrive/ui/layouts/home.py:155 +#, python-format +msgid "UPDATE" +msgstr "ОНОВИТИ" + +#: selfdrive/ui/layouts/settings/software.py:72 +#: selfdrive/ui/layouts/settings/software.py:171 +#, python-format +msgid "Uninstall" +msgstr "Видалити" + +#: selfdrive/ui/layouts/sidebar.py:117 +msgid "Unknown" +msgstr "Невідомо" + +#: selfdrive/ui/layouts/settings/software.py:48 +#, python-format +msgid "Updates are only downloaded while the car is off." +msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено." + +#: selfdrive/ui/widgets/prime.py:33 +#, python-format +msgid "Upgrade Now" +msgstr "Оновити зараз" + +#: selfdrive/ui/layouts/settings/toggles.py:31 +msgid "" +"Upload data from the driver facing camera and help improve the driver " +"monitoring algorithm." +msgstr "" +"Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити " +"алгоритм моніторингу водія." + +#: selfdrive/ui/layouts/settings/toggles.py:88 +#, python-format +msgid "Use Metric System" +msgstr "Використовувати метричну систему" + +#: selfdrive/ui/layouts/settings/toggles.py:17 +msgid "" +"Use the openpilot system for adaptive cruise control and lane keep driver " +"assistance. Your attention is required at all times to use this feature." +msgstr "" +"Використовуйте систему openpilot для адаптивного круїз-контролю та допомоги " +"в утриманні смуги руху. Ваша увага потрібна постійно при використанні цієї " +"функції. Зміна цього налаштування набуває чинності після вимкнення живлення " +"автомобіля." + +#: selfdrive/ui/layouts/sidebar.py:72 +#: selfdrive/ui/layouts/sidebar.py:144 +msgid "VEHICLE" +msgstr "АВТО" + +#: selfdrive/ui/layouts/settings/device.py:67 +#, python-format +msgid "VIEW" +msgstr "ДИВИСЬ" + +#: selfdrive/ui/onroad/alert_renderer.py:52 +#, python-format +msgid "Waiting to start" +msgstr "Очікування початку" + +#: selfdrive/ui/layouts/settings/developer.py:19 +msgid "" +"Warning: This grants SSH access to all public keys in your GitHub settings. " +"Never enter a GitHub username other than your own. A comma employee will " +"NEVER ask you to add their GitHub username." +msgstr "" +"Попередження: це надає доступ по SSH до всіх публічних ключів у ваших " +"налаштуваннях GitHub. Ніколи не вводьте ім'я користувача GitHub, окрім " +"вашого власного. Співробітник comma НІКОЛИ не попросить вас додати його ім'я " +"користувача GitHub." + +#: selfdrive/ui/layouts/onboarding.py:111 +#, python-format +msgid "Welcome to openpilot" +msgstr "Ласкаво просимо до openpilot" + +#: selfdrive/ui/layouts/settings/toggles.py:20 +msgid "When enabled, pressing the accelerator pedal will disengage openpilot." +msgstr "Якщо увімкнено, натискання на педаль акселератора вимкне openpilot." + +#: selfdrive/ui/layouts/sidebar.py:44 +msgid "Wi-Fi" +msgstr "Wi-Fi" + +#: system/ui/widgets/network.py:144 +#, python-format +msgid "Wi-Fi Network Metered" +msgstr "Трафік Wi-Fi" + +#: system/ui/widgets/network.py:314 +#, python-format +msgid "Wrong password" +msgstr "Невірний пароль" + +#: selfdrive/ui/layouts/onboarding.py:145 +#, python-format +msgid "You must accept the Terms and Conditions in order to use openpilot." +msgstr "Ви повинні прийняти Умови та положення, щоб користуватися openpilot." + +#: selfdrive/ui/layouts/onboarding.py:112 +#, python-format +msgid "" +"You must accept the Terms and Conditions to use openpilot. Read the latest " +"terms at https://comma.ai/terms before continuing." +msgstr "" +"Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед " +"тим, як продовжити, ознайомтеся з останніми умовами на сайті https://" +"comma.ai/terms." + +#: selfdrive/ui/onroad/driver_camera_dialog.py:34 +#, python-format +msgid "camera starting" +msgstr "запуск камери" + +#: selfdrive/ui/layouts/settings/software.py:105 +#, python-format +msgid "checking..." +msgstr "перевіряю..." + +#: selfdrive/ui/widgets/prime.py:63 +#, python-format +msgid "comma prime" +msgstr "comma prime" + +#: system/ui/widgets/network.py:142 +#, python-format +msgid "default" +msgstr "замовч." + +#: selfdrive/ui/layouts/settings/device.py:133 +#, python-format +msgid "down" +msgstr "вниз" + +#: selfdrive/ui/layouts/settings/software.py:106 +#, python-format +msgid "downloading..." +msgstr "завантажую..." + +#: selfdrive/ui/layouts/settings/software.py:114 +#, python-format +msgid "failed to check for update" +msgstr "не вдалося перевірити оновлення" + +#: selfdrive/ui/layouts/settings/software.py:107 +#, python-format +msgid "finalizing update..." +msgstr "завершую..." + +#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 +#, python-format +msgid "for \"{}\"" +msgstr "для \"{}\"" + +#: selfdrive/ui/onroad/hud_renderer.py:177 +#, python-format +msgid "km/h" +msgstr "км/год" + +#: system/ui/widgets/network.py:204 +#, python-format +msgid "leave blank for automatic configuration" +msgstr "залиште порожнім для автоматичного налаштування" + +#: selfdrive/ui/layouts/settings/device.py:134 +#, python-format +msgid "left" +msgstr "вліво" + +#: system/ui/widgets/network.py:142 +#, python-format +msgid "metered" +msgstr "обмеж." + +#: selfdrive/ui/onroad/hud_renderer.py:177 +#, python-format +msgid "mph" +msgstr "миль/год" + +#: selfdrive/ui/layouts/settings/software.py:20 +#, python-format +msgid "never" +msgstr "ніколи" + +#: selfdrive/ui/layouts/settings/software.py:31 +#, python-format +msgid "now" +msgstr "зараз" + +#: selfdrive/ui/layouts/settings/developer.py:71 +#, python-format +msgid "openpilot Longitudinal Control (Alpha)" +msgstr "Поздовжнє керування openpilot (Альфа)" + +#: selfdrive/ui/onroad/alert_renderer.py:51 +#, python-format +msgid "openpilot Unavailable" +msgstr "openpilot Недоступний" + +#: selfdrive/ui/layouts/settings/toggles.py:158 +#, python-format +msgid "" +"openpilot defaults to driving in chill mode. Experimental mode enables alpha-" +"level features that aren't ready for chill mode. Experimental features are " +"listed below:

End-to-End Longitudinal Control


Let the driving " +"model control the gas and brakes. openpilot will drive as it thinks a human " +"would, including stopping for red lights and stop signs. Since the driving " +"model decides the speed to drive, the set speed will only act as an upper " +"bound. This is an alpha quality feature; mistakes should be expected." +"

New Driving Visualization


The driving visualization will " +"transition to the road-facing wide-angle camera at low speeds to better show " +"some turns. The Experimental mode logo will also be shown in the top right " +"corner." +msgstr "" +"openpilot за замовчуванням працює в режимі спокій. Експериментальний режим " +"увімкне функції альфа-рівня, які ще не готові для режиму спокій. " +"Експериментальні функції перелічені нижче:

Кінцевий поздовжній " +"контроль


Дозвольте моделі водіння контролювати газ і гальма. " +"openpilot буде керувати автомобілем так, як це робив би людина, включаючи " +"зупинку на червоне світло і знаки зупинки. Оскільки модель водіння визначає " +"швидкість руху, задана швидкість буде діяти лише як верхня межа. Це функція " +"альфа-рівня; слід очікувати помилок.

Нова візуалізація водіння
Візуалізація водіння перейде на ширококутну камеру, спрямовану на " +"дорогу, при низьких швидкостях, щоб краще показувати деякі повороти. Логотип " +"експериментального режиму також буде показаний у верхньому правому куті." + +#: selfdrive/ui/layouts/settings/device.py:165 +#, python-format +msgid "" +"openpilot is continuously calibrating, resetting is rarely required. " +"Resetting calibration will restart openpilot if the car is powered on." +msgstr "" +"openpilot постійно калібрується, скидання рідко потрібне. Скидання " +"калібрування призведе до перезапуску openpilot, якщо автомобіль увімкнено." + +#: selfdrive/ui/layouts/settings/firehose.py:20 +msgid "" +"openpilot learns to drive by watching humans, like you, drive.\n" +"\n" +"Firehose Mode allows you to maximize your training data uploads to improve " +"openpilot's driving models. More data means bigger models, which means " +"better Experimental Mode." +msgstr "" +"openpilot вчиться керувати автомобілем, спостерігаючи за тим, як це роблять " +"люди, такі як ви.\n" +"\n" +"Режим зливи дозволяє максимально збільшити обсяг завантажуваних навчальних " +"даних, щоб поліпшити моделі керування автомобілем openpilot. Більше даних " +"означає більші моделі, а це означає кращий експериментальний режим." + +#: selfdrive/ui/layouts/settings/toggles.py:183 +#, python-format +msgid "openpilot longitudinal control may come in a future update." +msgstr "Поздовжнє керування openpilot може з'явитися в майбутньому оновленні." + +#: selfdrive/ui/layouts/settings/device.py:26 +msgid "" +"openpilot requires the device to be mounted within 4° left or right and " +"within 5° up or 9° down." +msgstr "" +"Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не " +"більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot " +"постійно калібрується, тому скидання калібрування потрібне рідко." + +#: selfdrive/ui/layouts/settings/device.py:134 +#, python-format +msgid "right" +msgstr "вправо" + +#: system/ui/widgets/network.py:142 +#, python-format +msgid "unmetered" +msgstr "необмеж." + +#: selfdrive/ui/layouts/settings/device.py:133 +#, python-format +msgid "up" +msgstr "вгору" + +#: selfdrive/ui/layouts/settings/software.py:125 +#, python-format +msgid "up to date, last checked never" +msgstr "оновлено, ніколи не перевірялось" + +#: selfdrive/ui/layouts/settings/software.py:123 +#, python-format +msgid "up to date, last checked {}" +msgstr "оновлено, перевірив {}" + +#: selfdrive/ui/layouts/settings/software.py:117 +#, python-format +msgid "update available" +msgstr "доступне оновлення" + +#: selfdrive/ui/layouts/home.py:169 +#, python-format +msgid "{} ALERT" +msgid_plural "{} ALERTS" +msgstr[0] "{} СПОВІЩЕННЯ" +msgstr[1] "{} СПОВІЩЕННЯ" +msgstr[2] "{} СПОВІЩЕНЬ" + +#: selfdrive/ui/layouts/settings/software.py:40 +#, python-format +msgid "{} day ago" +msgid_plural "{} days ago" +msgstr[0] "{} день тому" +msgstr[1] "{} дні тому" +msgstr[2] "{} днів тому" + +#: selfdrive/ui/layouts/settings/software.py:37 +#, python-format +msgid "{} hour ago" +msgid_plural "{} hours ago" +msgstr[0] "{} година тому" +msgstr[1] "{} години тому" +msgstr[2] "{} годин тому" + +#: selfdrive/ui/layouts/settings/software.py:34 +#, python-format +msgid "{} minute ago" +msgid_plural "{} minutes ago" +msgstr[0] "{} хвилина тому" +msgstr[1] "{} хвилини тому" +msgstr[2] "{} хвилин тому" + +#: selfdrive/ui/layouts/settings/firehose.py:111 +#, python-format +msgid "{} segment of your driving is in the training dataset so far." +msgid_plural "{} segments of your driving is in the training dataset so far." +msgstr[0] "" +"{} сегмент вашого водіння на даний момент містяться в тренувальному наборі " +"даних." +msgstr[1] "" +"{} сегменти вашого водіння на даний момент містяться в тренувальному наборі " +"даних." +msgstr[2] "" +"{} сегментів вашого водіння на даний момент містяться в тренувальному наборі " +"даних." + +#: selfdrive/ui/widgets/prime.py:62 +#, python-format +msgid "✓ SUBSCRIBED" +msgstr "✓ ПІДПИСАНО" + +#: selfdrive/ui/widgets/setup.py:22 +#, python-format +msgid "🔥 Firehose Mode 🔥" +msgstr "🌧️ Режим зливи 🌧️" diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index b0674dee82..47e673ce89 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -5,6 +5,7 @@ "Português": "pt-BR", "Español": "es", "Türkçe": "tr", + "Українська": "uk", "العربية": "ar", "ไทย": "th", "中文（繁體）": "zh-CHT", diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index ef0696a22c..a86c84ada3 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -12,6 +12,8 @@ from openpilot.selfdrive.ui.lib.prime_state import PrimeState from openpilot.system.ui.lib.application import gui_app from openpilot.system.hardware import HARDWARE, PC +from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP + BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50 @@ -19,9 +21,11 @@ class UIStatus(Enum): DISENGAGED = "disengaged" ENGAGED = "engaged" OVERRIDE = "override" + LAT_ONLY = "lat_only" + LONG_ONLY = "long_only" -class UIState: +class UIState(UIStateSP): _instance: 'UIState | None' = None def __new__(cls): @@ -31,6 +35,7 @@ class UIState: return cls._instance def _initialize(self): + UIStateSP.__init__(self) self.params = Params() self.sm = messaging.SubMaster( [ @@ -55,7 +60,7 @@ class UIState: "carControl", "liveParameters", "rawAudioData", - ] + ] + self.sm_services_ext ) self.prime_state = PrimeState() @@ -95,7 +100,7 @@ class UIState: @property def engaged(self) -> bool: - return self.started and self.sm["selfdriveState"].enabled + return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled) def is_onroad(self) -> bool: return self.started @@ -111,6 +116,7 @@ class UIState: if time.monotonic() - self._param_update_time > 5.0: self.update_params() device.update() + UIStateSP.update(self) def _update_state(self) -> None: # Handle panda states updates @@ -152,6 +158,8 @@ class UIState: else: self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED + self.status = UIStatus(UIStateSP.update_status(ss, self.sm["selfdriveStateSP"], self.sm["onroadEvents"])) + # Check for engagement state changes if self.engaged != self._engaged_prev: for callback in self._engaged_transition_callbacks: @@ -180,13 +188,16 @@ class UIState: self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled") else: self.has_longitudinal_control = self.CP.openpilotLongitudinalControl + UIStateSP.update_params(self) self._param_update_time = time.monotonic() -class Device: +class Device(DeviceSP): def __init__(self): + DeviceSP.__init__(self) self._ignition = False self._interaction_time: float = -1 + self._override_interactive_timeout: int | None = None self._interactive_timeout_callbacks: list[Callable] = [] self._prev_timed_out = False self._awake: bool = True @@ -200,11 +211,21 @@ class Device: def awake(self) -> bool: return self._awake - def reset_interactive_timeout(self, timeout: int = -1) -> None: - if timeout == -1: - ignition_timeout = 10 if gui_app.big_ui() else 5 - timeout = ignition_timeout if ui_state.ignition else 30 - self._interaction_time = time.monotonic() + timeout + def set_override_interactive_timeout(self, timeout: int | None) -> None: + # Override the interactive timeout duration temporarily + self._override_interactive_timeout = timeout + self._reset_interactive_timeout() + + @property + def interactive_timeout(self) -> int: + if self._override_interactive_timeout is not None: + return self._override_interactive_timeout + + ignition_timeout = 10 if gui_app.big_ui() else 5 + return ignition_timeout if ui_state.ignition else 30 + + def _reset_interactive_timeout(self) -> None: + self._interaction_time = time.monotonic() + self.interactive_timeout def add_interactive_timeout_callback(self, callback: Callable): self._interactive_timeout_callbacks.append(callback) @@ -212,7 +233,7 @@ class Device: def update(self): # do initial reset if self._interaction_time <= 0: - self.reset_interactive_timeout() + self._reset_interactive_timeout() self._update_brightness() self._update_wakefulness() @@ -252,7 +273,7 @@ class Device: self._ignition = ui_state.ignition if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events): - self.reset_interactive_timeout() + self._reset_interactive_timeout() interaction_timeout = time.monotonic() > self._interaction_time if interaction_timeout and not self._prev_timed_out: @@ -264,6 +285,7 @@ class Device: def _set_awake(self, on: bool): if on != self._awake: + DeviceSP._set_awake(self, on) self._awake = on cloudlog.debug(f"setting display power {int(on)}") HARDWARE.set_display_power(on) diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py index 1211c1ecc6..9304f8f0b7 100755 --- a/sunnypilot/mapd/mapd_manager.py +++ b/sunnypilot/mapd/mapd_manager.py @@ -64,12 +64,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No "states": states or [] } - osm_download_locations_dump = json.dumps({ - "nations": nations, - "states": states or [] - }) - - print(f"Downloading maps for {osm_download_locations_dump}") + print(f"Downloading maps for {json.dumps(osm_download_locations)}") mem_params.put("OSMDownloadLocations", osm_download_locations) @@ -103,8 +98,6 @@ def filter_nations_and_states(nations: list[str], states: list[str] = None) -> t def update_osm_db() -> None: - # last_downloaded_date = params.get("OsmDownloadedDate", return_default=True) - # if params.get_bool("OsmDbUpdatesCheck") or time.monotonic() - last_downloaded_date >= 604800: # 7 days * 24 hours/day * 60 if params.get_bool("OsmDbUpdatesCheck"): cleanup_old_osm_data(get_files_for_cleanup()) country = params.get("OsmLocationName", return_default=True) diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py index ee0eb48684..57e968d02f 100644 --- a/sunnypilot/modeld_v2/fill_model_msg.py +++ b/sunnypilot/modeld_v2/fill_model_msg.py @@ -11,13 +11,12 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') ConfidenceClass = log.ModelDataV2.ConfidenceClass -def get_curvature_from_output(output, vego, lat_action_t, mlsim): +def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim): if not mlsim: if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly return float(desired_curv[0, 0]) - plan_output = output['plan'][0] - return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2], + return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2], ModelConstants.T_IDXS, vego, lat_action_t)) diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index 0fd45940d8..82eb099e7e 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -28,6 +28,7 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle from openpilot.sunnypilot.models.runners.helpers import get_model_runner PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad" +RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong class FrameMeta: @@ -156,11 +157,13 @@ class ModelState(ModelStateBase): def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: plan = model_output['plan'][0] + if 'planplus' in model_output: + plan = plan + RECOVERY_POWER*model_output['planplus'][0] desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS, action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS) - desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim) + desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim) if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models if v_ego > self.MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS) diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py index 9cf321a1b6..a099facd15 100644 --- a/sunnypilot/modeld_v2/parse_model_outputs_split.py +++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py @@ -108,6 +108,8 @@ class Parser: plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH)) + if 'planplus' in outs: + self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH)) def split_outputs(self, outs: dict[str, np.ndarray]) -> None: if 'desired_curvature' in outs: diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index a581185371..ce6625a1f0 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths from pathlib import Path # see the README.md for more details on the model selector versioning -CURRENT_SELECTOR_VERSION = 12 +CURRENT_SELECTOR_VERSION = 13 REQUIRED_MIN_SELECTOR_VERSION = 12 USE_ONNX = os.getenv('USE_ONNX', PC) diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py index c236643a06..2d3d670bfd 100644 --- a/sunnypilot/models/manager.py +++ b/sunnypilot/models/manager.py @@ -63,6 +63,9 @@ class ModelManagerSP: f.write(chunk) bytes_downloaded += len(chunk) + if not self.params.get("ModelManager_DownloadIndex"): + raise Exception("Download cancelled") + if total_size > 0: progress = (bytes_downloaded / total_size) * 100 model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading @@ -176,6 +179,7 @@ class ModelManagerSP: cloudlog.exception(e) finally: self.params.remove("ModelManager_DownloadIndex") + self.selected_bundle = None if self.params.get("ModelManager_ClearCache"): self.clear_model_cache() diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index 82ff797b5b..f37b9dba50 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250 \ No newline at end of file +6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332 \ No newline at end of file diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index b534b7e37e..a93f5724b5 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -102,7 +102,10 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled) _cleanup_unsupported_params(CP, CP_SP) - STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict()) + try: + STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict()) + except RuntimeError: + pass # to_dict fails on macOS due to library issues. # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361 @@ -111,7 +114,7 @@ def initialize_params(params) -> list[dict[str, Any]]: # hyundai keys.extend([ - "HyundaiLongitudinalTuning" + "HyundaiLongitudinalTuning", ]) # subaru @@ -125,4 +128,9 @@ def initialize_params(params) -> list[dict[str, Any]]: "TeslaCoopSteering", ]) + # toyota + keys.extend([ + "ToyotaEnforceStockLongitudinal", + ]) + return [{k: params.get(k, return_default=True)} for k in keys] diff --git a/sunnypilot/selfdrive/car/sync_car_list_param.py b/sunnypilot/selfdrive/car/sync_car_list_param.py new file mode 100755 index 0000000000..5e25f6da9a --- /dev/null +++ b/sunnypilot/selfdrive/car/sync_car_list_param.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json +import os + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog + +CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json") + + +def update_car_list_param(): + with open(CAR_LIST_JSON_OUT) as f: + current_car_list = json.load(f) + + params = Params() + if params.get("CarList") != current_car_list: + params.put("CarList", current_car_list) + cloudlog.warning("Updated CarList param with latest platform list") + else: + cloudlog.warning("CarList param is up to date, no need to update") + + +if __name__ == "__main__": + update_car_list_param() diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index 8caeeaeabc..3f6053d158 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -4,21 +4,27 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ +import time + import cereal.messaging as messaging from cereal import log, custom from opendbc.car import structs from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog +from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD +from openpilot.sunnypilot.livedelay.helpers import get_lat_delay +from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral -class ControlsExt: +class ControlsExt(ModelStateBase): def __init__(self, CP: structs.CarParams, params: Params): + ModelStateBase.__init__(self) self.CP = CP self.params = params + self._param_update_time: float = 0.0 self.blinker_pause_lateral = BlinkerPauseLateral() - self.get_params_sp() cloudlog.info("controlsd_ext is waiting for CarParamsSP") self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP) @@ -27,8 +33,14 @@ class ControlsExt: self.sm_services_ext = ['radarState', 'selfdriveStateSP'] self.pm_services_ext = ['carControlSP'] - def get_params_sp(self) -> None: - self.blinker_pause_lateral.get_params() + def get_params_sp(self, sm: messaging.SubMaster) -> None: + if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD: + self.blinker_pause_lateral.get_params() + + if self.CP.lateralTuning.which() == 'torque': + self.lat_delay = get_lat_delay(self.params, sm["liveDelay"].lateralDelay) + + self._param_update_time = time.monotonic() def get_lat_active(self, sm: messaging.SubMaster) -> bool: if self.blinker_pause_lateral.update(sm['carState']): diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 31c2182d41..c6658bdc78 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -15,9 +15,8 @@ LAT_PLAN_MIN_IDX = 5 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan # from selfdrive/controls/lib/latcontrol_torque.py -KP = 1.0 -KI = 0.3 -KD = 0.0 +KP = 0.8 +KI = 0.15 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30] KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP] @@ -64,7 +63,7 @@ class LatControlTorqueExtBase: self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space() self._ff = 0.0 - self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD) + self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI) self._pid_log = None self._setpoint = 0.0 self._measurement = 0.0 diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py index 26c3f3462d..3c78dd3e55 100644 --- a/sunnypilot/sunnylink/api.py +++ b/sunnypilot/sunnylink/api.py @@ -2,9 +2,10 @@ import json import os import random import time -from datetime import datetime, timedelta - import jwt +from typing import cast +from datetime import datetime, timedelta, UTC + from openpilot.common.api.base import BaseApi from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE @@ -92,7 +93,8 @@ class SunnylinkApi(BaseApi): backoff = 1 while True: - register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo) + register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, + cast(str, private_key), algorithm=jwt_algo) try: if verbose or time.monotonic() - start_time < timeout / 2: self._status_update("Registering device to sunnylink...") diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py index 1e3713c7ef..d1a03778c6 100755 --- a/sunnypilot/sunnylink/athena/sunnylinkd.py +++ b/sunnypilot/sunnylink/athena/sunnylinkd.py @@ -1,5 +1,10 @@ #!/usr/bin/env python3 +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" from __future__ import annotations import base64 @@ -23,6 +28,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce create_connection, WebSocketConnectionClosedException) import cereal.messaging as messaging +from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param from openpilot.sunnypilot.sunnylink.api import SunnylinkApi from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string @@ -32,9 +38,17 @@ LOCAL_PORT_WHITELIST = {8022} SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload" SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require a change on sidebar.cc DISALLOW_LOG_UPLOAD = threading.Event() +METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json") params = Params() +# Parameters that should never be remotely modified for security reasons +BLOCKED_PARAMS = { + "GithubUsername", # Could grant SSH access + "GithubSshKeys", # Direct SSH key injection +} + + def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: cloudlog.info("sunnylinkd.handle_long_poll started") sm = messaging.SubMaster(['deviceState']) @@ -48,7 +62,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'), threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'), threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), - # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'), + threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'), threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'), ] + [ threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}') @@ -180,16 +194,30 @@ def getParamsAllKeys() -> list[str]: @dispatcher.add_method def getParamsAllKeysV1() -> dict[str, str]: + try: + with open(METADATA_PATH) as f: + metadata = json.load(f) + except Exception: + cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception") + metadata = {} + available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()] - params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []} + params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []} for key in available_keys: value = get_param_as_byte(key, get_default=True) - params_dict["params"].append({ + + param_entry = { "key": key, "type": int(params.get_type(key).value), "default_value": base64.b64encode(value).decode('utf-8') if value else None, - }) + } + + if key in metadata: + meta_copy = metadata[key].copy() + param_entry["_extra"] = meta_copy + + params_dict["params"].append(param_entry) return {"keys": json.dumps(params_dict.get("params", []))} @@ -226,6 +254,11 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s @dispatcher.add_method def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None: for key, value in params_to_update.items(): + # disallow modifications to blocked parameters + if key in BLOCKED_PARAMS: + cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'") + continue + try: save_param_from_base64_encoded_string(key, value, compression) except Exception as e: @@ -238,10 +271,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local cloudlog.debug("athena.startLocalProxy.starting") ws = create_connection( - remote_ws_uri, - header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, - enable_multithread=True, - sslopt={"cert_reqs": ssl.CERT_NONE} + remote_ws_uri, header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, enable_multithread=True, sslopt={"cert_reqs": ssl.CERT_NONE} ) return start_local_proxy_shim(global_end_event, local_port, ws) @@ -261,6 +291,8 @@ def main(exit_event: threading.Event = None): sunnylink_api = SunnylinkApi(sunnylink_dongle_id) UploadQueueCache.initialize(upload_queue) + update_car_list_param() + ws_uri = f"{SUNNYLINK_ATHENA_HOST}" conn_start = None conn_retries = 0 diff --git a/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py new file mode 100644 index 0000000000..616bff037e --- /dev/null +++ b/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py @@ -0,0 +1,59 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.sunnypilot.sunnylink.athena import sunnylinkd + + +class TestSunnylinkdMethods: + def setup_method(self): + self.saved_params = [] + + self.original_save = sunnylinkd.save_param_from_base64_encoded_string + + def mock_save_param(key, value, compression=False): + self.saved_params.append((key, value, compression)) + + sunnylinkd.save_param_from_base64_encoded_string = mock_save_param + + def teardown_method(self): + sunnylinkd.save_param_from_base64_encoded_string = self.original_save + + def test_saveParams_blocked(self): + blocked_params = { + "GithubUsername": "attacker", + "GithubSshKeys": "ssh-rsa attacker_key", + } + + sunnylinkd.saveParams(blocked_params) + + assert len(self.saved_params) == 0 + + def test_saveParams_allowed(self): + allowed_params = { + "SpeedLimitOffset": "5", + "MyCustomParam": "123" + } + + sunnylinkd.saveParams(allowed_params) + + # verify content + assert len(self.saved_params) == 2 + keys_saved = [p[0] for p in self.saved_params] + assert "SpeedLimitOffset" in keys_saved + assert "MyCustomParam" in keys_saved + + def test_saveParams_mixed(self): + mixed_params = { + "GithubUsername": "attacker", + "SpeedLimitOffset": "10" + } + + sunnylinkd.saveParams(mixed_params) + + # should save allowed one + assert len(self.saved_params) == 1 + assert self.saved_params[0][0] == "SpeedLimitOffset" + assert self.saved_params[0][1] == "10" diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py index 1b3c623fc4..cc38476041 100644 --- a/sunnypilot/sunnylink/backups/manager.py +++ b/sunnypilot/sunnylink/backups/manager.py @@ -19,7 +19,7 @@ from openpilot.system.version import get_version from cereal import messaging, custom from openpilot.sunnypilot.sunnylink.api import SunnylinkApi -from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder +from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string @@ -95,7 +95,7 @@ class BackupManagerSP: # Serialize and encrypt config data config_json = json.dumps(config_data) - encrypted_config = encrypt_compress_data(config_json, use_aes_256=True) + encrypted_config = encrypt_compressed_data(config_json, use_aes_256=True) self._update_progress(50.0, OperationType.BACKUP) backup_info = custom.BackupManagerSP.BackupInfo() diff --git a/sunnypilot/sunnylink/backups/utils.py b/sunnypilot/sunnylink/backups/utils.py index 1734a7efcf..a81a13b2c7 100644 --- a/sunnypilot/sunnylink/backups/utils.py +++ b/sunnypilot/sunnylink/backups/utils.py @@ -4,9 +4,9 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ - import base64 import hashlib +import os import zlib import re import json @@ -14,8 +14,9 @@ from pathlib import Path from cryptography.hazmat.backends import default_backend from cryptography.hazmat.primitives import serialization -from cryptography.hazmat.primitives.asymmetric import rsa +from cryptography.hazmat.primitives.asymmetric import rsa, ec +from openpilot.common.api.base import KEYS from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher from openpilot.system.hardware.hw import Paths @@ -27,37 +28,43 @@ class KeyDerivation: return f.read() @staticmethod - def derive_aes_key_iv_from_rsa(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]: - rsa_key_pem: bytes = KeyDerivation._load_key(key_path) - key_plain = rsa_key_pem.decode(errors="ignore") + def derive_aes_key_iv(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]: + key_pem: bytes = KeyDerivation._load_key(key_path) + key_plain = key_pem.decode(errors="ignore") if "private" in key_plain.lower(): - private_key = serialization.load_pem_private_key(rsa_key_pem, password=None, backend=default_backend()) - if not isinstance(private_key, rsa.RSAPrivateKey): - raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.") - - der_data = private_key.private_bytes( - encoding=serialization.Encoding.DER, - format=serialization.PrivateFormat.TraditionalOpenSSL, - encryption_algorithm=serialization.NoEncryption() - ) + private_key = serialization.load_pem_private_key(key_pem, password=None, backend=default_backend()) + if isinstance(private_key, (rsa.RSAPrivateKey, ec.EllipticCurvePrivateKey)): + public_key = private_key.public_key() + else: + raise ValueError("Invalid key format: Unable to determine if key is public or private.") elif "public" in key_plain.lower(): - public_key = serialization.load_pem_public_key(rsa_key_pem, backend=default_backend()) - if not isinstance(public_key, rsa.RSAPublicKey): - raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.") - - der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1) + public_key = serialization.load_pem_public_key(key_pem, backend=default_backend()) # type: ignore[assignment] + if not isinstance(public_key, (rsa.RSAPublicKey, ec.EllipticCurvePublicKey)): + raise ValueError("Invalid key format: Unable to determine if key is public or private.") else: - raise ValueError("Unknown key format: Unable to determine if key is public or private.") + raise ValueError("Invalid key format: Unable to determine if key is public or private.") - sha256_hash = hashlib.sha256(der_data).digest() - aes_key = sha256_hash[:32] if use_aes_256 else sha256_hash[:16] - aes_iv = sha256_hash[16:32] + if isinstance(public_key, rsa.RSAPublicKey): + der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1) + elif isinstance(public_key, ec.EllipticCurvePublicKey): + der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.SubjectPublicKeyInfo) + else: + raise ValueError("Unsupported key type.") - return aes_key, aes_iv + if use_aes_256: + # AES-256-CBC + key = hashlib.sha256(der_data).digest() + iv = hashlib.md5(der_data).digest() + else: + # AES-128-CBC + key = hashlib.md5(der_data).digest() + iv = hashlib.md5(der_data).digest() # Insecure IV reuse, kept for compatibility + + return key, iv -def qUncompress(data): +def uncompress_dat(data): """ Decompress data using zlib. @@ -71,7 +78,7 @@ def qUncompress(data): return zlib.decompress(data_stripped_4) -def qCompress(data): +def compress_dat(data): """ Compress data using zlib. @@ -85,6 +92,19 @@ def qCompress(data): return b"ZLIB" + compressed_data +def get_key_path(use_aes_256=False) -> str: + key_path = "" + for key in KEYS: + if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'): + key_path = str(Path(Paths.persist_root() + f'/comma/{key}') if use_aes_256 else Path(Paths.persist_root() + f'/comma/{key}.pub')) + break + + if not key_path: + raise FileNotFoundError("No valid key pair found in persist storage.") + + return key_path + + def decrypt_compressed_data(encrypted_base64, use_aes_256=False): """ Decrypt and decompress data from base64 string. @@ -96,18 +116,17 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False): Returns: str: Decrypted and decompressed string """ - key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub") try: # Decode base64 encrypted_data = base64.b64decode(encrypted_base64) # Decrypt - key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256) + key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256) cipher = AESCipher(key, iv) decrypted_data = cipher.decrypt(encrypted_data) # Decompress - decompressed_data = qUncompress(decrypted_data) + decompressed_data = uncompress_dat(decrypted_data) # Decode UTF-8 result = decompressed_data.decode('utf-8') @@ -117,7 +136,7 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False): return "" -def encrypt_compress_data(text, use_aes_256=True): +def encrypt_compressed_data(text, use_aes_256=True): """ Compress and encrypt string data to base64. @@ -128,16 +147,15 @@ def encrypt_compress_data(text, use_aes_256=True): Returns: str: Base64 encoded encrypted data """ - key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub") try: # Encode to UTF-8 text_bytes = text.encode('utf-8') # Compress - compressed_data = qCompress(text_bytes) + compressed_data = compress_dat(text_bytes) # Encrypt - key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256) + key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256) cipher = AESCipher(key, iv) encrypted_data = cipher.encrypt(compressed_data) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json new file mode 100644 index 0000000000..bbefc3d0c8 --- /dev/null +++ b/sunnypilot/sunnylink/params_metadata.json @@ -0,0 +1,1112 @@ +{ + "AccessToken": { + "title": "AccessTokenIsNice", + "description": "" + }, + "AdbEnabled": { + "title": "Enable ADB", + "description": "" + }, + "AlphaLongitudinalEnabled": { + "title": "Alpha Longitudinal", + "description": "" + }, + "AlwaysOnDM": { + "title": "Always-on Driver Monitor", + "description": "" + }, + "ApiCache_Device": { + "title": "Api Cache Device", + "description": "" + }, + "ApiCache_DriveStats": { + "title": "Api Cache Drive Stats", + "description": "" + }, + "ApiCache_FirehoseStats": { + "title": "Firehose Mode Stats", + "description": "" + }, + "AssistNowToken": { + "title": "Assist Now Token", + "description": "" + }, + "AthenadPid": { + "title": "Athenad Pid", + "description": "" + }, + "AthenadRecentlyViewedRoutes": { + "title": "Athenad Recently Viewed Routes", + "description": "" + }, + "AthenadUploadQueue": { + "title": "Athenad Upload Queue", + "description": "" + }, + "AutoLaneChangeBsmDelay": { + "title": "Auto Lane Change BSM Delay", + "description": "" + }, + "AutoLaneChangeTimer": { + "title": "Auto Lane Change Timer", + "description": "", + "options": [ + { + "value": -1, + "label": "Off" + }, + { + "value": 0, + "label": "Nudge" + }, + { + "value": 1, + "label": "Nudgeless" + }, + { + "value": 2, + "label": "0.5s" + }, + { + "value": 3, + "label": "1s" + }, + { + "value": 4, + "label": "2s" + }, + { + "value": 5, + "label": "3s" + } + ] + }, + "BackupManager_CreateBackup": { + "title": "Create Backup", + "description": "" + }, + "BackupManager_RestoreVersion": { + "title": "Restore Version", + "description": "" + }, + "BlindSpot": { + "title": "Blind Spot Detection", + "description": "" + }, + "BlinkerMinLateralControlSpeed": { + "title": "Blinker Min Lateral Control Speed", + "description": "" + }, + "BlinkerPauseLateralControl": { + "title": "Blinker Pause Lateral Control", + "description": "" + }, + "BootCount": { + "title": "Boot Count", + "description": "" + }, + "Brightness": { + "title": "Screen Brightness", + "description": "" + }, + "CalibrationParams": { + "title": "Calibration Params", + "description": "" + }, + "CameraDebugExpGain": { + "title": "Camera Debug Exp Gain", + "description": "" + }, + "CameraDebugExpTime": { + "title": "Camera Debug Exp Time", + "description": "" + }, + "CarBatteryCapacity": { + "title": "Car Battery Capacity", + "description": "" + }, + "CarList": { + "title": "Supported Car List", + "description": "All supported platform in sunnypilot" + }, + "CarParams": { + "title": "Car Params", + "description": "" + }, + "CarParamsCache": { + "title": "Car Params Cache", + "description": "" + }, + "CarParamsPersistent": { + "title": "Car Params Persistent", + "description": "" + }, + "CarParamsPrevRoute": { + "title": "Car Params Prev Route", + "description": "" + }, + "CarParamsSP": { + "title": "Car Params Sp", + "description": "" + }, + "CarParamsSPCache": { + "title": "Car Params Sp Cache", + "description": "" + }, + "CarParamsSPPersistent": { + "title": "Car Params Sp Persistent", + "description": "" + }, + "CarPlatformBundle": { + "title": "Car Platform Bundle", + "description": "" + }, + "ChevronInfo": { + "title": "Chevron Info", + "description": "" + }, + "CompletedTrainingVersion": { + "title": "Completed Training Version", + "description": "" + }, + "ControlsReady": { + "title": "Controls Ready", + "description": "" + }, + "CurrentBootlog": { + "title": "Current Bootlog", + "description": "" + }, + "CurrentRoute": { + "title": "Current Route", + "description": "" + }, + "CustomAccIncrementsEnabled": { + "title": "Custom ACC Increments Enabled", + "description": "" + }, + "CustomAccLongPressIncrement": { + "title": "Custom ACC Long Press Increment", + "description": "", + "min": 1, + "max": 10, + "step": 1 + }, + "CustomAccShortPressIncrement": { + "title": "Custom ACC Short Press Increment", + "description": "", + "min": 1, + "max": 10, + "step": 1 + }, + "CustomTorqueParams": { + "title": "Custom Torque Params", + "description": "" + }, + "DevUIInfo": { + "title": "Developer UI Info", + "description": "" + }, + "DeviceBootMode": { + "title": "Device Boot Mode", + "description": "", + "options": [ + { + "value": 0, + "label": "Standard" + }, + { + "value": 1, + "label": "Always Offroad" + } + ] + }, + "DisableLogging": { + "title": "Disable Logging", + "description": "" + }, + "DisablePowerDown": { + "title": "Disable Power Down", + "description": "" + }, + "DisableUpdates": { + "title": "Disable Updates", + "description": "" + }, + "DisengageOnAccelerator": { + "title": "Disengage On Accelerator", + "description": "" + }, + "DoReboot": { + "title": "Reboot", + "description": "" + }, + "DoShutdown": { + "title": "Power Off", + "description": "" + }, + "DoUninstall": { + "title": "Uninstall sunnypilot", + "description": "" + }, + "DongleId": { + "title": "Device ID", + "description": "" + }, + "DriverTooDistracted": { + "title": "Driver Too Distracted", + "description": "" + }, + "DynamicExperimentalControl": { + "title": "Dynamic Experimental Control", + "description": "" + }, + "EnableCopyparty": { + "title": "copyparty Service", + "description": "" + }, + "EnableGithubRunner": { + "title": "GitHub Runner Service", + "description": "" + }, + "EnableSunnylinkUploader": { + "title": "Enable sunnylink Uploader", + "description": "" + }, + "EnforceTorqueControl": { + "title": "Enforce Torque Control", + "description": "" + }, + "ExperimentalMode": { + "title": "Experimental Mode", + "description": "" + }, + "ExperimentalModeConfirmed": { + "title": "Experimental Mode Confirmed", + "description": "" + }, + "FirmwareQueryDone": { + "title": "Firmware Query Done", + "description": "" + }, + "ForcePowerDown": { + "title": "Force Power Down", + "description": "" + }, + "GitBranch": { + "title": "Git Branch", + "description": "" + }, + "GitCommit": { + "title": "Git Commit", + "description": "" + }, + "GitCommitDate": { + "title": "Git Commit Date", + "description": "" + }, + "GitDiff": { + "title": "Git Diff", + "description": "" + }, + "GitRemote": { + "title": "Git Remote", + "description": "" + }, + "GithubRunnerSufficientVoltage": { + "title": "Github Runner Sufficient Voltage", + "description": "" + }, + "GithubSshKeys": { + "title": "Github Ssh Keys", + "description": "" + }, + "GithubUsername": { + "title": "GitHub Username", + "description": "" + }, + "GreenLightAlert": { + "title": "Green Light Alert", + "description": "" + }, + "GsmApn": { + "title": "GSM APN", + "description": "" + }, + "GsmMetered": { + "title": "Gsm Metered", + "description": "" + }, + "GsmRoaming": { + "title": "GSM Roaming", + "description": "" + }, + "HardwareSerial": { + "title": "Serial Number", + "description": "" + }, + "HasAcceptedTerms": { + "title": "Has Accepted Terms", + "description": "" + }, + "HideVEgoUI": { + "title": "Hide vEgo UI", + "description": "" + }, + "HyundaiLongitudinalTuning": { + "title": "Hyundai Longitudinal Tuning", + "description": "", + "options": [ + { + "value": 0, + "label": "Off" + }, + { + "value": 1, + "label": "Dynamic" + }, + { + "value": 2, + "label": "Predictive" + } + ] + }, + "InstallDate": { + "title": "Install Date", + "description": "" + }, + "IntelligentCruiseButtonManagement": { + "title": "Intelligent Cruise Button Management", + "description": "" + }, + "InteractivityTimeout": { + "title": "Interactivity Timeout", + "description": "" + }, + "IsDevelopmentBranch": { + "title": "Is Development Branch", + "description": "" + }, + "IsDriverViewEnabled": { + "title": "Is Driver View Enabled", + "description": "" + }, + "IsEngaged": { + "title": "Is Engaged", + "description": "" + }, + "IsLdwEnabled": { + "title": "Lane Departure Warnings", + "description": "" + }, + "IsMetric": { + "title": "Use Metric Units", + "description": "" + }, + "IsOffroad": { + "title": "Is Offroad", + "description": "" + }, + "IsOnroad": { + "title": "Is Onroad", + "description": "" + }, + "IsReleaseBranch": { + "title": "Is Release Branch", + "description": "" + }, + "IsReleaseSpBranch": { + "title": "Is Release Sp Branch", + "description": "" + }, + "IsRhdDetected": { + "title": "Is Rhd Detected", + "description": "" + }, + "IsTakingSnapshot": { + "title": "Is Taking Snapshot", + "description": "" + }, + "IsTestedBranch": { + "title": "Is Tested Branch", + "description": "" + }, + "JoystickDebugMode": { + "title": "Joystick Debug Mode", + "description": "" + }, + "LagdToggle": { + "title": "LaGD Toggle", + "description": "" + }, + "LagdToggleDelay": { + "title": "LaGD Toggle Delay", + "description": "" + }, + "LagdValueCache": { + "title": "LaGD Value Cache", + "description": "" + }, + "LaneTurnDesire": { + "title": "Lane Turn Desire", + "description": "" + }, + "LaneTurnValue": { + "title": "Lane Turn Value", + "description": "", + "min": 0, + "max": 20, + "step": 1 + }, + "LanguageSetting": { + "title": "Language", + "description": "" + }, + "LastAgnosPowerMonitorShutdown": { + "title": "Last AGNOS Power Monitor Shutdown", + "description": "" + }, + "LastAthenaPingTime": { + "title": "Last Athena Ping Time", + "description": "" + }, + "LastGPSPosition": { + "title": "Last Gps Position", + "description": "" + }, + "LastGPSPositionLLK": { + "title": "Last GPS Position LLK", + "description": "" + }, + "LastManagerExitReason": { + "title": "Last Manager Exit Reason", + "description": "" + }, + "LastOffroadStatusPacket": { + "title": "Last Offroad Status Packet", + "description": "" + }, + "LastPowerDropDetected": { + "title": "Last Power Drop Detected", + "description": "" + }, + "LastSunnylinkPingTime": { + "title": "Last sunnylink Ping Time", + "description": "" + }, + "LastUpdateException": { + "title": "Last Update Exception", + "description": "" + }, + "LastUpdateRouteCount": { + "title": "Last Update Route Count", + "description": "" + }, + "LastUpdateTime": { + "title": "Last Update Time", + "description": "" + }, + "LastUpdateUptimeOnroad": { + "title": "Last Update Uptime Onroad", + "description": "" + }, + "LeadDepartAlert": { + "title": "Lead Depart Alert", + "description": "" + }, + "LiveDelay": { + "title": "Live Delay", + "description": "" + }, + "LiveParameters": { + "title": "Live Parameters", + "description": "" + }, + "LiveParametersV2": { + "title": "Live Parameters V2", + "description": "" + }, + "LiveTorqueParameters": { + "title": "Live Torque Parameters", + "description": "" + }, + "LiveTorqueParamsRelaxedToggle": { + "title": "Live Torque Params Relaxed Toggle", + "description": "" + }, + "LiveTorqueParamsToggle": { + "title": "Live Torque Params Toggle", + "description": "" + }, + "LocationFilterInitialState": { + "title": "Location Filter Initial State", + "description": "" + }, + "LongitudinalManeuverMode": { + "title": "Longitudinal Maneuver Mode", + "description": "" + }, + "LongitudinalPersonality": { + "title": "Driving Personality", + "description": "", + "options": [ + { + "value": 0, + "label": "Aggressive" + }, + { + "value": 1, + "label": "Standard" + }, + { + "value": 2, + "label": "Relaxed" + } + ] + }, + "Mads": { + "title": "MADS Enabled", + "description": "" + }, + "MadsMainCruiseAllowed": { + "title": "MADS Main Cruise Allowed", + "description": "" + }, + "MadsSteeringMode": { + "title": "MADS Steering Mode", + "description": "", + "options": [ + { + "value": 0, + "label": "Remain Active" + }, + { + "value": 1, + "label": "Pause" + }, + { + "value": 2, + "label": "Disengage" + } + ] + }, + "MadsUnifiedEngagementMode": { + "title": "MADS Unified Engagement Mode", + "description": "" + }, + "MapAdvisorySpeedLimit": { + "title": "Map Advisory Speed Limit", + "description": "" + }, + "MapSpeedLimit": { + "title": "Map Speed Limit", + "description": "" + }, + "MapTargetVelocities": { + "title": "Map Target Velocities", + "description": "" + }, + "MapdVersion": { + "title": "Mapd Version", + "description": "" + }, + "MaxTimeOffroad": { + "title": "Max Time Offroad", + "description": "" + }, + "ModelManager_ActiveBundle": { + "title": "Model Manager Active Bundle", + "description": "" + }, + "ModelManager_ClearCache": { + "title": "Model Manager Clear Cache", + "description": "" + }, + "ModelManager_DownloadIndex": { + "title": "Model Manager Download Index", + "description": "" + }, + "ModelManager_Favs": { + "title": "Model Manager Favorites", + "description": "" + }, + "ModelManager_LastSyncTime": { + "title": "Model Manager Last Sync Time", + "description": "" + }, + "ModelManager_ModelsCache": { + "title": "Model Manager Models Cache", + "description": "" + }, + "ModelRunnerTypeCache": { + "title": "Model Runner Type Cache", + "description": "" + }, + "NetworkMetered": { + "title": "Network Usage", + "description": "", + "options": [ + { + "value": 0, + "label": "Default" + }, + { + "value": 1, + "label": "Metered" + }, + { + "value": 2, + "label": "Unmetered" + } + ] + }, + "NeuralNetworkLateralControl": { + "title": "Neural Network Lateral Control", + "description": "" + }, + "NextMapSpeedLimit": { + "title": "Next Map Speed Limit", + "description": "" + }, + "OSMDownloadBounds": { + "title": "OSM Download Bounds", + "description": "" + }, + "OSMDownloadLocations": { + "title": "OSM Download Locations", + "description": "" + }, + "OSMDownloadProgress": { + "title": "OSM Download Progress", + "description": "" + }, + "ObdMultiplexingChanged": { + "title": "Obd Multiplexing Changed", + "description": "" + }, + "ObdMultiplexingEnabled": { + "title": "Obd Multiplexing Enabled", + "description": "" + }, + "OffroadMode": { + "title": "Offroad Mode", + "description": "" + }, + "Offroad_CarUnrecognized": { + "title": "Offroad Car Unrecognized", + "description": "" + }, + "Offroad_ConnectivityNeeded": { + "title": "Offroad Connectivity Needed", + "description": "" + }, + "Offroad_ConnectivityNeededPrompt": { + "title": "Offroad Connectivity Needed Prompt", + "description": "" + }, + "Offroad_DriverMonitoringUncertain": { + "title": "Offroad Driver Monitoring Uncertain", + "description": "" + }, + "Offroad_ExcessiveActuation": { + "title": "Offroad Excessive Actuation", + "description": "" + }, + "Offroad_IsTakingSnapshot": { + "title": "Offroad Is Taking Snapshot", + "description": "" + }, + "Offroad_NeosUpdate": { + "title": "Offroad Neos Update", + "description": "" + }, + "Offroad_NoFirmware": { + "title": "Offroad No Firmware", + "description": "" + }, + "Offroad_OSMUpdateRequired": { + "title": "Offroad OSM Update Required", + "description": "" + }, + "Offroad_Recalibration": { + "title": "Offroad Recalibration", + "description": "" + }, + "Offroad_TemperatureTooHigh": { + "title": "Offroad Temperature Too High", + "description": "" + }, + "Offroad_TiciSupport": { + "title": "Offroad Tici Support", + "description": "" + }, + "Offroad_UnregisteredHardware": { + "title": "Offroad Unregistered Hardware", + "description": "" + }, + "Offroad_UpdateFailed": { + "title": "Offroad Update Failed", + "description": "" + }, + "OnroadCycleRequested": { + "title": "Onroad Cycle Requested", + "description": "" + }, + "OnroadScreenOffBrightness": { + "title": "Onroad Screen Off Brightness", + "description": "", + "min": 0, + "max": 100, + "step": 5 + }, + "OnroadScreenOffControl": { + "title": "Onroad Screen Off Control", + "description": "" + }, + "OnroadScreenOffTimer": { + "title": "Onroad Screen Off Timer", + "description": "", + "min": 0, + "max": 60, + "step": 1 + }, + "OnroadUploads": { + "title": "Onroad Uploads", + "description": "" + }, + "OpenpilotEnabledToggle": { + "title": "Enable sunnypilot", + "description": "" + }, + "OsmDbUpdatesCheck": { + "title": "OSM DB Updates Check", + "description": "" + }, + "OsmDownloadedDate": { + "title": "OSM Downloaded Date", + "description": "" + }, + "OsmLocal": { + "title": "OSM Local", + "description": "" + }, + "OsmLocationName": { + "title": "OSM Location Name", + "description": "" + }, + "OsmLocationTitle": { + "title": "OSM Location Title", + "description": "" + }, + "OsmLocationUrl": { + "title": "OSM Location URL", + "description": "" + }, + "OsmStateName": { + "title": "OSM State Name", + "description": "" + }, + "OsmStateTitle": { + "title": "OSM State Title", + "description": "" + }, + "OsmWayTest": { + "title": "OSM Way Test", + "description": "" + }, + "PandaHeartbeatLost": { + "title": "Panda Heartbeat Lost", + "description": "" + }, + "PandaSignatures": { + "title": "Panda Signatures", + "description": "" + }, + "PandaSomResetTriggered": { + "title": "Panda Som Reset Triggered", + "description": "" + }, + "PrimeType": { + "title": "Prime Type", + "description": "" + }, + "QuickBootToggle": { + "title": "Quick Boot", + "description": "" + }, + "QuietMode": { + "title": "Quiet Mode", + "description": "" + }, + "RainbowMode": { + "title": "Rainbow Mode", + "description": "" + }, + "RecordAudio": { + "title": "Record & Upload Mic Audio", + "description": "" + }, + "RecordAudioFeedback": { + "title": "Record Audio Feedback", + "description": "" + }, + "RecordFront": { + "title": "Record & Upload Driver Camera", + "description": "" + }, + "RecordFrontLock": { + "title": "Record Front Lock", + "description": "" + }, + "RoadName": { + "title": "Road Name", + "description": "" + }, + "RoadNameToggle": { + "title": "Road Name Toggle", + "description": "" + }, + "RouteCount": { + "title": "Route Count", + "description": "" + }, + "SecOCKey": { + "title": "Sec Oc Key", + "description": "" + }, + "ShowAdvancedControls": { + "title": "Show Advanced Controls", + "description": "" + }, + "ShowDebugInfo": { + "title": "UI Debug Mode", + "description": "" + }, + "ShowTurnSignals": { + "title": "Show Turn Signals", + "description": "" + }, + "SmartCruiseControlMap": { + "title": "Smart Cruise Control Map", + "description": "" + }, + "SmartCruiseControlVision": { + "title": "Smart Cruise Control Vision", + "description": "" + }, + "SnoozeUpdate": { + "title": "Snooze Update", + "description": "" + }, + "SpeedLimitMode": { + "title": "Speed Limit Mode", + "description": "", + "options": [ + { + "value": 0, + "label": "Off" + }, + { + "value": 1, + "label": "Information" + }, + { + "value": 2, + "label": "Warning" + }, + { + "value": 3, + "label": "Assist" + } + ] + }, + "SpeedLimitOffsetType": { + "title": "Speed Limit Offset Type", + "description": "", + "options": [ + { + "value": 0, + "label": "Off" + }, + { + "value": 1, + "label": "Fixed" + }, + { + "value": 2, + "label": "Percentage" + } + ] + }, + "SpeedLimitPolicy": { + "title": "Speed Limit Policy", + "description": "", + "options": [ + { + "value": 0, + "label": "Car State Only" + }, + { + "value": 1, + "label": "Map Data Only" + }, + { + "value": 2, + "label": "Car State Priority" + }, + { + "value": 3, + "label": "Map Data Priority" + }, + { + "value": 4, + "label": "Combined" + } + ] + }, + "SpeedLimitValueOffset": { + "title": "Speed Limit Value Offset", + "description": "", + "min": -30, + "max": 30, + "step": 1 + }, + "SshEnabled": { + "title": "Enable SSH", + "description": "" + }, + "StandstillTimer": { + "title": "Standstill Timer", + "description": "" + }, + "SubaruStopAndGo": { + "title": "Subaru Stop and Go", + "description": "" + }, + "SubaruStopAndGoManualParkingBrake": { + "title": "Subaru Stop and Go Manual Parking Brake", + "description": "" + }, + "SunnylinkCache_Roles": { + "title": "sunnylink Cache Roles", + "description": "" + }, + "SunnylinkCache_Users": { + "title": "sunnylink Cache Users", + "description": "" + }, + "SunnylinkDongleId": { + "title": "sunnylink Dongle ID", + "description": "" + }, + "SunnylinkEnabled": { + "title": "sunnylink Enabled", + "description": "" + }, + "SunnylinkTempFault": { + "title": "sunnylink Temp Fault", + "description": "" + }, + "SunnylinkdPid": { + "title": "Sunnylinkd Pid", + "description": "" + }, + "TermsVersion": { + "title": "Terms Version", + "description": "" + }, + "TeslaCoopSteering": { + "title": "Tesla Coop Steering", + "description": "" + }, + "TorqueParamsOverrideEnabled": { + "title": "Torque Params Override Enabled", + "description": "" + }, + "TorqueParamsOverrideFriction": { + "title": "Torque Params Override Friction", + "description": "", + "min": 0.0, + "max": 1.0, + "step": 0.01 + }, + "TorqueParamsOverrideLatAccelFactor": { + "title": "Torque Params Override Lat Accel Factor", + "description": "", + "min": 0.1, + "max": 5.0, + "step": 0.1 + }, + "ToyotaEnforceStockLongitudinal": { + "title": "Toyota: Enforce Factory Longitudinal Control", + "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used." + }, + "TrainingVersion": { + "title": "Training Version", + "description": "" + }, + "TrueVEgoUI": { + "title": "True vEgo UI", + "description": "" + }, + "UbloxAvailable": { + "title": "Ublox Available", + "description": "" + }, + "UpdateAvailable": { + "title": "Update Available", + "description": "" + }, + "UpdateFailedCount": { + "title": "Update Failed Count", + "description": "" + }, + "UpdaterAvailableBranches": { + "title": "Updater Available Branches", + "description": "" + }, + "UpdaterCurrentDescription": { + "title": "Updater Current Description", + "description": "" + }, + "UpdaterCurrentReleaseNotes": { + "title": "Updater Current Release Notes", + "description": "" + }, + "UpdaterFetchAvailable": { + "title": "Updater Fetch Available", + "description": "" + }, + "UpdaterLastFetchTime": { + "title": "Updater Last Fetch Time", + "description": "" + }, + "UpdaterNewDescription": { + "title": "Updater New Description", + "description": "" + }, + "UpdaterNewReleaseNotes": { + "title": "Updater New Release Notes", + "description": "" + }, + "UpdaterState": { + "title": "Updater State", + "description": "" + }, + "UpdaterTargetBranch": { + "title": "Updater Target Branch", + "description": "" + }, + "UptimeOffroad": { + "title": "Uptime Offroad", + "description": "" + }, + "UptimeOnroad": { + "title": "Uptime Onroad", + "description": "" + }, + "Version": { + "title": "openpilot Version", + "description": "" + } +} diff --git a/sunnypilot/sunnylink/statsd.py b/sunnypilot/sunnylink/statsd.py index 70d3d58e94..233b531e85 100755 --- a/sunnypilot/sunnylink/statsd.py +++ b/sunnypilot/sunnylink/statsd.py @@ -17,7 +17,7 @@ from cereal.messaging import SubMaster from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -from openpilot.common.utils import atomic_write_in_dir +from openpilot.common.utils import atomic_write from openpilot.system.version import get_build_metadata from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S from openpilot.system.statsd import METRIC_TYPE, StatLogSP @@ -242,7 +242,7 @@ def stats_main(end_event): if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: if len(result) > 0: stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}") - with atomic_write_in_dir(stats_path) as f: + with atomic_write(stats_path) as f: f.write(result) idx += 1 else: diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py new file mode 100644 index 0000000000..efdfa70715 --- /dev/null +++ b/sunnypilot/sunnylink/sunnylink_state.py @@ -0,0 +1,222 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from enum import IntEnum +import threading +import time +import json +import pyray as rl + +from cereal import messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi +from openpilot.system.ui.sunnypilot.lib.styles import style + + +class RoleType(IntEnum): + READONLY = 0 + SPONSOR = 1 + ADMIN = 2 + + +class SponsorTier(IntEnum): + FREE = 0 + NOVICE = 1 + SUPPORTER = 2 + CONTRIBUTOR = 3 + BENEFACTOR = 4 + GUARDIAN = 5 + + +class User: + device_id: str + user_id: str + created_at: int + updated_at: int + token_hash: str + + def __init__(self, json_data): + self.device_id = json_data.get("device_id") + self.user_id = json_data.get("user_id") + self.created_at = json_data.get("created_at") + self.updated_at = json_data.get("updated_at") + self.token_hash = json_data.get("token_hash") + + +class Role: + role_type: str + role_tier: str + + def __init__(self, json_data): + self.role_type = json_data.get("role_type") + self.role_tier = json_data.get("role_tier") + + +def _parse_roles(roles: str) -> list[Role]: + lst_roles = [] + try: + roles_list = json.loads(roles) + for r in roles_list: + try: + role = Role(r) + lst_roles.append(role) + except Exception as e: + cloudlog.exception(f"Failed to parse role {r}: {e}") + return lst_roles + except Exception as e: + cloudlog.exception(f"Error parsing roles: {e}") + return [] + + +def _parse_users(users: str) -> list[User]: + lst_users = [] + try: + users_list = json.loads(users) + for u in users_list: + try: + user = User(u) + lst_users.append(user) + except Exception as e: + cloudlog.exception(f"Failed to parse user {u}: {e}") + return lst_users + except Exception as e: + cloudlog.exception(f"Error parsing users: {e}") + return [] + + +class SunnylinkState: + FETCH_INTERVAL = 5.0 # seconds between API calls + API_TIMEOUT = 10.0 # seconds for API requests + SLEEP_INTERVAL = 0.5 # seconds to sleep between checks in the worker thread + NOT_PAIRED_USERNAMES = ["unregisteredsponsor", "temporarysponsor"] + + def __init__(self): + self._params = Params() + self._lock = threading.Lock() + self._running = False + self._thread = None + self._sm = messaging.SubMaster(['deviceState']) + + self._roles: list[Role] = [] + self._users: list[User] = [] + self.sponsor_tier: SponsorTier = SponsorTier.FREE + self.sunnylink_dongle_id = self._params.get("SunnylinkDongleId") + self._api = SunnylinkApi(self.sunnylink_dongle_id) + + self._load_initial_state() + + def _load_initial_state(self) -> None: + roles_cache = self._params.get("SunnylinkCache_Roles") + users_cache = self._params.get("SunnylinkCache_Users") + if roles_cache is not None: + self._roles = _parse_roles(roles_cache) + self.sponsor_tier = self._get_highest_tier() + if users_cache is not None: + self._users = _parse_users(users_cache) + + def _get_highest_tier(self) -> SponsorTier: + role_tier = SponsorTier.FREE + for role in self._roles: + try: + if RoleType[role.role_type.upper()] == RoleType.SPONSOR: + role_tier = max(role_tier, SponsorTier[role.role_tier.upper()]) + except Exception as e: + cloudlog.exception(f"Error parsing role {role}: {e} for dongle id {self.sunnylink_dongle_id}") + return role_tier + + def _fetch_roles(self) -> None: + if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID: + return + + try: + token = self._api.get_token() + response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token) + if response.status_code == 200: + roles = response.text + self._params.put("SunnylinkCache_Roles", roles) + with self._lock: + self._roles = _parse_roles(roles) + sponsor_tier = self._get_highest_tier() + if sponsor_tier != self.sponsor_tier: + self.sponsor_tier = sponsor_tier + cloudlog.info(f"Sunnylink sponsor tier updated to {sponsor_tier.name}") + except Exception as e: + cloudlog.exception(f"Failed to fetch sunnylink roles: {e} for dongle id {self.sunnylink_dongle_id}") + + def _fetch_users(self) -> None: + if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID: + return + + try: + token = self._api.get_token() + response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token) + if response.status_code == 200: + users = response.text + self._params.put("SunnylinkCache_Users", users) + with self._lock: + self._users = _parse_users(users) + except Exception as e: + cloudlog.exception(f"Failed to fetch sunnylink users: {e} for dongle id {self.sunnylink_dongle_id}") + + def _worker_thread(self) -> None: + while self._running: + if self.is_connected(): + self._fetch_roles() + self._fetch_users() + + for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)): + if not self._running: + break + time.sleep(self.SLEEP_INTERVAL) + + def start(self) -> None: + if self._thread and self._thread.is_alive(): + return + self._running = True + self._thread = threading.Thread(target=self._worker_thread, daemon=True) + self._thread.start() + + def stop(self) -> None: + self._running = False + if self._thread and self._thread.is_alive(): + self._thread.join(timeout=1.0) + + def get_sponsor_tier(self) -> SponsorTier: + with self._lock: + return self.sponsor_tier + + def is_sponsor(self) -> bool: + with self._lock: + is_sponsor = any(role.role_type.upper() == RoleType.SPONSOR.name and role.role_tier.upper() != SponsorTier.FREE.name + for role in self._roles) + return is_sponsor + + def is_paired(self) -> bool: + with self._lock: + is_paired = any(user.user_id not in self.NOT_PAIRED_USERNAMES for user in self._users) + return is_paired + + def is_connected(self) -> bool: + network_type = self._sm["deviceState"].networkType + return bool(network_type != 0) + + def get_sponsor_tier_color(self) -> rl.Color: + tier = self.get_sponsor_tier() + + if tier == SponsorTier.GUARDIAN: + return rl.Color(255, 215, 0, 255) + elif tier == SponsorTier.BENEFACTOR: + return rl.Color(60, 179, 113, 255) + elif tier == SponsorTier.CONTRIBUTOR: + return rl.Color(70, 130, 180, 255) + elif tier == SponsorTier.SUPPORTER: + return rl.Color(147, 112, 219, 255) + else: + return style.ITEM_TEXT_VALUE_COLOR + + def __del__(self): + self.stop() diff --git a/sunnypilot/sunnylink/tests/test_params_metadata.py b/sunnypilot/sunnylink/tests/test_params_metadata.py new file mode 100644 index 0000000000..f4f1fbc4b1 --- /dev/null +++ b/sunnypilot/sunnylink/tests/test_params_metadata.py @@ -0,0 +1,86 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json + +from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH + + +def test_get_params_all_keys_v1(): + """ + Test the getParamsAllKeysV1 API endpoint. + + Why: + This endpoint is used by the UI (and potentially external tools) to fetch the list of + available parameters along with their metadata (titles, descriptions, options, constraints). + We need to ensure it returns the correct structure and that the metadata from + params_metadata.json is correctly merged into the response. + + Expected: + - The response should contain a "keys" field which is a JSON string of a list of parameters. + - Each parameter object should have "key", "type", "default_value", and optionally "_extra". + - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching + the source of truth (params_metadata.json). + """ + response = getParamsAllKeysV1() + assert "keys" in response + + keys_json = response["keys"] + params_list = json.loads(keys_json) + + assert isinstance(params_list, list) + assert len(params_list) > 0 + + # Check structure of first item + first_param = params_list[0] + assert "key" in first_param + assert "type" in first_param + assert "default_value" in first_param + + if "_extra" in first_param: + assert isinstance(first_param["_extra"], dict) + assert "default" not in first_param["_extra"] + assert "type" not in first_param["_extra"] + + # Load the source of truth + with open(METADATA_PATH) as f: + metadata = json.load(f) + + # Verify that the API response matches the metadata file for a few sample keys + # This ensures the plumbing is working without being brittle to content changes + + # 1. Check a key that should have metadata + keys_with_metadata = [k for k in params_list if k["key"] in metadata] + assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys" + + for param in keys_with_metadata[:5]: # Check first 5 matches + key = param["key"] + expected_meta = metadata[key] + + assert "_extra" in param, f"Parameter {key} should have _extra field" + actual_meta = param["_extra"] + + # Verify all fields in JSON are present in the API response + for meta_key, meta_val in expected_meta.items(): + assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}" + assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}" + + # 2. Check that we are correctly serving options if they exist + params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})] + if params_with_options: + param = params_with_options[0] + key = param["key"] + assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list" + assert param["_extra"]["options"] == metadata[key]["options"] + + # 3. Check that we are correctly serving numeric constraints if they exist + params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})] + if params_with_constraints: + param = params_with_constraints[0] + key = param["key"] + assert param["_extra"]["min"] == metadata[key]["min"] + assert param["_extra"]["max"] == metadata[key]["max"] + assert param["_extra"]["step"] == metadata[key]["step"] diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py new file mode 100644 index 0000000000..26bdca42d6 --- /dev/null +++ b/sunnypilot/sunnylink/tests/test_params_sync.py @@ -0,0 +1,202 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json +import os +import pytest + +from openpilot.common.params import Params +from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH + + +def test_metadata_json_exists(): + """ + Test that the params_metadata.json file exists at the expected path. + + Why: + The metadata file is the source of truth for parameter descriptions, options, and constraints. + If it's missing, the UI will not be able to display rich information for parameters. + + Expected: + The file should exist at sunnypilot/sunnylink/params_metadata.json. + """ + assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}" + + +def test_metadata_json_valid(): + """ + Test that the params_metadata.json file contains valid JSON. + + Why: + Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or + resulting in missing metadata. + + Expected: + The file content should be parseable as a JSON object (dictionary). + """ + with open(METADATA_PATH) as f: + try: + data = json.load(f) + except json.JSONDecodeError: + pytest.fail("Metadata file is not valid JSON") + + assert isinstance(data, dict), "Metadata root must be a dictionary" + + +def test_all_params_have_metadata(): + """ + Test that every parameter in the codebase has a corresponding entry in params_metadata.json. + + Why: + We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase + should also be documented in the metadata file. + + Expected: + There should be no parameters in Params() that are missing from the metadata file. + If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'. + """ + params = Params() + all_keys = [k.decode('utf-8') for k in params.all_keys()] + + with open(METADATA_PATH) as f: + metadata = json.load(f) + + missing_keys = [key for key in all_keys if key not in metadata] + + if missing_keys: + pytest.fail( + f"The following parameters are missing from metadata: {missing_keys}. " + + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update." + ) + + +def test_metadata_keys_exist_in_params(): + """ + Test that all keys in params_metadata.json actually exist in the codebase. + + Why: + We want to avoid stale metadata for parameters that have been removed or renamed. + This keeps the metadata file clean and relevant. + + Expected: + There should be no keys in the metadata file that are not present in Params(). + This prints a warning rather than failing, as it's less critical than missing metadata. + """ + params = Params() + all_keys = {k.decode('utf-8') for k in params.all_keys()} + + with open(METADATA_PATH) as f: + metadata = json.load(f) + + extra_keys = [key for key in metadata.keys() if key not in all_keys] + + if extra_keys: + print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}") + + +def test_no_default_titles(): + """ + Test that no parameter has a title that is identical to its key. + + Why: + The default behavior of the update script is to set the title equal to the key. + We want to force developers to provide human-readable, descriptive titles for all parameters. + + Expected: + No parameter metadata should have 'title' == 'key'. + """ + with open(METADATA_PATH) as f: + metadata = json.load(f) + + default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key] + + if default_title_keys: + pytest.fail( + f"The following parameters have default titles (title == key): {default_title_keys}. " + + "Please update 'params_metadata.json' with descriptive titles." + ) + + +def test_options_structure(): + """ + Test that the 'options' field in metadata follows the correct structure. + + Why: + The UI expects 'options' to be a list of objects with 'value' and 'label' keys. + Incorrect structure will break the UI rendering for dropdowns/toggles. + + Expected: + If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'. + """ + with open(METADATA_PATH) as f: + metadata = json.load(f) + + for key, meta in metadata.items(): + if "options" in meta: + options = meta["options"] + assert isinstance(options, list), f"Options for {key} must be a list" + for option in options: + assert isinstance(option, dict), f"Option in {key} must be a dictionary" + assert "value" in option, f"Option in {key} must have a 'value' key" + assert "label" in option, f"Option in {key} must have a 'label' key" + + +def test_numeric_constraints(): + """ + Test that numeric parameters have valid 'min', 'max', and 'step' constraints. + + Why: + The UI uses these constraints to validate user input and render sliders/steppers. + Missing or invalid constraints can lead to UI bugs or invalid parameter values. + + Expected: + If any of min/max/step is present, ALL of them must be present. + They must be numbers (int/float), and min must be less than max. + """ + with open(METADATA_PATH) as f: + metadata = json.load(f) + + for key, meta in metadata.items(): + if "min" in meta or "max" in meta or "step" in meta: + assert "min" in meta, f"Numeric param {key} must have 'min'" + assert "max" in meta, f"Numeric param {key} must have 'max'" + assert "step" in meta, f"Numeric param {key} must have 'step'" + + assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number" + assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number" + assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number" + assert meta["min"] < meta["max"], f"Min must be less than max for {key}" + + +def test_known_params_metadata(): + """ + Test specific known parameters to ensure they have the expected rich metadata. + + Why: + This acts as a spot check to ensure that our rich metadata population logic is working correctly + and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved. + + Expected: + 'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed). + 'CustomAccLongPressIncrement' should have min=1, max=10, step=1. + """ + with open(METADATA_PATH) as f: + metadata = json.load(f) + + # Check an enum-like param + lp = metadata.get("LongitudinalPersonality") + assert lp is not None + assert "options" in lp + assert len(lp["options"]) == 3 + assert lp["options"][0]["label"] == "Aggressive" + assert lp["options"][0]["value"] == 0 + + # Check a numeric param + acc_long = metadata.get("CustomAccLongPressIncrement") + assert acc_long is not None + assert acc_long["min"] == 1 + assert acc_long["max"] == 10 + assert acc_long["step"] == 1 diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py new file mode 100755 index 0000000000..ac2ef556e6 --- /dev/null +++ b/sunnypilot/sunnylink/tools/update_params_metadata.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json +import os + +from openpilot.common.params import Params + +METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json") + + +def main(): + params = Params() + all_keys = params.all_keys() + + if os.path.exists(METADATA_PATH): + with open(METADATA_PATH) as f: + try: + data = json.load(f) + except json.JSONDecodeError: + data = {} + else: + data = {} + + # Add new keys + for key in all_keys: + key_str = key.decode("utf-8") + if key_str not in data: + print(f"Adding new key: {key_str}") + data[key_str] = { + "title": key_str, + "description": "", + } + + # Remove deleted keys + # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys] + # for k in keys_to_remove: + # print(f"Removing deleted key: {k}") + # del data[k] + + # Sort keys + sorted_data = dict(sorted(data.items())) + + with open(METADATA_PATH, "w") as f: + json.dump(sorted_data, f, indent=2) + f.write("\n") + + print(f"Updated {METADATA_PATH}") + + +if __name__ == "__main__": + main() diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 22e15051da..1f4187e8f7 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST -from openpilot.common.api import Api +from openpilot.common.api import Api, get_key_pair from openpilot.common.utils import CallbackReader, get_upload_stream from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity @@ -554,11 +554,8 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w @dispatcher.add_method def getPublicKey() -> str | None: - if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'): - return None - - with open(Paths.persist_root() + '/comma/id_rsa.pub') as f: - return f.read() + _, _, public_key = get_key_pair() + return public_key @dispatcher.add_method diff --git a/system/athena/registration.py b/system/athena/registration.py index c6da463bd2..26a2adb1af 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -2,6 +2,7 @@ import time import json import jwt +from typing import cast from pathlib import Path from datetime import datetime, timedelta, UTC @@ -69,7 +70,9 @@ def register(show_spinner=False) -> str | None: start_time = time.monotonic() while True: try: - register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo) + register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, + cast(str, private_key), algorithm=jwt_algo) + cloudlog.info("getting pilotauth") cloudlog.info("getting pilotauth") resp = api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index caf7871573..0d93b70465 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() { }; // Figure out which sensor we have - if (!init_sensor_lambda(new OX03C10) && - !init_sensor_lambda(new OS04C10)) { + if (!init_sensor_lambda(new OS04C10) && + !init_sensor_lambda(new OX03C10)) { LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num); enabled = false; return false; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 38be4ecca4..62c26ca809 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -1,6 +1,7 @@ #include #include "system/camerad/sensors/sensor.h" +#include "third_party/linux/include/msm_camsensor_sdk.h" namespace { @@ -51,7 +52,7 @@ OS04C10::OS04C10() { probe_expected_data = 0x5304; bits_per_pixel = 12; mipi_format = CAM_FORMAT_MIPI_RAW_12; - frame_data_type = 0x2c; + frame_data_type = CSI_RAW12; mclk_frequency = 24000000; // Hz // TODO: this was set from logs. actually calculate it out diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index 7cd9e97be5..28d6b3310c 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -4,10 +4,10 @@ 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[] = { - // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE - {0x0103, 0x01}, + // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE + {0x0103, 0x01}, // software reset - // PLL + // PLL + clocks {0x0301, 0xe4}, {0x0303, 0x01}, {0x0305, 0xb6}, @@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3106, 0x21}, {0x3107, 0xa1}, - // ? + // Analog/timing fine-tuning block {0x3624, 0x00}, {0x3625, 0x4c}, {0x3660, 0x04}, @@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3f00, 0x0b}, {0x3f06, 0x04}, - // BLC + // BLC - black level correction {0x400a, 0x01}, {0x400b, 0x50}, {0x400e, 0x08}, @@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x5180, 0x70}, {0x5181, 0x10}, - // DPC + // DPC - defective pixel correction {0x520a, 0x03}, {0x520b, 0x06}, {0x520c, 0x0c}, @@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x4008, 0x01}, {0x4009, 0x06}, - // FSIN + // FSIN - frame sync {0x3002, 0x22}, {0x3663, 0x22}, {0x368a, 0x04}, @@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3816, 0x03}, {0x3817, 0x01}, - {0x380c, 0x0b}, {0x380d, 0xac}, // HTS - {0x380e, 0x06}, {0x380f, 0x9c}, // VTS + {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length) + {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length) {0x3820, 0xb3}, {0x3821, 0x01}, @@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // initialize exposure {0x3503, 0x88}, - // long + // long exposure {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10}, {0x3508, 0x00}, {0x3509, 0x80}, {0x350a, 0x04}, {0x350b, 0x00}, - // short + // short exposure {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40}, {0x350c, 0x00}, {0x350d, 0x80}, {0x350e, 0x04}, {0x350f, 0x00}, - // wb + // white balance // b {0x5100, 0x06}, {0x5101, 0x7e}, {0x5140, 0x06}, {0x5141, 0x7e}, @@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { }; const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { - // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz {0x3c8c, 0x40}, {0x3714, 0x24}, {0x37c2, 0x04}, diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 6f7e658f48..05d58f03c6 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -1,6 +1,7 @@ #include #include "system/camerad/sensors/sensor.h" +#include "third_party/linux/include/msm_camsensor_sdk.h" namespace { @@ -40,8 +41,8 @@ OX03C10::OX03C10() { probe_expected_data = 0x5803; bits_per_pixel = 12; mipi_format = CAM_FORMAT_MIPI_RAW_12; - frame_data_type = 0x2c; // one is 0x2a, two are 0x2b - mclk_frequency = 24000000; //Hz + frame_data_type = CSI_RAW12; + mclk_frequency = 24000000; // Hz readout_time_ns = 14697000; diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 8a0c066942..d59b45efcb 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -7,7 +7,6 @@ #include #include // for std::clamp -#include "common/params.h" #include "common/util.h" #include "system/hardware/base.h" diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 21de1ff33f..47da321024 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -238,7 +238,7 @@ void loggerd_thread() { if (it.should_log || (encoder && !livestream_encoder) || record_audio) { LOGD("logging %s", it.name.c_str()); - SubSocket * sock = SubSocket::create(ctx.get(), it.name); + SubSocket * sock = SubSocket::create(ctx.get(), it.name, "127.0.0.1", false, true, it.queue_size); assert(sock != NULL); poller->registerSocket(sock); service_state[sock] = { diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index c6a4b12e63..9703ac2f5f 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware import TICI from openpilot.system.loggerd.xattr_cache import getxattr from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE from openpilot.system.manager.process_config import managed_processes @@ -23,7 +24,6 @@ from openpilot.system.version import get_version from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader from msgq.visionipc import VisionIpcServer, VisionStreamType -from openpilot.common.transformations.camera import DEVICE_CAMERAS SentinelType = log.Sentinel.SentinelType @@ -98,13 +98,17 @@ class TestLoggerd: return sent_msgs def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5): - d = DEVICE_CAMERAS[("tici", "ar0231")] + # Use small frame sizes for testing (width, height, size, stride, uv_offset) + # NV12 format: size = stride * height * 1.5, uv_offset = stride * height + w, h = 320, 240 + frame_spec = (w, h, w * h * 3 // 2, w, w * h) streams = [ - (VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"), - (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"), - (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"), + (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"), + (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"), + (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"), ] + sm = messaging.SubMaster(["roadEncodeData"]) pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"]) vipc_server = VisionIpcServer("camerad") for stream_type, frame_spec, _ in streams: @@ -138,6 +142,8 @@ class TestLoggerd: for _, _, state in streams: assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) + sm.update(100) # wait for encode data publish + managed_processes["loggerd"].stop() managed_processes["encoderd"].stop() @@ -221,13 +227,16 @@ class TestLoggerd: assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s assert boot.launchLog == launch_log - for fn in ["console-ramoops", "pmsg-ramoops-0"]: - path = Path(os.path.join("/sys/fs/pstore/", fn)) - if path.is_file(): - 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] - assert expected_val == bootlog_val + if TICI: + for fn in ["console-ramoops", "pmsg-ramoops-0"]: + path = Path(os.path.join("/sys/fs/pstore/", fn)) + if path.is_file(): + 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] + assert expected_val == bootlog_val + else: + assert len(boot.pstore.entries) == 0 # next one should increment by one bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name) diff --git a/system/manager/build.py b/system/manager/build.py index c88befd454..d79e7fd2ad 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2280 +TOTAL_SCONS_NODES = 2705 MAX_BUILD_PROGRESS = 100 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: diff --git a/system/manager/manager.py b/system/manager/manager.py index d70b4d74b7..36e45488f6 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -9,6 +9,7 @@ import traceback from cereal import log import cereal.messaging as messaging import openpilot.system.sentry as sentry +from openpilot.common.utils import atomic_write from openpilot.common.params import Params, ParamKeyFlag from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE @@ -168,7 +169,7 @@ def manager_thread() -> None: # kick AGNOS power monitoring watchdog try: if sm.all_checks(['deviceState']): - with open("/var/tmp/power_watchdog", "w") as f: + with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f: f.write(str(time.monotonic())) except Exception: pass diff --git a/system/manager/process.py b/system/manager/process.py index e6b6a44c40..1e24198267 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -67,6 +67,7 @@ class ManagerProcess(ABC): enabled = True name = "" shutting_down = False + restart_if_crash = False @abstractmethod def prepare(self) -> None: @@ -167,13 +168,14 @@ class NativeProcess(ManagerProcess): class PythonProcess(ManagerProcess): - def __init__(self, name, module, should_run, enabled=True, sigkill=False): + def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False): self.name = name self.module = module self.should_run = should_run self.enabled = enabled self.sigkill = sigkill self.launcher = launcher + self.restart_if_crash = restart_if_crash def prepare(self) -> None: if self.enabled: @@ -252,6 +254,9 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None running = [] for p in procs: if p.enabled and p.name not in not_run and p.should_run(started, params, CP): + if p.restart_if_crash and p.proc is not None and not p.proc.is_alive(): + cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})') + p.restart() running.append(p) else: p.stop(block=False) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 23c7a0116c..793fbc07fa 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -126,7 +126,7 @@ procs = [ PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)), PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC), - PythonProcess("ui", "selfdrive.ui.ui", always_run), + PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True), PythonProcess("soundd", "selfdrive.ui.soundd", driverview), PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad), NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 1dab652386..5e98e12243 100644 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -56,8 +56,7 @@ def get_irq_count(irq: int): return sum(per_cpu) def read_sensor_events(duration_sec): - sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', - 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] + sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',] socks = {} poller = messaging.Poller() events = defaultdict(list) diff --git a/system/statsd.py b/system/statsd.py index 17a5e4190e..3a67dd44c2 100755 --- a/system/statsd.py +++ b/system/statsd.py @@ -17,7 +17,7 @@ from cereal.messaging import SubMaster from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -from openpilot.common.utils import atomic_write_in_dir +from openpilot.common.utils import atomic_write from openpilot.system.version import get_build_metadata from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S @@ -218,7 +218,7 @@ def main() -> NoReturn: if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: if len(result) > 0: stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}") - with atomic_write_in_dir(stats_path) as f: + with atomic_write(stats_path) as f: f.write(result) idx += 1 else: diff --git a/system/ui/README.md b/system/ui/README.md index 796d298626..54697dada8 100644 --- a/system/ui/README.md +++ b/system/ui/README.md @@ -10,6 +10,7 @@ Quick start: * set `BURN_IN=1` to get a burn-in heatmap version of the UI * set `GRID=50` to show a 50-pixel alignment grid overlay * set `MAGIC_DEBUG=1` to show every dropped frames (only on device) +* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT` * set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI * https://www.raylib.com/cheatsheet/cheatsheet.html * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index e4850e9cbc..1b61009a4a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -7,11 +7,13 @@ import sys import pyray as rl import threading import platform +import subprocess from contextlib import contextmanager from collections.abc import Callable from collections import deque from dataclasses import dataclass from enum import StrEnum +from pathlib import Path from typing import NamedTuple from importlib.resources import as_file, files from openpilot.common.swaglog import cloudlog @@ -38,6 +40,8 @@ SCALE = float(os.getenv("SCALE", "1.0")) GRID_SIZE = int(os.getenv("GRID", "0")) PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0")) PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100")) # Number of functions to show in profile output +RECORD = os.getenv("RECORD") == "1" +RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4")) GL_VERSION = """ #version 300 es @@ -77,7 +81,7 @@ void main() { """ DEFAULT_TEXT_SIZE = 60 -DEFAULT_TEXT_COLOR = rl.WHITE +DEFAULT_TEXT_COLOR = rl.Color(255, 255, 255, int(255 * 0.9)) # Qt draws fonts accounting for ascent/descent differently, so compensate to match old styles # The real scales for the fonts below range from 1.212 to 1.266 @@ -94,6 +98,7 @@ class FontWeight(StrEnum): BOLD = "Inter-Bold.fnt" SEMI_BOLD = "Inter-SemiBold.fnt" UNIFONT = "unifont.fnt" + AUDIOWIDE = "Audiowide-Regular.fnt" # Small UI fonts DISPLAY_REGULAR = "Inter-Regular.fnt" @@ -199,10 +204,15 @@ class GuiApplication(GuiApplicationExt): else: self._scale = SCALE + # Scale, then ensure dimensions are even self._scaled_width = int(self._width * self._scale) self._scaled_height = int(self._height * self._scale) + self._scaled_width += self._scaled_width % 2 + self._scaled_height += self._scaled_height % 2 + self._render_texture: rl.RenderTexture | None = None self._burn_in_shader: rl.Shader | None = None + self._ffmpeg_proc: subprocess.Popen | None = None self._textures: dict[str, rl.Texture] = {} self._target_fps: int = _DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() @@ -211,6 +221,7 @@ class GuiApplication(GuiApplicationExt): self._trace_log_callback = None self._modal_overlay = ModalOverlay() self._modal_overlay_shown = False + self._modal_overlay_tick: Callable[[], None] | None = None self._mouse = MouseState(self._scale) self._mouse_events: list[MouseEvent] = [] @@ -263,12 +274,33 @@ class GuiApplication(GuiApplicationExt): rl.set_config_flags(flags) rl.init_window(self._scaled_width, self._scaled_height, title) - needs_render_texture = self._scale != 1.0 or BURN_IN_MODE + + needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD if self._scale != 1.0: rl.set_mouse_scale(1 / self._scale, 1 / self._scale) if needs_render_texture: self._render_texture = rl.load_render_texture(self._width, self._height) rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) + + if RECORD: + ffmpeg_args = [ + 'ffmpeg', + '-v', 'warning', # Reduce ffmpeg log spam + '-stats', # Show encoding progress + '-f', 'rawvideo', # Input format + '-pix_fmt', 'rgba', # Input pixel format + '-s', f'{self._width}x{self._height}', # Input resolution + '-r', str(fps), # Input frame rate + '-i', 'pipe:0', # Input from stdin + '-vf', 'vflip,format=yuv420p', # Flip vertically and convert rgba to yuv420p + '-c:v', 'libx264', # Video codec + '-preset', 'ultrafast', # Encoding speed + '-y', # Overwrite existing file + '-f', 'mp4', # Output format + RECORD_OUTPUT, # Output file path + ] + self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE) + rl.set_target_fps(fps) self._target_fps = fps @@ -313,11 +345,17 @@ class GuiApplication(GuiApplicationExt): def set_modal_overlay(self, overlay, callback: Callable | None = None): if self._modal_overlay.overlay is not None: + if hasattr(self._modal_overlay.overlay, 'hide_event'): + self._modal_overlay.overlay.hide_event() + if self._modal_overlay.callback is not None: self._modal_overlay.callback(-1) self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback) + def set_modal_overlay_tick(self, tick_function: Callable | None): + self._modal_overlay_tick = tick_function + def set_should_render(self, should_render: bool): self._should_render = should_render @@ -376,6 +414,16 @@ class GuiApplication(GuiApplicationExt): rl.unload_image(image) return texture + def close_ffmpeg(self): + if self._ffmpeg_proc is not None: + self._ffmpeg_proc.stdin.flush() + self._ffmpeg_proc.stdin.close() + try: + self._ffmpeg_proc.wait(timeout=5) + except subprocess.TimeoutExpired: + self._ffmpeg_proc.terminate() + self._ffmpeg_proc.wait() + def close(self): if not rl.is_window_ready(): return @@ -399,6 +447,8 @@ class GuiApplication(GuiApplicationExt): if not PC: self._mouse.stop() + self.close_ffmpeg() + rl.close_window() @property @@ -444,6 +494,9 @@ class GuiApplication(GuiApplicationExt): # Handle modal overlay rendering and input processing if self._handle_modal_overlay(): + # Allow a Widget to still run a function while overlay is shown + if self._modal_overlay_tick is not None: + self._modal_overlay_tick() yield False else: yield True @@ -476,6 +529,15 @@ class GuiApplication(GuiApplicationExt): self._draw_grid() rl.end_drawing() + + if RECORD: + image = rl.load_image_from_texture(self._render_texture.texture) + data_size = image.width * image.height * 4 + data = bytes(rl.ffi.buffer(image.data, data_size)) + self._ffmpeg_proc.stdin.write(data) + self._ffmpeg_proc.stdin.flush() + rl.unload_image(image) + self._monitor_fps() self._frame += 1 @@ -513,6 +575,8 @@ class GuiApplication(GuiApplicationExt): # Clear the overlay and execute the callback original_modal = self._modal_overlay self._modal_overlay = ModalOverlay() + if hasattr(original_modal.overlay, 'hide_event'): + original_modal.overlay.hide_event() if original_modal.callback is not None: original_modal.callback(result) return True @@ -601,6 +665,7 @@ class GuiApplication(GuiApplicationExt): # Strict mode: terminate UI if FPS drops too much if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD: cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.") + self.close_ffmpeg() os._exit(1) def _draw_touch_points(self): diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py index d119a8a832..69236482b0 100644 --- a/system/ui/lib/egl.py +++ b/system/ui/lib/egl.py @@ -128,8 +128,12 @@ def init_egl() -> bool: def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None: assert _egl.initialized, "EGL not initialized" - # Duplicate fd since EGL needs it - dup_fd = os.dup(fd) + try: + # Duplicate fd since EGL needs it + dup_fd = os.dup(fd) + except OSError as e: + cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}") + return None # Create image attributes for EGL img_attrs = [ diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py index 8d9caadfdd..0859071dac 100644 --- a/system/ui/lib/scroll_panel2.py +++ b/system/ui/lib/scroll_panel2.py @@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, MouseEvent from openpilot.system.hardware import TICI from collections import deque -MIN_VELOCITY = 2 # px/s, changes from auto scroll to steady state +MIN_VELOCITY = 10 # px/s, changes from auto scroll to steady state MIN_VELOCITY_FOR_CLICKING = 2 * 60 # px/s, accepts clicks while auto scrolling below this velocity MIN_DRAG_PIXELS = 12 AUTO_SCROLL_TC_SNAP = 0.025 @@ -67,16 +67,18 @@ class GuiScrollPanel2: print() return self.get_offset() + def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]: + """Returns (max_offset, min_offset) for the given bounds and content size.""" + return 0.0, min(0.0, bounds_size - content_size) + def _update_state(self, bounds_size: float, content_size: float) -> None: """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity.""" if self._state == ScrollState.AUTO_SCROLL: + max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size) # simple exponential return if out of bounds - out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size) + out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset if out_of_bounds and self._handle_out_of_bounds: - if self.get_offset() < (bounds_size - content_size): # too far right - target = bounds_size - content_size - else: # too far left - target = 0.0 + target = max_offset if self.get_offset() > max_offset else min_offset dt = rl.get_frame_time() or 1e-6 factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt) @@ -88,6 +90,7 @@ class GuiScrollPanel2: # Steady once we are close enough to the target if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY: self.set_offset(target) + self._velocity = 0.0 self._state = ScrollState.STEADY elif abs(self._velocity) < MIN_VELOCITY: @@ -102,7 +105,9 @@ class GuiScrollPanel2: def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float, content_size: float) -> None: - out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size) + max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size) + # simple exponential return if out of bounds + out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset if DEBUG: print('Mouse event:', mouse_event) @@ -170,7 +175,8 @@ class GuiScrollPanel2: # Do not update velocity on the same frame the mouse was released previous_mouse_pos = self._get_mouse_pos(cast(MouseEvent, self._previous_mouse_event)) delta_x = mouse_pos - previous_mouse_pos - self._velocity = delta_x / (mouse_event.t - cast(MouseEvent, self._previous_mouse_event).t) + delta_t = max((mouse_event.t - cast(MouseEvent, self._previous_mouse_event).t), 1e-6) + self._velocity = delta_x / delta_t self._velocity = max(-MAX_SPEED, min(MAX_SPEED, self._velocity)) self._velocity_buffer.append(self._velocity) @@ -201,8 +207,8 @@ class GuiScrollPanel2: def _get_mouse_pos(self, mouse_event: MouseEvent) -> float: return mouse_event.pos.x if self._horizontal else mouse_event.pos.y - def get_offset(self) -> int: - return round(self._offset.x if self._horizontal else self._offset.y) + def get_offset(self) -> float: + return self._offset.x if self._horizontal else self._offset.y def set_offset(self, value: float) -> None: if self._horizontal: diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index cd809f2699..14eb6769d9 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -630,7 +630,8 @@ class WifiManager: known_connections = self._get_connections() networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] - networks.sort(key=lambda n: (-n.is_connected, n.ssid.lower())) + # sort with quantized strength to reduce jumping + networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 4), n.ssid.lower())) self._networks = networks self._update_ipv4_address() diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index 316e6c4a8b..adc3f125c8 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -18,14 +18,13 @@ from openpilot.common.utils import run_cmd from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.wifi_manager import WifiManager -from openpilot.selfdrive.ui.ui_state import device from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 from openpilot.system.ui.widgets import Widget, DialogResult from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton, SmallCircleIconButton, WidishRoundedButton, SmallRedPillButton, FullRoundedButton) from openpilot.system.ui.widgets.label import UnifiedLabel -from openpilot.system.ui.widgets.slider import LargerSlider +from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog @@ -199,15 +198,20 @@ class TermsPage(Widget): self._scroll_panel = GuiScrollPanel2(horizontal=False) self._continue_text = continue_text - self._continue_button: WideRoundedButton | FullRoundedButton - if back_callback is not None: + self._continue_slider: bool = continue_text in ("reboot", "power off") + self._continue_button: WideRoundedButton | FullRoundedButton | SmallSlider + if self._continue_slider: + self._continue_button = SmallSlider(continue_text, confirm_callback=continue_callback) + self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed) + elif back_callback is not None: self._continue_button = WideRoundedButton(continue_text) else: self._continue_button = FullRoundedButton(continue_text) self._continue_button.set_enabled(False) self._continue_button.set_opacity(0.0) self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid) - self._continue_button.set_click_callback(continue_callback) + if not self._continue_slider: + self._continue_button.set_click_callback(continue_callback) self._enable_back = back_callback is not None self._back_button = SmallButton(back_text) @@ -228,7 +232,7 @@ class TermsPage(Widget): def show_event(self): super().show_event() - device.reset_interactive_timeout(300) + self.reset() @property @abstractmethod @@ -244,7 +248,7 @@ class TermsPage(Widget): pass def _render(self, _): - scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16) + scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)) if scroll_offset <= self._scrolled_down_offset: # don't show back if not enabled @@ -270,6 +274,11 @@ class TermsPage(Widget): rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20), int(self._rect.width), 20, rl.BLANK, rl.BLACK) + # fade out back button as slider is moved + if self._continue_slider and scroll_offset <= self._scrolled_down_offset: + self._back_button.set_opacity(1.0 - self._continue_button.slider_percentage) + self._back_button.set_visible(self._continue_button.slider_percentage < 0.99) + self._back_button.render(rl.Rectangle( self._rect.x + 8, self._rect.y + self._rect.height - self._back_button.rect.height, @@ -280,6 +289,8 @@ class TermsPage(Widget): continue_x = self._rect.x + 8 if self._enable_back: continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8 + if self._continue_slider: + continue_x += 8 self._continue_button.render(rl.Rectangle( continue_x, self._rect.y + self._rect.height - self._continue_button.rect.height, @@ -443,9 +454,12 @@ class NetworkSetupPage(Widget): self._continue_button.set_click_callback(continue_callback) self._state = NetworkSetupState.MAIN + self._prev_has_internet = False def set_state(self, state: NetworkSetupState): self._state = state + if state == NetworkSetupState.WIFI_PANEL: + self._wifi_ui.show_event() def set_has_internet(self, has_internet: bool): if has_internet: @@ -457,6 +471,10 @@ class NetworkSetupPage(Widget): self._network_header.set_icon(self._no_wifi_txt) self._continue_button.set_enabled(False) + if has_internet and not self._prev_has_internet: + self.set_state(NetworkSetupState.MAIN) + self._prev_has_internet = has_internet + def show_event(self): super().show_event() self._state = NetworkSetupState.MAIN @@ -513,6 +531,8 @@ class Setup(Widget): self._network_monitor = NetworkConnectivityMonitor( lambda: self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE) ) + self._prev_has_internet = False + gui_app.set_modal_overlay_tick(self._modal_overlay_tick) self._start_page = StartPage() self._start_page.set_click_callback(self._getting_started_button_callback) @@ -530,6 +550,12 @@ class Setup(Widget): self._downloading_page = DownloadingPage() + def _modal_overlay_tick(self): + has_internet = self._network_monitor.network_connected.is_set() + if has_internet and not self._prev_has_internet: + gui_app.set_modal_overlay(None) + self._prev_has_internet = has_internet + def _update_state(self): self._wifi_manager.process_callbacks() @@ -603,7 +629,9 @@ class Setup(Widget): def render_network_setup(self, rect: rl.Rectangle): self._network_setup_page.render(rect) - self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set()) + has_internet = self._network_monitor.network_connected.is_set() + self._prev_has_internet = has_internet + self._network_setup_page.set_has_internet(has_internet) def render_downloading(self, rect: rl.Rectangle): self._downloading_page.set_progress(self.download_progress) diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py index 4880ad58de..7a29b5bb13 100644 --- a/system/ui/sunnypilot/lib/styles.py +++ b/system/ui/sunnypilot/lib/styles.py @@ -17,13 +17,24 @@ class Base: ITEM_TEXT_FONT_SIZE = 50 ITEM_DESC_FONT_SIZE = 40 ITEM_DESC_V_OFFSET = 150 + ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255) CLOSE_BTN_SIZE = 160 + TEXT_PADDING = 20 + # Toggle Control TOGGLE_HEIGHT = 120 TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75) TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20 + # Button Control + BUTTON_ACTION_WIDTH = 300 + BUTTON_HEIGHT = 120 + + # Simple Button Control + SIMPLE_BUTTON_WIDTH = 800 + SIMPLE_BUTTON_HEIGHT = 150 + @dataclass class DefaultStyleSP(Base): @@ -47,5 +58,38 @@ class DefaultStyleSP(Base): TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey + # Multi Button Control + MBC_TRANSPARENT = rl.Color(255, 255, 255, 0) + MBC_BG_CHECKED_ENABLED = rl.Color(0x69, 0x68, 0x68, 0xFF) + MBC_DISABLED = rl.Color(0xFF, 0xFF, 0xFF, 0x33) + + # Option Control + OPTION_CONTROL_CONTAINER_BG = OFF_BG_COLOR + OPTION_CONTROL_BTN_ENABLED = rl.Color(88, 88, 88, 255) + OPTION_CONTROL_BTN_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF) + OPTION_CONTROL_BTN_DISABLED = DISABLED_OFF_BG_COLOR + OPTION_CONTROL_TEXT_ENABLED = rl.WHITE + OPTION_CONTROL_TEXT_PRESSED = rl.WHITE + OPTION_CONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR + + # Tree Button Colors + BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255) # Royal Blue + BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255) + BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255) # Very Dark Grey + TREE_DIALOG_TRANSPARENT = rl.Color(0, 0, 0, 0) + TREE_DIALOG_SEARCH_BUTTON_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF) + TREE_DIALOG_SEARCH_BUTTON_BORDER = rl.Color(150, 150, 150, 200) + + # Vehicle Description Colors + GREEN = rl.Color(0, 241, 0, 255) + BLUE = rl.Color(0, 134, 233, 255) + YELLOW = rl.Color(255, 213, 0, 255) + + # Button Colors + BUTTON_ENABLED_OFF = rl.Color(0x39, 0x39, 0x39, 0xFF) + BUTTON_OFF_PRESSED = rl.Color(0x4A, 0x4A, 0x4A, 0xFF) + BUTTON_DISABLED = rl.Color(0x12, 0x12, 0x12, 0xFF) + BUTTON_TEXT_DISABLED = rl.Color(0x5C, 0x5C, 0x5C, 0xFF) + style = DefaultStyleSP diff --git a/system/ui/sunnypilot/lib/utils.py b/system/ui/sunnypilot/lib/utils.py new file mode 100644 index 0000000000..09230da14b --- /dev/null +++ b/system/ui/sunnypilot/lib/utils.py @@ -0,0 +1,12 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP + + +class NoElideButtonAction(ButtonActionSP): + def get_width_hint(self): + return super().get_width_hint() + 1 diff --git a/system/ui/sunnypilot/widgets/__init__.py b/system/ui/sunnypilot/widgets/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/ui/sunnypilot/widgets/helpers/__init__.py b/system/ui/sunnypilot/widgets/helpers/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py b/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py new file mode 100644 index 0000000000..8d0f6bd59b --- /dev/null +++ b/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py @@ -0,0 +1,40 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import re +import unicodedata + + +def normalize(text: str) -> str: + return unicodedata.normalize('NFKD', text).encode('ascii', 'ignore').decode('utf-8').lower() + + +def search_from_list(query: str, items: list[str]) -> list[str]: + if not query: + return items + + normalized_query = normalize(query) + search_terms = [re.sub(r'[^a-z0-9]', '', term) for term in normalized_query.split() if term.strip()] + + results = [] + for item in items: + normalized_item = normalize(item) + item_with_spaces = re.sub(r'[^a-z0-9\s]', ' ', normalized_item) + item_stripped = re.sub(r'[^a-z0-9]', '', normalized_item) + + all_terms_match = True + for term in search_terms: + if not term: + continue + + if term not in item_with_spaces and term not in item_stripped: + all_terms_match = False + break + + if all_terms_match: + results.append(item) + + return results diff --git a/system/ui/sunnypilot/widgets/helpers/star_icon.py b/system/ui/sunnypilot/widgets/helpers/star_icon.py new file mode 100644 index 0000000000..14666d49b6 --- /dev/null +++ b/system/ui/sunnypilot/widgets/helpers/star_icon.py @@ -0,0 +1,26 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import math + +import pyray as rl + + +def draw_star(center_x, center_y, radius, is_filled, color): + center = rl.Vector2(center_x, center_y) + points = [] + + for i in range(10): + angle = -(i * 36 + 18) * math.pi / 180 + r = radius if i % 2 == 0 else radius / 2 + x = center_x + r * math.cos(angle) + y = center_y + r * math.sin(angle) + points.append(rl.Vector2(x, y)) + + for i in range(10): + if is_filled: + rl.draw_triangle(center, points[i], points[(i + 1) % 10], color) + rl.draw_line_ex(points[i], points[(i + 1) % 10], 2, color) diff --git a/system/ui/sunnypilot/widgets/html_render.py b/system/ui/sunnypilot/widgets/html_render.py new file mode 100644 index 0000000000..259067723e --- /dev/null +++ b/system/ui/sunnypilot/widgets/html_render.py @@ -0,0 +1,27 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.html_render import HtmlModal + + +class HtmlModalSP(HtmlModal): + def __init__(self, file_path=None, text=None, callback=None): + super().__init__(file_path=file_path, text=text) + self._callback = callback + self._dialog_result = DialogResult.NO_ACTION + self._ok_button._click_callback = self._on_ok_clicked + + def _on_ok_clicked(self): + self._dialog_result = DialogResult.CONFIRM + gui_app.set_modal_overlay(None) + + if self._callback: + self._callback(self._dialog_result) + + def reset(self): + self._dialog_result = DialogResult.NO_ACTION diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/system/ui/sunnypilot/widgets/input_dialog.py new file mode 100644 index 0000000000..ed67302fcb --- /dev/null +++ b/system/ui/sunnypilot/widgets/input_dialog.py @@ -0,0 +1,42 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable + +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.keyboard import Keyboard + + +class InputDialogSP: + def __init__(self, title: str, sub_title: str | None = None, current_text: str = "", param: str | None = None, + callback: Callable[[DialogResult, str], None] | None = None, + min_text_size: int = 0, password_mode: bool = False): + self.callback = callback + self.current_text = current_text + self.keyboard = Keyboard(max_text_size=255, min_text_size=min_text_size, password_mode=password_mode) + self.param = param + self._params = Params() + self.sub_title = sub_title + self.title = title + + def show(self): + self.keyboard.reset(min_text_size=self.keyboard._min_text_size) + if self.sub_title: + self.keyboard.set_title(self.title, self.sub_title) + else: + self.keyboard.set_title(self.title) + self.keyboard.set_text(self.current_text) + + def internal_callback(result: DialogResult): + text = self.keyboard.text if result == DialogResult.CONFIRM else "" + if result == DialogResult.CONFIRM and self.param: + self._params.put(self.param, text) + if self.callback: + self.callback(result, text) + + gui_app.set_modal_overlay(self.keyboard, internal_callback) diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py index dcf8f6019d..bf78147a58 100644 --- a/system/ui/sunnypilot/widgets/list_view.py +++ b/system/ui/sunnypilot/widgets/list_view.py @@ -7,10 +7,31 @@ See the LICENSE.md file in the root directory for more details. from collections.abc import Callable import pyray as rl +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP -from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.button import Button, ButtonStyle +from openpilot.system.ui.widgets.label import gui_label +from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \ + _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, DualButtonAction +from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING from openpilot.system.ui.sunnypilot.lib.styles import style +from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH + + +class Spacer(Widget): + def __init__(self, height: int = 1): + super().__init__() + self._rect = rl.Rectangle(0, 0, 0, height) + + def set_parent_rect(self, parent_rect: rl.Rectangle) -> None: + super().set_parent_rect(parent_rect) + self._rect.width = parent_rect.width + + def _render(self, _): + rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.x + self._rect.width), int(self._rect.y), rl.Color(0,0,0,0)) class ToggleActionSP(ToggleAction): @@ -20,11 +41,177 @@ class ToggleActionSP(ToggleAction): self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param) +class ButtonSP(Button): + def _update_state(self): + super()._update_state() + if self.enabled: + if self.is_pressed: + self._background_color = style.BUTTON_OFF_PRESSED + else: + self._background_color = style.BUTTON_ENABLED_OFF + else: + self._background_color = style.BUTTON_DISABLED + self._label.set_text_color(style.BUTTON_TEXT_DISABLED) + + +class SimpleButtonActionSP(ItemAction): + def __init__(self, button_text: str | Callable[[], str], callback: Callable = None, + enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH): + super().__init__(width=button_width, enabled=enabled) + self.button_action = ButtonSP(button_text, click_callback=callback, button_style=ButtonStyle.NORMAL, + border_radius=20) + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + super().set_touch_valid_callback(touch_callback) + self.button_action.set_touch_valid_callback(touch_callback) + + def _render(self, rect: rl.Rectangle) -> bool | int | None: + self.button_action.set_enabled(self.enabled) + return self.button_action.render(rect) + + +class ButtonActionSP(ButtonAction): + def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH, enabled: bool | Callable[[], bool] = True): + super().__init__(text=text, width=width, enabled=enabled) + self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR + + def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR): + self._value_source = value + self._value_color = color + + def _render(self, rect: rl.Rectangle) -> bool: + """Duplicate of ButtonAction._render, with additional value rendering""" + self._button.set_text(self.text) + self._button.set_enabled(_resolve_value(self.enabled)) + button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT) + self._button.render(button_rect) + + value_text = self.value + if value_text: + value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height) + gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._value_color, + font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) + + pressed = self._pressed + self._pressed = False + return pressed + + +class DualButtonActionSP(DualButtonAction): + def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, + right_callback: Callable = None, enabled: bool | Callable[[], bool] = True, border_radius: int = 15): + DualButtonAction.__init__(self, left_text, right_text, left_callback, right_callback, enabled) + self.left_button._border_radius = self.right_button._border_radius = border_radius + + def _render(self, rect: rl.Rectangle): + button_spacing = 20 + button_height = 150 + button_width = (rect.width - button_spacing) / 2 + button_y = rect.y + (rect.height - button_height) / 2 + + left_rect = rl.Rectangle(rect.x, button_y, button_width, button_height) + right_rect = rl.Rectangle(rect.x + button_width + button_spacing, button_y, button_width, button_height) + + # expand one to full width if other is not visible + if not self.left_button.is_visible: + right_rect.x = rect.x + right_rect.width = rect.width + elif not self.right_button.is_visible: + left_rect.width = rect.width + + # Render buttons + self.left_button.render(left_rect) + self.right_button.render(right_rect) + + +class MultipleButtonActionSP(MultipleButtonAction): + def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None, + param: str | None = None): + MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback) + self.param_key = param + self.params = Params() + if self.param_key: + self.selected_button = int(self.params.get(self.param_key, return_default=True)) + self._anim_x: float | None = None + + def _render(self, rect: rl.Rectangle): + + button_y = rect.y + (rect.height - style.BUTTON_HEIGHT) / 2 + + total_width = len(self.buttons) * self.button_width + track_rect = rl.Rectangle(rect.x, button_y, total_width, style.BUTTON_HEIGHT) + + bg_color = style.MBC_TRANSPARENT + text_color = style.ITEM_TEXT_COLOR if self.enabled else style.MBC_DISABLED + highlight_color = style.MBC_BG_CHECKED_ENABLED if self.enabled else style.MBC_DISABLED + + # background + rl.draw_rectangle_rounded(track_rect, 0.2, 20, bg_color) + + # border + border_color = style.MBC_BG_CHECKED_ENABLED if self.enabled else style.MBC_DISABLED + rl.draw_rectangle_rounded_lines_ex(track_rect, 0.2, 20, 2, border_color) + + # highlight with animation + target_x = rect.x + self.selected_button * self.button_width + if not self._anim_x: + self._anim_x = target_x + self._anim_x += (target_x - self._anim_x) * 0.2 + + highlight_rect = rl.Rectangle(self._anim_x, button_y, self.button_width, style.BUTTON_HEIGHT) + rl.draw_rectangle_rounded(highlight_rect, 0.2, 20, highlight_color) + + # text + for i, _text in enumerate(self.buttons): + button_x = rect.x + i * self.button_width + + text = _resolve_value(_text, "") + text_size = measure_text_cached(self._font, text, 40) + text_x = button_x + (self.button_width - text_size.x) / 2 + text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2 + + rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, text_color) + + def _handle_mouse_release(self, mouse_pos: MousePos): + MultipleButtonAction._handle_mouse_release(self, mouse_pos) + if self.param_key: + self.params.put(self.param_key, self.selected_button) + + class ListItemSP(ListItem): def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None, description_visible: bool = False, callback: Callable | None = None, - action_item: ItemAction | None = None): + action_item: ItemAction | None = None, inline: bool = True, title_color: rl.Color = style.ITEM_TEXT_COLOR): ListItem.__init__(self, title, icon, description, description_visible, callback, action_item) + self.title_color = title_color + self.inline = inline + if not self.inline: + self._rect.height += style.ITEM_BASE_HEIGHT/1.75 + self._right_value_source: str | Callable[[], str] | None = None + self._right_value_font = gui_app.font(FontWeight.NORMAL) + self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR + + def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR): + self._right_value_source = value + self._right_value_color = color + + @property + def right_value(self) -> str: + if self._right_value_source is None: + return "" + return str(_resolve_value(self._right_value_source, "")) + + def get_item_height(self, font: rl.Font, max_width: int) -> float: + height = super().get_item_height(font, max_width) + + if self.description_visible: + height += style.ITEM_PADDING * 1.5 + + if not self.inline: + height += style.ITEM_BASE_HEIGHT / 1.75 + + return height def show_description(self, show: bool): self._set_description_visible(show) @@ -33,38 +220,65 @@ class ListItemSP(ListItem): if not self.action_item: return rl.Rectangle(0, 0, 0, 0) - right_width = self.action_item.rect.width - if right_width == 0: # Full width action (like DualButtonAction) - return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y, - item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT) + if not self.inline: + text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE) + action_y = item_rect.y + text_size.y + style.ITEM_PADDING * 3 + return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT) - action_width = self.action_item.rect.width - if isinstance(self.action_item, ToggleAction): + right_width = self.action_item.get_width_hint() + if right_width == 0: + return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y, item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT) + + content_width = item_rect.width - (style.ITEM_PADDING * 2) + title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x + right_width = min(content_width - title_width, right_width) + if isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP): action_x = item_rect.x else: - action_x = item_rect.x + item_rect.width - action_width + action_x = item_rect.x + item_rect.width - right_width action_y = item_rect.y - return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT) + return rl.Rectangle(action_x, action_y, right_width, style.ITEM_BASE_HEIGHT) def _render(self, _): + if not self.is_visible: + return + + # Don't draw items that are not in parent's viewport + if (self._rect.y + self.rect.height) <= self._parent_rect.y or self._rect.y >= (self._parent_rect.y + self._parent_rect.height): + return + content_x = self._rect.x + style.ITEM_PADDING text_x = content_x - left_action_item = isinstance(self.action_item, ToggleAction) + left_action_item = isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP) if left_action_item: + item_height = style.SIMPLE_BUTTON_HEIGHT if isinstance(self.action_item, SimpleButtonActionSP) else style.TOGGLE_HEIGHT left_rect = rl.Rectangle( content_x, - self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2, - style.TOGGLE_WIDTH, - style.TOGGLE_HEIGHT + self._rect.y + (style.ITEM_BASE_HEIGHT - item_height) // 2, + self.action_item.rect.width, + item_height ) text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5 # Draw title if self.title: - text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE) - item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2 - rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR) + self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE) + item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 + rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color) + + value_text = self.right_value + if value_text: + # area from after the title to the right edge of the row + value_rect = rl.Rectangle( + text_x, # start at the beginning of the text area + self._rect.y, + self._rect.width - (text_x - self._rect.x) - style.ITEM_PADDING, + style.ITEM_BASE_HEIGHT, + ) + if value_rect.width > 0: + gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._right_value_color, font_weight=FontWeight.NORMAL, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) # Render toggle and handle callback if self.action_item.render(left_rect) and self.action_item.enabled: @@ -74,33 +288,83 @@ class ListItemSP(ListItem): else: if self.title: # Draw main text - text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE) - item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2 - rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR) + self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE) + item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5 + rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color) - # Draw right item if present - if self.action_item: - right_rect = self.get_right_item_rect(self._rect) - right_rect.y = self._rect.y - if self.action_item.render(right_rect) and self.action_item.enabled: - # Right item was clicked/activated - if self.callback: - self.callback() + # Draw right item if present + if self.action_item: + right_rect = self.get_right_item_rect(self._rect) + if self.action_item.render(right_rect) and self.action_item.enabled: + # Right item was clicked/activated + if self.callback: + self.callback() # Draw description if visible if self.description_visible: content_width = int(self._rect.width - style.ITEM_PADDING * 2) description_height = self._html_renderer.get_total_height(content_width) - description_rect = rl.Rectangle( - self._rect.x + style.ITEM_PADDING, - self._rect.y + style.ITEM_DESC_V_OFFSET, - content_width, - description_height - ) + + desc_y = self._rect.y + style.ITEM_DESC_V_OFFSET + if not self.inline and self.action_item: + desc_y = self.action_item.rect.y + style.ITEM_DESC_V_OFFSET - style.ITEM_PADDING * 0.5 + + description_rect = rl.Rectangle(self._rect.x + style.ITEM_PADDING, desc_y, content_width, description_height) self._html_renderer.render(description_rect) +def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callable | None = None, + enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH) -> ListItemSP: + action = SimpleButtonActionSP(button_text=button_text, enabled=enabled, callback=callback, button_width=button_width) + return ListItemSP(title="", callback=callback, description="", action_item=action) + + def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False, callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP: action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param) return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback) + + +def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]], + selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable = None, + icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP: + action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param) + return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline) + + +def option_item_sp(title: str | Callable[[], str], param: str, + min_value: int, max_value: int, description: str | Callable[[], str] | None = None, + value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None, + enabled: bool | Callable[[], bool] = True, + icon: str = "", label_width: int = LABEL_WIDTH, value_map: dict[int, int] | None = None, + use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None, inline: bool = False) -> ListItemSP: + action = OptionControlSP( + param, min_value, max_value, value_change_step, + enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback + ) + return ListItemSP(title=title, description=description, action_item=action, icon=icon, inline=inline) + + +def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None, + callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP: + action = ButtonActionSP(text=button_text, enabled=enabled) + return ListItemSP(title=title, description=description, action_item=action, callback=callback) + + +def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, + right_callback: Callable = None, description: str | Callable[[], str] | None = None, + enabled: bool | Callable[[], bool] = True, border_radius: int = 15) -> ListItemSP: + action = DualButtonActionSP(left_text, right_text, left_callback, right_callback, enabled, border_radius) + return ListItemSP(title="", description=description, action_item=action) + + +class LineSeparatorSP(LineSeparator): + def __init__(self, height: int = 1): + super().__init__() + self._rect = rl.Rectangle(0, 0, 0, height) + + def _render(self, _): + line_y = int(self._rect.y + self._rect.height // 2) + rl.draw_line(int(self._rect.x) + LINE_PADDING, line_y, + int(self._rect.x + self._rect.width) - LINE_PADDING, line_y, + LINE_COLOR) diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py new file mode 100644 index 0000000000..91e9650ebd --- /dev/null +++ b/system/ui/sunnypilot/widgets/option_control.py @@ -0,0 +1,165 @@ +import pyray as rl +from collections.abc import Callable +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.sunnypilot.lib.styles import style +from openpilot.system.ui.widgets.list_view import ItemAction + +# Dimensions and styling constants +BUTTON_WIDTH = 150 +BUTTON_HEIGHT = 150 +LABEL_WIDTH = 350 +BUTTON_SPACING = 25 +VALUE_FONT_SIZE = 50 +BUTTON_FONT_SIZE = 60 +CONTAINER_PADDING = 20 + + +class OptionControlSP(ItemAction): + def __init__(self, param: str, min_value: int, max_value: int, + value_change_step: int = 1, enabled: bool | Callable[[], bool] = True, + on_value_changed: Callable[[int], None] | None = None, + value_map: dict[int, int] | None = None, + label_width: int = LABEL_WIDTH, + use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None): + + super().__init__(enabled=enabled) + self.params = Params() + self.param_key = param + self.min_value = min_value + self.max_value = max_value + self.value_change_step = value_change_step + self._minus_enabled = enabled + self._plus_enabled = enabled + self.on_value_changed = on_value_changed + self.value_map = value_map + self.label_width = label_width + self.use_float_scaling = use_float_scaling + self.current_value = min_value + self.label_callback = label_callback + if self.value_map: + for key in self.value_map: + if self.value_map[key] == self.params.get(self.param_key, return_default=True): + self.current_value = int(key) + break + else: + self.current_value = int(self.params.get(self.param_key, return_default=True)) + + # Initialize font and button styles + self._font = gui_app.font(FontWeight.MEDIUM) + + # Layout rectangles for components + self.minus_btn_rect = rl.Rectangle(0, 0, 0, 0) + self.plus_btn_rect = rl.Rectangle(0, 0, 0, 0) + + def get_value(self) -> int: + """Get the current value of the control""" + return self.current_value + + def set_value(self, value: int): + """Set the control to a specific value""" + if self.min_value <= value <= self.max_value: + self.current_value = value + if self.value_map: + self.params.put(self.param_key, self.value_map[value]) + else: + if self.use_float_scaling: + self.params.put(self.param_key, value / 100.0) + else: + self.params.put(self.param_key, value) + if self.on_value_changed: + self.on_value_changed(value) + + def get_displayed_value(self) -> str: + """Get the displayed value, handling value mapping if present""" + value = self.current_value + + if callable(self.label_callback): + if self.value_map: + return self.label_callback(self.value_map[value]) + else: + return self.label_callback(value) + + if self.value_map: + # Use the value map to get the display string + if value in self.value_map: + return str(self.value_map[value]) # Return the display string + + # If using float scaling, format as float + if self.use_float_scaling: + return f"{value / 100.0:.2f}" + + return str(value) + + def _render(self, rect: rl.Rectangle): + if self._rect.width == 0 or self._rect.height == 0 or not self.is_visible: + return + + control_width = (BUTTON_WIDTH * 2) + self.label_width + (BUTTON_SPACING * 2) + total_width = control_width + (CONTAINER_PADDING * 2) + self._rect.width = total_width + + start_x = self._rect.x + self._rect.width - control_width - (CONTAINER_PADDING * 2) + component_y = rect.y + (rect.height - BUTTON_HEIGHT) / 2 + self.container_rect = rl.Rectangle(start_x, component_y, total_width, BUTTON_HEIGHT) + + # background + rl.draw_rectangle_rounded(self.container_rect, 0.2, 20, style.OPTION_CONTROL_CONTAINER_BG) + + # minus button + self.minus_btn_rect = rl.Rectangle(self.container_rect.x, component_y, BUTTON_WIDTH + CONTAINER_PADDING, + BUTTON_HEIGHT) + + # label + label_x = self.container_rect.x + CONTAINER_PADDING + BUTTON_WIDTH + BUTTON_SPACING + self.label_rect = rl.Rectangle(label_x, component_y, self.label_width, BUTTON_HEIGHT) + + # plus button + plus_x = label_x + self.label_width + BUTTON_SPACING + self.plus_btn_rect = rl.Rectangle(plus_x, component_y, BUTTON_WIDTH + CONTAINER_PADDING, BUTTON_HEIGHT) + + self._minus_enabled = self.enabled and self.current_value > self.min_value + self._plus_enabled = self.enabled and self.current_value < self.max_value + + self._render_button(self.minus_btn_rect, "-", self._minus_enabled) + self._render_value_label() + self._render_button(self.plus_btn_rect, "+", self._plus_enabled) + + def _render_button(self, rect: rl.Rectangle, text: str, enabled: bool): + mouse_pos = rl.get_mouse_position() + is_pressed = (rl.check_collision_point_rec(mouse_pos, rect) and + self._touch_valid() and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)) + + text_color = style.ITEM_TEXT_COLOR if enabled else style.ITEM_DISABLED_TEXT_COLOR + + # highlight + if enabled and is_pressed: + rl.draw_rectangle_rounded(rect, 0.2, 20, style.OPTION_CONTROL_BTN_PRESSED) + + # button text + text_size = measure_text_cached(self._font, text, BUTTON_FONT_SIZE) + text_x = rect.x + (rect.width - text_size.x) / 2 + text_y = rect.y + (rect.height - text_size.y) / 2 + rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), BUTTON_FONT_SIZE, 0, text_color) + + def _render_value_label(self): + """Render the current value label""" + text = self.get_displayed_value() + text_color = style.ITEM_TEXT_COLOR if self.enabled else style.ITEM_DISABLED_TEXT_COLOR + + text_size = measure_text_cached(self._font, text, VALUE_FONT_SIZE) + text_x = self.label_rect.x + (self.label_rect.width - text_size.x) / 2 + text_y = self.label_rect.y + (self.label_rect.height - text_size.y) / 2 + + rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), VALUE_FONT_SIZE, 0, text_color) + + def _handle_mouse_release(self, mouse_pos: MousePos): + if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect): + self.current_value -= self.value_change_step + self.current_value = max(self.min_value, self.current_value) + elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect): + self.current_value += self.value_change_step + self.current_value = min(self.max_value, self.current_value) + + self.set_value(self.current_value) diff --git a/system/ui/sunnypilot/widgets/progress_bar.py b/system/ui/sunnypilot/widgets/progress_bar.py new file mode 100644 index 0000000000..76f4243411 --- /dev/null +++ b/system/ui/sunnypilot/widgets/progress_bar.py @@ -0,0 +1,57 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets.list_view import ListItem, ItemAction + + +class ProgressBarAction(ItemAction): + def __init__(self, width=600): + super().__init__(width=width) + self.progress = 0.0 + self.text = "" + self.show_progress = False + self.text_color = rl.GRAY + self._font = gui_app.font(FontWeight.NORMAL) + + def update(self, progress, text, show_progress=False, text_color=rl.GRAY): + self.progress = progress + self.text = text + self.show_progress = show_progress + self.text_color = text_color + + def _render(self, rect: rl.Rectangle): + font_size = 40 + text_size = measure_text_cached(self._font, self.text, font_size) + padding = 30 + bar_width = text_size.x + 2 * padding + text_x = (bar_width - text_size.x) / 2 + + if self.show_progress and len(parts := self.text.split(' - ', 1)) == 2: + prefix = parts[0] + max_prefix_w = measure_text_cached(self._font, "100%", font_size).x + current_prefix_w = measure_text_cached(self._font, prefix, font_size).x + + bar_width = (text_size.x - current_prefix_w + max_prefix_w) + 2 * padding + text_x = padding + (max_prefix_w - current_prefix_w) + + bar_height = 60 + bar_rect = rl.Rectangle(rect.x + rect.width - bar_width, rect.y + (rect.height - bar_height) / 2, bar_width, bar_height) + + if self.show_progress: + inner_rect = rl.Rectangle(bar_rect.x + 4, bar_rect.y + 4, bar_rect.width - 8, bar_rect.height - 8) + if inner_rect.width > 0: + fill_width = max(0, min(inner_rect.width, inner_rect.width * (self.progress / 100.0))) + rl.draw_rectangle_rounded(rl.Rectangle(inner_rect.x, inner_rect.y, fill_width, inner_rect.height), 0.2, 10, rl.Color(30, 121, 232, 255)) + + rl.draw_text_ex(self._font, self.text, rl.Vector2(bar_rect.x + text_x, bar_rect.y + (bar_height - text_size.y) / 2), font_size, 0, self.text_color) + + +def progress_item(title): + action = ProgressBarAction() + return ListItem(title=title, action_item=action) diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py new file mode 100644 index 0000000000..af6b9cf45d --- /dev/null +++ b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py @@ -0,0 +1,139 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import base64 + +import pyray as rl +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog +from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST +from openpilot.system.ui.lib.application import FontWeight, gui_app +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.text_measure import measure_text_cached + + +class SunnylinkPairingDialog(PairingDialog): + """Dialog for device pairing with QR code.""" + + QR_REFRESH_INTERVAL = 300 # 5 minutes in seconds + + def __init__(self, sponsor_pairing: bool = False): + PairingDialog.__init__(self) + self._sponsor_pairing = sponsor_pairing + self._is_paired_prev = ui_state.sunnylink_state.is_paired() + + def _get_pairing_url(self) -> str: + qr_string = "https://github.com/sponsors/sunnyhaibin" + + if self._sponsor_pairing: + try: + sl_dongle_id = self.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID + token = SunnylinkApi(sl_dongle_id).get_token() + inner_string = f"1|{sl_dongle_id}|{token}" + payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8') + qr_string = f"{API_HOST}/sso?state={payload_bytes}" + except Exception: + cloudlog.exception("Failed to get pairing token") + + return qr_string + + def _update_state(self): + is_paired = ui_state.sunnylink_state.is_paired() + if not self._is_paired_prev and is_paired: + gui_app.set_modal_overlay(None) + + def _render(self, rect: rl.Rectangle) -> int: + rl.clear_background(rl.Color(224, 224, 224, 255)) + + self._check_qr_refresh() + + margin = 70 + content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin) + y = content_rect.y + + # Close button + close_size = 80 + pad = 20 + close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2) + self._close_btn.render(close_rect) + + y += close_size + 40 + + # Title + title = tr("Pair your GitHub account") if self._sponsor_pairing else tr("Early Access: Become a sunnypilot Sponsor") + title_font = gui_app.font(FontWeight.NORMAL) + left_width = int(content_rect.width * 0.5 - 15) + + title_wrapped = wrap_text(title_font, title, 75, left_width) + rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK) + y += len(title_wrapped) * 75 + 60 + + # Two columns: instructions and QR code + remaining_height = content_rect.height - (y - content_rect.y) + right_width = content_rect.width // 2 - 20 + + # Instructions + self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height)) + + # QR code + qr_size = min(right_width, content_rect.height) - 40 + qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2 + qr_y = content_rect.y + self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size)) + + return -1 + + def _render_instructions(self, rect: rl.Rectangle) -> None: + if self._sponsor_pairing: + instructions = [ + tr("Scan the QR code to login to your GitHub account"), + tr("Follow the prompts to complete the pairing process"), + tr("Re-enter the \"sunnylink\" panel to verify sponsorship status"), + tr("If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai") + ] + else: + instructions = [ + tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"), + tr("Choose your sponsorship tier and confirm your support"), + tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues") + ] + + font = gui_app.font(FontWeight.BOLD) + y = rect.y + + for i, text in enumerate(instructions): + circle_radius = 25 + circle_x = rect.x + circle_radius + 15 + text_x = rect.x + circle_radius * 2 + 40 + text_width = rect.width - (circle_radius * 2 + 40) + + wrapped = wrap_text(font, text, 47, int(text_width)) + text_height = len(wrapped) * 47 + circle_y = y + text_height // 2 + + # Circle and number + rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255)) + number = str(i + 1) + number_size = measure_text_cached(font, number, 30) + rl.draw_text_ex(font, number, (int(circle_x - number_size.x // 2), int(circle_y - number_size.y // 2)), 30, 0, rl.WHITE) + + # Text + rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK) + y += text_height + 50 + + +if __name__ == "__main__": + gui_app.init_window("pairing device") + pairing = SunnylinkPairingDialog(sponsor_pairing=True) + try: + for _ in gui_app.render(): + result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + if result != -1: + break + finally: + del pairing diff --git a/system/ui/sunnypilot/widgets/toggle.py b/system/ui/sunnypilot/widgets/toggle.py index 46b390f773..2924aec2b4 100644 --- a/system/ui/sunnypilot/widgets/toggle.py +++ b/system/ui/sunnypilot/widgets/toggle.py @@ -24,6 +24,9 @@ class ToggleSP(Toggle): initial_state = self.params.get_bool(self.param_key) Toggle.__init__(self, initial_state, callback) + def set_rect(self, rect: rl.Rectangle): + self._rect = rl.Rectangle(rect.x, rect.y, style.TOGGLE_WIDTH, style.TOGGLE_HEIGHT) + def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) if self._enabled and self.param_key: diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py new file mode 100644 index 0000000000..2dd5e3a2dc --- /dev/null +++ b/system/ui/sunnypilot/widgets/tree_dialog.py @@ -0,0 +1,288 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from dataclasses import dataclass, field + +import pyray as rl +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import FontWeight, gui_app +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import DialogResult +from openpilot.system.ui.widgets.button import Button, ButtonStyle, BUTTON_PRESSED_BACKGROUND_COLORS +from openpilot.system.ui.widgets.label import gui_label +from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog + +from openpilot.system.ui.sunnypilot.lib.styles import style +from openpilot.system.ui.sunnypilot.widgets.helpers.fuzzy_search import search_from_list +from openpilot.system.ui.sunnypilot.widgets.helpers.star_icon import draw_star +from openpilot.system.ui.sunnypilot.widgets.input_dialog import InputDialogSP + + +@dataclass +class TreeNode: + ref: str + data: dict = field(default_factory=dict) + + +@dataclass +class TreeFolder: + folder: str + nodes: list + + +class TreeItemWidget(Button): + def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=None, favorite_callback=None, is_favorite=False, is_expanded=False): + super().__init__(text, click_callback, button_style=ButtonStyle.NORMAL, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, + text_padding=20 + indent_level * 30, elide_right=True) + self.text = text + self.ref = ref + self.is_folder = is_folder + self.indent_level = indent_level + self.is_favorite = is_favorite + self.selected = False + self._favorite_callback = favorite_callback + self.text_padding = 20 + indent_level * 30 + self.border_radius = 10 + self.is_expanded = is_expanded + + def _render(self, rect): + indent = 60 * self.indent_level + self._rect = rl.Rectangle(rect.x + indent, rect.y, rect.width - indent, rect.height) + if self.is_pressed: + color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] + elif self.selected and self.ref != "search_bar": + color = style.BUTTON_PRIMARY_COLOR + else: + color = style.BUTTON_DISABLED_BG_COLOR + roundness = self.border_radius / (min(self._rect.width, self._rect.height) / 2) + rl.draw_rectangle_rounded(self._rect, roundness, 10, color) + text_offset = self.text_padding + 20 - 15 if self.is_expanded and not self.is_folder and self.indent_level > 0 else self.text_padding + 20 + text_rect = rl.Rectangle(self._rect.x + text_offset, self._rect.y, self._rect.width - self.text_padding - 20 - 90, self._rect.height) + self._label.render(text_rect) + + if not self.is_folder and self._favorite_callback: + draw_star(self._rect.x + self._rect.width - 90, self._rect.y + self._rect.height / 2, 40, self.is_favorite, + style.ON_BG_COLOR if self.is_favorite else rl.GRAY) + + def _handle_mouse_release(self, mouse_pos): + star_rect = rl.Rectangle(self._rect.x + self._rect.width - 90 - 40, self._rect.y + self._rect.height / 2 - 40, 80, 80) + if not self.is_folder and self._favorite_callback and rl.check_collision_point_rec(mouse_pos, star_rect): + self._favorite_callback() + return True + return super()._handle_mouse_release(mouse_pos) + + +class TreeOptionDialog(MultiOptionDialog): + def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None, + get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None): + super().__init__(title, [], current_ref, option_font_weight) + self.folders = folders + self.selection_ref = current_ref + self.fav_param = fav_param + self.expanded = set() + self.params = Params() + val = self.params.get(fav_param) if fav_param else None + self.favorites = set(val.split(';')) if val else set() + self.query = "" + self.search_prompt = search_prompt or tr("Search") + self.get_folders_fn = get_folders_fn + self.on_exit = on_exit + self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref)) + self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')] + self._search_rect = None + self._search_width = 0.475 + + # Default title & overridable subtitle for InputDialogSP + self.search_title = search_title or tr("Enter search query") + self.search_subtitle = search_subtitle + self.search_dialog = None + self._search_pressed = False + + self.selection_node = None + # Try to match by ref, by display text, or fall back to "Default" when no ref is set + for folder in self.folders: + for node in folder.nodes: + display = self.display_func(node) + if ( + node.ref == current_ref or + display == current_ref or + (not current_ref and node.ref == "Default") + ): + self.selection = display + self.current = display + self.selection_node = node + break + if self.selection_node is not None: + break + + self._build_visible_items() + + def _on_search_confirm(self, result, text): + if result == DialogResult.CONFIRM: + self.query = text + self._build_visible_items() + gui_app.set_modal_overlay(self, callback=self.on_exit) + + def _on_search_clicked(self): + self.search_dialog = InputDialogSP( + self.search_title, + self.search_subtitle, + current_text=self.query, + callback=self._on_search_confirm, + ) + self.search_dialog.show() + + def _toggle_folder(self, folder): + if folder.folder: + if folder.folder in self.expanded: + self.expanded.remove(folder.folder) + else: + self.expanded.add(folder.folder) + if folder == self.folders[-1] and folder.folder in self.expanded: + self.scroller.scroll_panel.set_offset(self.scroller.scroll_panel.offset - 200) + self._build_visible_items(reset_scroll=False) + + def _select_node(self, node): + self.selection = self.display_func(node) + self.selection_ref = node.ref + + def _toggle_favorite(self, node): + self.favorites.remove(node.ref) if node.ref in self.favorites else self.favorites.add(node.ref) + if self.fav_param: + self.params.put(self.fav_param, ';'.join(self.favorites)) + if self.get_folders_fn: + self.folders = self.get_folders_fn(self.favorites) + self._build_visible_items(reset_scroll=False) + + def _build_visible_items(self, reset_scroll=True): + self.visible_items = [] + + # Pinned selected item at the very top (if any) + if getattr(self, "selection_node", None) is not None: + node = self.selection_node + display = self.display_func(node) + self.selection = self.current = display + favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None + self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 0, + lambda node_ref=node: self._select_node(node_ref), + favorite_cb, node.ref in self.favorites, is_expanded=True)) + + for folder in self.folders: + nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])] + if not nodes and self.query: + continue + expanded = folder.folder in self.expanded or not folder.folder or bool(self.query) + if folder.folder: + self.visible_items.append(TreeItemWidget(f"{'-' if expanded else '+'} {folder.folder}", "", True, 0, + lambda folder_ref=folder: self._toggle_folder(folder_ref))) + if expanded: + for node in nodes: + # Skip duplicate root-level item for the selected node + if self.selection_node is not None and node.ref == self.selection_node.ref and not folder.folder: + continue + + favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None + self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0, + lambda node_ref=node: self._select_node(node_ref), + favorite_cb, node.ref in self.favorites, is_expanded=expanded)) + + self.option_buttons = self.visible_items + self.options = [item.text for item in self.visible_items] + self.scroller._items = self.visible_items + if reset_scroll: + self.scroller.scroll_panel.set_offset(0) + + def _render(self, rect): + dialog_content_rect = rl.Rectangle(rect.x + 50, rect.y + 50, rect.width - 100, rect.height - 100) + rl.draw_rectangle_rounded(dialog_content_rect, 0.02, 20, rl.BLACK) + + # Title on the left + title_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 50, dialog_content_rect.width * 0.5, 70) + gui_label(title_rect, self.title, 70, font_weight=FontWeight.BOLD) + + # Search bar on the top right + search_width = dialog_content_rect.width * self._search_width + search_height = 110 + search_x = dialog_content_rect.x + dialog_content_rect.width - 50 - search_width + search_y = dialog_content_rect.y + 40 # align roughly with title + + self._search_rect = rl.Rectangle(search_x, search_y, search_width, search_height) + + # Draw search field + inset = 4 + roundness = 0.3 + input_rect = rl.Rectangle(self._search_rect.x + inset, self._search_rect.y + inset, + self._search_rect.width - inset * 2, self._search_rect.height - inset * 2) + + # Transparent fill (unpressed), white fill (pressed), border + fill_color = style.TREE_DIALOG_SEARCH_BUTTON_PRESSED if self._search_pressed else style.TREE_DIALOG_TRANSPARENT + rl.draw_rectangle_rounded(input_rect, roundness, 10, fill_color) + rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, style.TREE_DIALOG_SEARCH_BUTTON_BORDER) + + # Magnifying glass icon + icon_color = rl.Color(180, 180, 180, 240) + cx = input_rect.x + 60 + cy = input_rect.y + input_rect.height / 2 - 5 + radius = min(input_rect.height * 0.28, 26) + + circle_thickness = 4 + for i in range(circle_thickness): + rl.draw_circle_lines(int(cx), int(cy), radius - i, icon_color) + + handle_thickness = 5 + inner_x = cx + radius * 0.65 + inner_y = cy + radius * 0.65 + outer_x = cx + radius * 1.45 + outer_y = cy + radius * 1.45 + + rl.draw_line_ex(rl.Vector2(inner_x, inner_y), rl.Vector2(outer_x, outer_y), handle_thickness, icon_color) + + # User text (query), placed after the icon if present + if self.query: + text_start_x = outer_x + 45 + text_rect = rl.Rectangle(text_start_x, input_rect.y, input_rect.x + input_rect.width - text_start_x - 10, input_rect.height) + gui_label(text_rect, self.query, 70, font_weight=FontWeight.MEDIUM) + + options_top = self._search_rect.y + self._search_rect.height + 40 + options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, options_top, dialog_content_rect.width - 100, + dialog_content_rect.height - (options_top - dialog_content_rect.y) - 210) + + for index, option_text in enumerate(self.options): + self.option_buttons[index].selected = (option_text == self.selection) + self.option_buttons[index].set_button_style(ButtonStyle.PRIMARY if option_text == self.selection else ButtonStyle.NORMAL) + self.option_buttons[index].set_rect(rl.Rectangle(0, 0, options_area_rect.width, 135)) + self.scroller.render(options_area_rect) + + button_width = (dialog_content_rect.width - 150) / 2 + button_y_position = dialog_content_rect.y + dialog_content_rect.height - 160 + + cancel_rect = rl.Rectangle(dialog_content_rect.x + 50, button_y_position, button_width, 160) + self.cancel_button.render(cancel_rect) + + select_rect = rl.Rectangle(dialog_content_rect.x + 100 + button_width, button_y_position, button_width, 160) + self.select_button.set_enabled(self.selection != self.current) + self.select_button.render(select_rect) + + return self._result + + def _handle_mouse_press(self, mouse_pos): + if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect): + self._search_pressed = True + return True + return super()._handle_mouse_press(mouse_pos) + + def _handle_mouse_release(self, mouse_pos): + clicked_search = False + if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect): + clicked_search = self._search_pressed + + self._search_pressed = False + + if clicked_search: + self._on_search_clicked() + return True + + return super()._handle_mouse_release(mouse_pos) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 95858ec1b3..a3fed6d962 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -100,57 +100,68 @@ class Widget(abc.ABC): if not self.is_visible: return None + self._layout() ret = self._render(self._rect) # Keep track of whether mouse down started within the widget's rectangle if self.enabled and self.__was_awake: - for mouse_event in gui_app.mouse_events: - if not self._multi_touch and mouse_event.slot != 0: - continue - - # Ignores touches/presses that start outside our rect - # Allows touch to leave the rect and come back in focus if mouse did not release - if mouse_event.left_pressed and self._touch_valid(): - if rl.check_collision_point_rec(mouse_event.pos, self._hit_rect): - self._handle_mouse_press(mouse_event.pos) - self.__is_pressed[mouse_event.slot] = True - self.__tracking_is_pressed[mouse_event.slot] = True - self._handle_mouse_event(mouse_event) - - # Callback such as scroll panel signifies user is scrolling - elif not self._touch_valid(): - self.__is_pressed[mouse_event.slot] = False - self.__tracking_is_pressed[mouse_event.slot] = False - - elif mouse_event.left_released: - self._handle_mouse_event(mouse_event) - if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._hit_rect): - self._handle_mouse_release(mouse_event.pos) - self.__is_pressed[mouse_event.slot] = False - self.__tracking_is_pressed[mouse_event.slot] = False - - # Mouse/touch is still within our rect - elif rl.check_collision_point_rec(mouse_event.pos, self._hit_rect): - if self.__tracking_is_pressed[mouse_event.slot]: - self.__is_pressed[mouse_event.slot] = True - self._handle_mouse_event(mouse_event) - - # Mouse/touch left our rect but may come back into focus later - elif not rl.check_collision_point_rec(mouse_event.pos, self._hit_rect): - self.__is_pressed[mouse_event.slot] = False - self._handle_mouse_event(mouse_event) + self._process_mouse_events() self.__was_awake = device.awake return ret - @abc.abstractmethod - def _render(self, rect: rl.Rectangle) -> bool | int | None: - """Render the widget within the given rectangle.""" + def _process_mouse_events(self) -> None: + hit_rect = self._hit_rect + touch_valid = self._touch_valid() + + for mouse_event in gui_app.mouse_events: + if not self._multi_touch and mouse_event.slot != 0: + continue + + mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect) + # Ignores touches/presses that start outside our rect + # Allows touch to leave the rect and come back in focus if mouse did not release + if mouse_event.left_pressed and touch_valid: + if mouse_in_rect: + self._handle_mouse_press(mouse_event.pos) + self.__is_pressed[mouse_event.slot] = True + self.__tracking_is_pressed[mouse_event.slot] = True + self._handle_mouse_event(mouse_event) + + # Callback such as scroll panel signifies user is scrolling + elif not touch_valid: + self.__is_pressed[mouse_event.slot] = False + self.__tracking_is_pressed[mouse_event.slot] = False + + elif mouse_event.left_released: + self._handle_mouse_event(mouse_event) + if self.__is_pressed[mouse_event.slot] and mouse_in_rect: + self._handle_mouse_release(mouse_event.pos) + self.__is_pressed[mouse_event.slot] = False + self.__tracking_is_pressed[mouse_event.slot] = False + + # Mouse/touch is still within our rect + elif mouse_in_rect: + if self.__tracking_is_pressed[mouse_event.slot]: + self.__is_pressed[mouse_event.slot] = True + self._handle_mouse_event(mouse_event) + + # Mouse/touch left our rect but may come back into focus later + elif not mouse_in_rect: + self.__is_pressed[mouse_event.slot] = False + self._handle_mouse_event(mouse_event) + + def _layout(self) -> None: + """Optionally lay out child widgets separately. This is called before rendering.""" def _update_state(self): """Optionally update the widget's non-layout state. This is called before rendering.""" + @abc.abstractmethod + def _render(self, rect: rl.Rectangle) -> bool | int | None: + """Render the widget within the given rectangle.""" + def _update_layout_rects(self) -> None: """Optionally update any layout rects on Widget rect change.""" @@ -263,13 +274,17 @@ class NavWidget(Widget, abc.ABC): in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE scroller_at_top = False + vertical_scroller = False # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top if hasattr(self, '_scroller'): scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal + vertical_scroller = not self._scroller._horizontal elif hasattr(self, '_scroll_panel'): scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal + vertical_scroller = not self._scroll_panel._horizontal - if in_dismiss_area or scroller_at_top: + # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes + if (not vertical_scroller and in_dismiss_area) or scroller_at_top: self._can_swipe_away = True self._back_button_start_pos = mouse_event.pos @@ -359,6 +374,10 @@ class NavWidget(Widget, abc.ABC): self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) self._nav_bar.render() + # draw black above widget when dismissing + if self._rect.y > 0: + rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK) + return ret def show_event(self): diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 34b2a51a42..9c0ea75b42 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -201,6 +201,7 @@ class SmallCircleIconButton(Widget): self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps) self._icon_bg_txt = gui_app.texture("icons_mici/setup/small_button.png", 100, 100) self._icon_bg_pressed_txt = gui_app.texture("icons_mici/setup/small_button_pressed.png", 100, 100) + self._icon_bg_disabled_txt = gui_app.texture("icons_mici/setup/small_button_disabled.png", 100, 100) self._icon_txt = icon_txt def set_opacity(self, opacity: float, smooth: bool = False): @@ -210,12 +211,18 @@ class SmallCircleIconButton(Widget): self._opacity_filter.x = opacity def _render(self, _): - bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)) + if not self.enabled: + bg_txt = self._icon_bg_disabled_txt + icon_white = rl.Color(255, 255, 255, int(white.a * 0.35)) + else: + bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt + icon_white = white + rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white) icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2 icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2 - rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), white) + rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), icon_white) class SmallButton(Widget): diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index 35e2708e62..97b293083d 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -179,11 +179,11 @@ class MiciLabel(Widget): if self._needs_scroll: # draw black fade on left and right fade_width = 20 - rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.Color(0, 0, 0, 0), rl.BLACK) + rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK) if self._scroll_state != ScrollState.STARTING: - rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.Color(0, 0, 0, 0)) + rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK) - rl.end_scissor_mode() + rl.end_scissor_mode() # TODO: This should be a Widget class @@ -412,6 +412,7 @@ class UnifiedLabel(Widget): max_width: int | None = None, elide: bool = True, wrap_text: bool = True, + scroll: bool = False, line_height: float = 1.0, letter_spacing: float = 0.0): super().__init__() @@ -426,10 +427,23 @@ class UnifiedLabel(Widget): self._max_width = max_width self._elide = elide self._wrap_text = wrap_text + self._scroll = scroll self._line_height = line_height * 0.9 self._letter_spacing = letter_spacing # 0.1 = 10% self._spacing_pixels = font_size * letter_spacing + # Scroll state + self._scroll = scroll + self._needs_scroll = False + self._scroll_offset = 0 + self._scroll_pause_t: float | None = None + self._scroll_state: ScrollState = ScrollState.STARTING + + # Scroll mode does not support eliding or multiline wrapping + if self._scroll: + self._elide = False + self._wrap_text = False + # Cached data self._cached_text: str | None = None self._cached_wrapped_lines: list[str] = [] @@ -446,7 +460,7 @@ class UnifiedLabel(Widget): def set_text(self, text: str | Callable[[], str]): """Update the text content.""" self._text = text - self._cached_text = None # Invalidate cache + # No need to update cache here, will be done on next render if needed @property def text(self) -> str: @@ -463,15 +477,17 @@ class UnifiedLabel(Widget): def set_font_size(self, size: int): """Update the font size.""" - self._font_size = size - self._spacing_pixels = size * self._letter_spacing # Recalculate spacing - self._cached_text = None # Invalidate cache + if self._font_size != size: + self._font_size = size + self._spacing_pixels = size * self._letter_spacing # Recalculate spacing + self._cached_text = None # Invalidate cache def set_letter_spacing(self, letter_spacing: float): """Update letter spacing (as percentage, e.g., 0.1 = 10%).""" - self._letter_spacing = letter_spacing - self._spacing_pixels = self._font_size * letter_spacing - self._cached_text = None # Invalidate cache + if self._letter_spacing != letter_spacing: + self._letter_spacing = letter_spacing + self._spacing_pixels = self._font_size * letter_spacing + self._cached_text = None # Invalidate cache def set_font_weight(self, font_weight: FontWeight): """Update the font weight.""" @@ -488,6 +504,12 @@ class UnifiedLabel(Widget): """Update the vertical text alignment.""" self._alignment_vertical = alignment_vertical + def reset_scroll(self): + """Reset scroll state to initial position.""" + self._scroll_offset = 0 + self._scroll_pause_t = None + self._scroll_state = ScrollState.STARTING + def set_max_width(self, max_width: int | None): """Set the maximum width constraint for wrapping/eliding.""" if self._max_width != max_width: @@ -526,6 +548,9 @@ class UnifiedLabel(Widget): # Elide lines if needed (for width constraint) self._cached_wrapped_lines = [self._elide_line(line, content_width) for line in self._cached_wrapped_lines] + if self._scroll: + self._cached_wrapped_lines = self._cached_wrapped_lines[:1] # Only first line for scrolling + # Process each line: measure and find emojis self._cached_line_sizes = [] self._cached_line_emojis = [] @@ -538,6 +563,11 @@ class UnifiedLabel(Widget): size = rl.Vector2(0, self._font_size * FONT_SCALE) else: size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels) + + # This is the only line + if self._scroll: + self._needs_scroll = size.x > content_width + self._cached_line_sizes.append(size) # Calculate total height @@ -597,13 +627,13 @@ class UnifiedLabel(Widget): return self._cached_total_height return 0.0 - def _render(self, rect: rl.Rectangle): + def _render(self, _): """Render the label.""" - if rect.width <= 0 or rect.height <= 0: + if self._rect.width <= 0 or self._rect.height <= 0: return # Determine available width - available_width = rect.width + available_width = self._rect.width if self._max_width is not None: available_width = min(available_width, self._max_width) @@ -631,7 +661,7 @@ class UnifiedLabel(Widget): line_height_needed = size.y * self._line_height # Check if this line fits - if current_height + line_height_needed > rect.height: + if current_height + line_height_needed > self._rect.height: # This line doesn't fit if len(visible_lines) == 0: # First line doesn't fit by height - still show it (will be clipped by scissor if needed) @@ -675,51 +705,92 @@ class UnifiedLabel(Widget): # Calculate vertical alignment offset if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: - start_y = rect.y + start_y = self._rect.y elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: - start_y = rect.y + rect.height - total_visible_height + start_y = self._rect.y + self._rect.height - total_visible_height else: # TEXT_ALIGN_MIDDLE - start_y = rect.y + (rect.height - total_visible_height) / 2 + start_y = self._rect.y + (self._rect.height - total_visible_height) / 2 + + # Only scissor when we know there is a single scrolling line + # Pad a little since descenders like g or j may overflow below rect from font_scale + if self._needs_scroll: + rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y - self._font_size / 2), int(self._rect.width), int(self._rect.height + self._font_size)) # Render each line current_y = start_y for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)): - # Calculate horizontal position - if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT: - line_x = rect.x + self._text_padding - elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER: - line_x = rect.x + (rect.width - size.x) / 2 - elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: - line_x = rect.x + rect.width - size.x - self._text_padding + if self._needs_scroll: + if self._scroll_state == ScrollState.STARTING: + if self._scroll_pause_t is None: + self._scroll_pause_t = rl.get_time() + 2.0 + if rl.get_time() >= self._scroll_pause_t: + self._scroll_state = ScrollState.SCROLLING + self._scroll_pause_t = None + + elif self._scroll_state == ScrollState.SCROLLING: + self._scroll_offset -= 0.8 / 60. * gui_app.target_fps + # don't fully hide + if self._scroll_offset <= -size.x - self._rect.width / 3: + self._scroll_offset = 0 + self._scroll_state = ScrollState.STARTING + self._scroll_pause_t = None else: - line_x = rect.x + self._text_padding + self.reset_scroll() - # Render line with emojis - line_pos = rl.Vector2(line_x, current_y) - prev_index = 0 + self._render_line(line, size, emojis, current_y) - for start, end, emoji in emojis: - # Draw text before emoji - text_before = line[prev_index:start] - if text_before: - rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color) - width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels) - line_pos.x += width_before.x - - # Draw emoji - tex = emoji_tex(emoji) - emoji_scale = self._font_size / tex.height * FONT_SCALE - rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color) - # Emoji width is font_size * FONT_SCALE (as per measure_text_cached) - line_pos.x += self._font_size * FONT_SCALE - prev_index = end - - # Draw remaining text after last emoji - text_after = line[prev_index:] - if text_after: - rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color) + # Draw 2nd instance for scrolling + if self._needs_scroll and self._scroll_state != ScrollState.STARTING: + text2_scroll_offset = size.x + self._rect.width / 3 + self._render_line(line, size, emojis, current_y, text2_scroll_offset) # Move to next line (if not last line) if idx < len(visible_lines) - 1: # Use current line's height * line_height for spacing to next line current_y += size.y * self._line_height + + if self._needs_scroll: + # draw black fade on left and right + fade_width = 20 + rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK) + if self._scroll_state != ScrollState.STARTING: + rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK) + + rl.end_scissor_mode() + + def _render_line(self, line, size, emojis, current_y, x_offset=0.0): + # Calculate horizontal position + if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT: + line_x = self._rect.x + self._text_padding + elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER: + line_x = self._rect.x + (self._rect.width - size.x) / 2 + elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: + line_x = self._rect.x + self._rect.width - size.x - self._text_padding + else: + line_x = self._rect.x + self._text_padding + line_x += self._scroll_offset + x_offset + + # Render line with emojis + line_pos = rl.Vector2(line_x, current_y) + prev_index = 0 + + for start, end, emoji in emojis: + # Draw text before emoji + text_before = line[prev_index:start] + if text_before: + rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color) + width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels) + line_pos.x += width_before.x + + # Draw emoji + tex = emoji_tex(emoji) + emoji_scale = self._font_size / tex.height * FONT_SCALE + rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color) + # Emoji width is font_size * FONT_SCALE (as per measure_text_cached) + line_pos.x += self._font_size * FONT_SCALE + prev_index = end + + # Draw remaining text after last emoji + text_after = line[prev_index:] + if text_after: + rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color) diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py index a4f4c7d09b..7459dc5731 100644 --- a/system/ui/widgets/mici_keyboard.py +++ b/system/ui/widgets/mici_keyboard.py @@ -4,7 +4,7 @@ import numpy as np from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.widgets import Widget -from openpilot.common.filter_simple import BounceFilter +from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter CHAR_FONT_SIZE = 42 CHAR_NEAR_FONT_SIZE = CHAR_FONT_SIZE * 2 @@ -204,6 +204,7 @@ class MiciKeyboard(Widget): self._text: str = "" self._bg_scale_filter = BounceFilter(1.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps) + self._selected_key_filter = FirstOrderFilter(0.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps) def get_candidate_character(self) -> str: # return str of character about to be added to text @@ -309,6 +310,9 @@ class MiciKeyboard(Widget): self._text += ' ' def _update_state(self): + # update selected key filter + self._selected_key_filter.update(self._closest_key[0] is not None) + # unselect key after animation plays if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t: self._closest_key = (None, float('inf')) @@ -335,8 +339,9 @@ class MiciKeyboard(Widget): key.set_font_size(SELECTED_CHAR_FONT_SIZE) # draw black circle behind selected key + circle_alpha = int(self._selected_key_filter.x * 225) rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2), - SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, 225), rl.BLANK) + SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK) else: # move other keys away from selected key a bit dx = key.original_position.x - self._closest_key[0].original_position.x diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index fa47d35536..2aeefd5444 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -16,7 +16,10 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item if gui_app.sunnypilot_ui(): + from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item + from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP as ListItem from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction + from openpilot.system.ui.sunnypilot.widgets.list_view import MultipleButtonActionSP as MultipleButtonAction # These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI try: diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py index 9a04e84257..f33ba941bf 100644 --- a/system/ui/widgets/scroller.py +++ b/system/ui/widgets/scroller.py @@ -52,6 +52,11 @@ class Scroller(Widget): self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps) self._zoom_out_t: float = 0.0 + # layout state + self._visible_items: list[Widget] = [] + self._content_size: float = 0.0 + self._scroll_offset: float = 0.0 + self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps) # when not pressed, snap to closest item to be center @@ -74,7 +79,7 @@ class Scroller(Widget): return # FIXME: the padding correction doesn't seem correct - scroll_offset = self.scroll_panel.get_offset() - pos + self._pad_end + scroll_offset = self.scroll_panel.get_offset() - pos if smooth: self._scrolling_to = scroll_offset else: @@ -124,7 +129,7 @@ class Scroller(Widget): self.scroll_panel.set_enabled(scroll_enabled and self.enabled) self.scroll_panel.update(self._rect, content_size) if not self._snap_items: - return self.scroll_panel.get_offset() + return round(self.scroll_panel.get_offset()) # Snap closest item to center center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2 @@ -160,28 +165,28 @@ class Scroller(Widget): return self.scroll_panel.get_offset() - def _render(self, _): - visible_items = [item for item in self._items if item.is_visible] + def _layout(self): + self._visible_items = [item for item in self._items if item.is_visible] # Add line separator between items if self._line_separator is not None: - l = len(visible_items) - for i in range(1, len(visible_items)): - visible_items.insert(l - i, self._line_separator) + l = len(self._visible_items) + for i in range(1, len(self._visible_items)): + self._visible_items.insert(l - i, self._line_separator) - content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in visible_items) - content_size += self._spacing * (len(visible_items) - 1) - content_size += self._pad_start + self._pad_end + self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items) + self._content_size += self._spacing * (len(self._visible_items) - 1) + self._content_size += self._pad_start + self._pad_end - scroll_offset = self._get_scroll(visible_items, content_size) + self._scroll_offset = self._get_scroll(self._visible_items, self._content_size) rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height)) - self._item_pos_filter.update(scroll_offset) + self._item_pos_filter.update(self._scroll_offset) cur_pos = 0 - for idx, item in enumerate(visible_items): + for idx, item in enumerate(self._visible_items): spacing = self._spacing if (idx > 0) else self._pad_start # Nicely lay out items horizontally/vertically if self._horizontal: @@ -195,46 +200,51 @@ class Scroller(Widget): # Consider scroll if self._horizontal: - x += scroll_offset + x += self._scroll_offset else: - y += scroll_offset + y += self._scroll_offset # Add some jello effect when scrolling if DO_JELLO: if self._horizontal: cx = self._rect.x + self._rect.width / 2 - jello_offset = scroll_offset - np.interp(x + item.rect.width / 2, - [self._rect.x, cx, self._rect.x + self._rect.width], - [self._item_pos_filter.x, scroll_offset, self._item_pos_filter.x]) + jello_offset = self._scroll_offset - np.interp(x + item.rect.width / 2, + [self._rect.x, cx, self._rect.x + self._rect.width], + [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x]) x -= np.clip(jello_offset, -20, 20) else: cy = self._rect.y + self._rect.height / 2 - jello_offset = scroll_offset - np.interp(y + item.rect.height / 2, - [self._rect.y, cy, self._rect.y + self._rect.height], - [self._item_pos_filter.x, scroll_offset, self._item_pos_filter.x]) + jello_offset = self._scroll_offset - np.interp(y + item.rect.height / 2, + [self._rect.y, cy, self._rect.y + self._rect.height], + [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x]) y -= np.clip(jello_offset, -20, 20) # Update item state item.set_position(round(x), round(y)) # round to prevent jumping when settling item.set_parent_rect(self._rect) + def _render(self, _): + for item in self._visible_items: # Skip rendering if not in viewport if not rl.check_collision_recs(item.rect, self._rect): continue # Scale each element around its own origin when scrolling scale = self._zoom_filter.x - rl.rl_push_matrix() - rl.rl_scalef(scale, scale, 1.0) - rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale, - (1 - scale) * (y + item.rect.height / 2) / scale, 0) - item.render() - rl.rl_pop_matrix() + if scale != 1.0: + rl.rl_push_matrix() + rl.rl_scalef(scale, scale, 1.0) + rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale, + (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0) + item.render() + rl.rl_pop_matrix() + else: + item.render() # Draw scroll indicator - if SCROLL_BAR and not self._horizontal and len(visible_items) > 0: - _real_content_size = content_size - self._rect.height + self._txt_scroll_indicator.height - scroll_bar_y = -scroll_offset / _real_content_size * self._rect.height + if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0: + _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height + scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height) rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE) @@ -243,7 +253,7 @@ class Scroller(Widget): def show_event(self): super().show_event() if self._reset_scroll_at_show: - self.scroll_to(self.scroll_panel.get_offset()) + self.scroll_panel.set_offset(0.0) for item in self._items: item.show_event() diff --git a/system/ui/widgets/slider.py b/system/ui/widgets/slider.py index b17d8f3b7c..455cdeef71 100644 --- a/system/ui/widgets/slider.py +++ b/system/ui/widgets/slider.py @@ -24,7 +24,7 @@ class SmallSlider(Widget): self._drag_threshold = -self._rect.width // 2 # State - self._opacity = 1.0 + self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps) self._confirmed_time = 0.0 self._confirm_callback_called = False # we keep dialog open by default, only call once self._start_x_circle = 0.0 @@ -54,8 +54,11 @@ class SmallSlider(Widget): self._confirmed_time = 0.0 self._confirm_callback_called = False - def set_opacity(self, opacity: float): - self._opacity = opacity + def set_opacity(self, opacity: float, smooth: bool = False): + if smooth: + self._opacity_filter.update(opacity) + else: + self._opacity_filter.x = opacity @property def slider_percentage(self): @@ -117,7 +120,7 @@ class SmallSlider(Widget): def _render(self, _): # TODO: iOS text shimmering animation - white = rl.Color(255, 255, 255, int(255 * self._opacity)) + white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)) bg_txt_x = self._rect.x + (self._rect.width - self._bg_txt.width) / 2 bg_txt_y = self._rect.y + (self._rect.height - self._bg_txt.height) / 2 @@ -127,11 +130,11 @@ class SmallSlider(Widget): btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2 if self._confirmed_time == 0.0 or self._scroll_x_circle > 0: - self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity))) + self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity_filter.x))) label_rect = rl.Rectangle( self._rect.x + 20, self._rect.y, - self._rect.width - self._circle_bg_txt.width - 20 * 3, + self._rect.width - self._circle_bg_txt.width - 20 * 2.5, self._rect.height, ) self._label.render(label_rect) diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py index 7a3303a9e9..79ac26f1c6 100755 --- a/system/updated/casync/casync.py +++ b/system/updated/casync/casync.py @@ -99,7 +99,7 @@ class DirectoryTarChunkReader(BinaryChunkReader): create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file)) self.f = open(cache_file, "rb") - return super().__init__(self.f) + super().__init__(self.f) def __del__(self): self.f.close() diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py index 699a0f0bd3..c4894f2711 100644 --- a/system/updated/tests/test_base.py +++ b/system/updated/tests/test_base.py @@ -133,7 +133,7 @@ class TestBaseUpdate: class ParamsBaseUpdateTest(TestBaseUpdate): def _test_finalized_update(self, branch, version, agnos_version, release_notes): assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}") - assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n" + assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode() super()._test_finalized_update(branch, version, agnos_version, release_notes) def send_check_for_updates_signal(self, updated: ManagerProcess): diff --git a/system/version.py b/system/version.py index 84d6b75591..8a0e2da3e2 100755 --- a/system/version.py +++ b/system/version.py @@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging'] TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging'] MASTER_SP_BRANCHES = ['master'] -RELEASE_BRANCHES = ['release-tizi-staging', 'release-tici', 'release-tizi', 'nightly'] +RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES SP_BRANCH_MIGRATIONS = { diff --git a/tools/Brewfile b/tools/Brewfile new file mode 100644 index 0000000000..af610be75d --- /dev/null +++ b/tools/Brewfile @@ -0,0 +1,15 @@ +brew "git-lfs" +brew "capnp" +brew "coreutils" +brew "eigen" +brew "ffmpeg" +brew "glfw" +brew "libusb" +brew "libtool" +brew "llvm" +brew "openssl@3.0" +brew "qt@5" +brew "zeromq" +cask "gcc-arm-embedded" +brew "portaudio" +brew "gcc@13" diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index eb0af5b64a..b5a68c6b26 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -275,16 +275,13 @@ void BinaryViewModel::refresh() { row_count = can->lastMessage(msg_id).dat.size(); items.resize(row_count * column_count); } - int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count); - for (int i = 0; i < valid_rows * column_count; ++i) { - items[i].valid = true; - } endResetModel(); updateState(); } void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) { auto &item = items[row * column_count + col]; + item.valid = true; if (item.val != val || item.bg_color != color) { item.val = val; item.bg_color = color; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 3e9e452b90..aba25dcf83 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -322,6 +322,32 @@ void ChartsWidget::splitChart(ChartView *src_chart) { } } +QStringList ChartsWidget::serializeChartIds() const { + QStringList chart_ids; + for (auto c : charts) { + QStringList ids; + for (const auto& s : c->sigs) + ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name); + chart_ids += ids.join(','); + } + std::reverse(chart_ids.begin(), chart_ids.end()); + return chart_ids; +} + +void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) { + for (const auto& chart_id : chart_ids) { + int index = 0; + for (const auto& part : chart_id.split(',')) { + const auto sig_parts = part.split('|'); + if (sig_parts.size() != 2) continue; + MessageId msg_id = MessageId::fromString(sig_parts[0]); + if (auto* msg = dbc()->msg(msg_id)) + if (auto* sig = msg->sig(sig_parts[1])) + showChart(msg_id, sig, true, index++ > 0); + } + } +} + void ChartsWidget::setColumnCount(int n) { n = std::clamp(n, 1, MAX_COLUMN_COUNT); if (column_count != n) { diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 46e7f546b0..f87b1276c5 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -43,6 +43,8 @@ public: ChartsWidget(QWidget *parent = nullptr); void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; } + QStringList serializeChartIds() const; + void restoreChartsFromIds(const QStringList &chart_ids); public slots: void setColumnCount(int n); diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index d2b25bc5f2..134d88a919 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -20,6 +20,12 @@ struct MessageId { return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper()); } + inline static MessageId fromString(const QString &str) { + auto parts = str.split(':'); + if (parts.size() != 2) return {}; + return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)}; + } + bool operator==(const MessageId &other) const { return source == other.source && address == other.address; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 4eda46f37b..35492c8efa 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -118,10 +118,7 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { } } -void DetailWidget::setMessage(const MessageId &message_id) { - if (std::exchange(msg_id, message_id) == message_id) return; - - tabbar->blockSignals(true); +int DetailWidget::findOrAddTab(const MessageId& message_id) { int index = tabbar->count() - 1; for (/**/; index >= 0; --index) { if (tabbar->tabData(index).value() == message_id) break; @@ -131,6 +128,14 @@ void DetailWidget::setMessage(const MessageId &message_id) { tabbar->setTabData(index, QVariant::fromValue(message_id)); tabbar->setTabToolTip(index, msgName(message_id)); } + return index; +} + +void DetailWidget::setMessage(const MessageId &message_id) { + if (std::exchange(msg_id, message_id) == message_id) return; + + tabbar->blockSignals(true); + int index = findOrAddTab(message_id); tabbar->setCurrentIndex(index); tabbar->blockSignals(false); @@ -142,6 +147,29 @@ void DetailWidget::setMessage(const MessageId &message_id) { setUpdatesEnabled(true); } +std::pair DetailWidget::serializeMessageIds() const { + QStringList msgs; + for (int i = 0; i < tabbar->count(); ++i) { + MessageId id = tabbar->tabData(i).value(); + msgs.append(id.toString()); + } + return std::make_pair(msg_id.toString(), msgs); +} + +void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) { + tabbar->blockSignals(true); + for (const auto& str_id : msg_ids) { + MessageId id = MessageId::fromString(str_id); + if (dbc()->msg(id) != nullptr) + findOrAddTab(id); + } + tabbar->blockSignals(false); + + auto active_id = MessageId::fromString(active_msg_id); + if (dbc()->msg(active_id) != nullptr) + setMessage(active_id); +} + void DetailWidget::refresh() { QStringList warnings; auto msg = dbc()->msg(msg_id); @@ -244,13 +272,13 @@ CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(welcome_widget = createWelcomeWidget()); } -void CenterWidget::setMessage(const MessageId &msg_id) { +DetailWidget* CenterWidget::ensureDetailWidget() { if (!detail_widget) { delete welcome_widget; welcome_widget = nullptr; layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this)); } - detail_widget->setMessage(msg_id); + return detail_widget; } void CenterWidget::clear() { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 6df164b442..0fe1535c7a 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -34,9 +34,12 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &message_id); void refresh(); + std::pair serializeMessageIds() const; + void restoreTabs(const QString active_msg_id, const QStringList &msg_ids); private: void createToolBar(); + int findOrAddTab(const MessageId& message_id); void showTabBarContextMenu(const QPoint &pt); void editMsg(); void removeMsg(); @@ -60,7 +63,9 @@ class CenterWidget : public QWidget { Q_OBJECT public: CenterWidget(QWidget *parent); - void setMessage(const MessageId &msg_id); + void setMessage(const MessageId &message_id) { ensureDetailWidget()->setMessage(message_id); } + DetailWidget* getDetailWidget() { return detail_widget; } + DetailWidget* ensureDetailWidget(); void clear(); private: diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d65fc5b760..1ea3733ed0 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -235,6 +235,8 @@ void MainWindow::DBCFileChanged() { title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); } setWindowFilePath(title.join(" | ")); + + QTimer::singleShot(0, this, &::MainWindow::restoreSessionState); } void MainWindow::selectAndOpenStream() { @@ -311,11 +313,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { } void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) { + if (can) { + QObject::connect(can, &QObject::destroyed, this, [=]() { startStream(stream, dbc_file); }); + can->deleteLater(); + } else { + startStream(stream, dbc_file); + } +} + +void MainWindow::startStream(AbstractStream *stream, QString dbc_file) { center_widget->clear(); delete messages_widget; delete video_splitter; - delete can; can = stream; can->setParent(this); // take ownership can->start(); @@ -563,6 +573,7 @@ void MainWindow::closeEvent(QCloseEvent *event) { settings.message_header_state = messages_widget->saveHeaderState(); } + saveSessionState(); QWidget::closeEvent(event); } @@ -607,6 +618,39 @@ void MainWindow::toggleFullScreen() { } } +void MainWindow::saveSessionState() { + settings.recent_dbc_file = ""; + settings.active_msg_id = ""; + settings.selected_msg_ids.clear(); + settings.active_charts.clear(); + + for (auto &f : dbc()->allDBCFiles()) + if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; } + + if (auto *detail = center_widget->getDetailWidget()) { + auto [active_id, ids] = detail->serializeMessageIds(); + settings.active_msg_id = active_id; + settings.selected_msg_ids = ids; + } + if (charts_widget) + settings.active_charts = charts_widget->serializeChartIds(); +} + +void MainWindow::restoreSessionState() { + if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return; + + QString dbc_file; + for (auto& f : dbc()->allDBCFiles()) + if (!f->isEmpty()) { dbc_file = f->filename; break; } + if (dbc_file != settings.recent_dbc_file) return; + + if (!settings.selected_msg_ids.isEmpty()) + center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids); + + if (charts_widget != nullptr && !settings.active_charts.empty()) + charts_widget->restoreChartsFromIds(settings.active_charts); +} + // HelpOverlay HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground, true); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 9bc94c090f..92c2714ae7 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -44,6 +44,7 @@ signals: void updateProgressBar(uint64_t cur, uint64_t total, bool success); protected: + void startStream(AbstractStream *stream, QString dbc_file); bool eventFilter(QObject *obj, QEvent *event) override; void remindSaveChanges(); void closeFile(SourceSet s = SOURCE_ALL); @@ -72,6 +73,8 @@ protected: void updateLoadSaveMenus(); void createDockWidgets(); void eventsMerged(); + void saveSessionState(); + void restoreSessionState(); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index cccc9b6d9a..e7b1129a30 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -41,6 +41,10 @@ void settings_op(SettingOperation op) { op(s, "log_path", settings.log_path); op(s, "drag_direction", (int &)settings.drag_direction); op(s, "suppress_defined_signals", settings.suppress_defined_signals); + op(s, "recent_dbc_file", settings.recent_dbc_file); + op(s, "active_msg_id", settings.active_msg_id); + op(s, "selected_msg_ids", settings.selected_msg_ids); + op(s, "active_charts", settings.active_charts); } Settings::Settings() { diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index e75c519ac7..7ab50d1494 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -46,6 +46,12 @@ public: QByteArray message_header_state; DragDirection drag_direction = MsbFirst; + // session data + QString recent_dbc_file; + QString active_msg_id; + QStringList selected_msg_ids; + QStringList active_charts; + signals: void changed(); }; diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 6de63dfbbc..462dd7a361 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -3,6 +3,8 @@ #include #include +#include "cereal/services.h" + #include #include #include @@ -20,7 +22,7 @@ void DeviceStream::streamThread() { std::unique_ptr context(Context::create()); std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); - std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); + std::unique_ptr sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size)); assert(sock != NULL); // run as fast as messages come in while (!QThread::currentThread()->isInterruptionRequested()) { diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index cdbaca32cf..c2db249cf2 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -1,5 +1,5 @@ #!/usr/bin/env bash -set -e +set -euo pipefail # Increase the pip timeout to handle TimeoutError export PIP_DEFAULT_TIMEOUT=200 @@ -10,7 +10,7 @@ cd "$ROOT" if ! command -v "uv" > /dev/null 2>&1; then echo "installing uv..." - curl -LsSf https://astral.sh/uv/install.sh | sh + curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh UV_BIN="$HOME/.local/bin" PATH="$UV_BIN:$PATH" fi diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index 673a5bc1d0..789dad5623 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -48,6 +48,7 @@ def joystickd_thread(): if CC.longActive: actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1)) actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping + CC.cruiseControl.resume = actuators.accel > 0.0 if CC.latActive: max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5) diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index ee9ee294bb..f5418be81a 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,4 +1,5 @@ import os +import io import posixpath import socket from functools import cache @@ -41,9 +42,17 @@ def file_exists(fn): return URLFile(fn).get_length_online() != -1 return os.path.exists(fn) +class DiskFile(io.BufferedReader): + def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]: + parts = [] + for r in ranges: + self.seek(r[0]) + parts.append(self.read(r[1] - r[0])) + return parts -def FileReader(fn, debug=False): +def FileReader(fn): fn = resolve_name(fn) if fn.startswith(("http://", "https://")): - return URLFile(fn, debug=debug) - return open(fn, "rb") + return URLFile(fn) + else: + return DiskFile(open(fn, "rb")) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 8d84cdbd5d..f9a90490b9 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -181,6 +181,8 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) # We've found all files, return them if len(needed_seg_idxs) == 0: return cast(list[str], list(valid_files.values())) + else: + raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}") except Exception as e: exceptions[source.__name__] = e diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 31c1e0ff11..c791444f74 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,14 +1,15 @@ +import re import logging import os import socket -import time from hashlib import sha256 from urllib3 import PoolManager, Retry from urllib3.response import BaseHTTPResponse from urllib3.util import Timeout -from openpilot.common.utils import atomic_write_in_dir +from openpilot.common.utils import atomic_write from openpilot.system.hardware.hw import Paths +from urllib3.exceptions import MaxRetryError # Cache chunk size K = 1000 @@ -40,12 +41,11 @@ class URLFile: URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries) return URLFile._pool_manager - def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None): + def __init__(self, url: str, timeout: int = 10, cache: bool | None = None): self._url = url self._timeout = Timeout(connect=timeout, read=timeout) self._pos = 0 self._length: int | None = None - self._debug = debug # True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0")) if cache is not None: @@ -61,7 +61,10 @@ class URLFile: pass def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse: - return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers) + try: + return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers) + except MaxRetryError as e: + raise URLFileException(f"Failed to {method} {url}: {e}") from e def get_length_online(self) -> int: response = self._request('HEAD', self._url) @@ -83,7 +86,7 @@ class URLFile: self._length = self.get_length_online() if not self._force_download and self._length != -1: - with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length: + with atomic_write(file_length_path, mode="w", overwrite=True) as file_length: file_length.write(str(self._length)) return self._length @@ -106,7 +109,7 @@ class URLFile: # If we don't have a file, download it if not os.path.exists(full_path): data = self.read_aux(ll=CHUNK_SIZE) - with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file: + with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file: new_cached_file.write(data) else: with open(full_path, "rb") as cached_file: @@ -120,39 +123,45 @@ class URLFile: return response def read_aux(self, ll: int | None = None) -> bytes: - download_range = False - headers = {} - if self._pos != 0 or ll is not None: - if ll is None: - end = self.get_length() - 1 - else: - end = min(self._pos + ll, self.get_length()) - 1 - if self._pos >= end: - return b"" - headers['Range'] = f"bytes={self._pos}-{end}" - download_range = True + if ll is None: + length = self.get_length() + if length == -1: + raise URLFileException(f"Remote file is empty or doesn't exist: {self._url}") + end = length + else: + end = self._pos + ll + data = self.get_multi_range([(self._pos, end)]) + self._pos += len(data[0]) + return data[0] - if self._debug: - t1 = time.monotonic() + def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]: + # HTTP range requests are inclusive + assert all(e > s for s, e in ranges), "Range end must be greater than start" + rs = [f"{s}-{e-1}" for s, e in ranges if e > s] - response = self._request('GET', self._url, headers=headers) - ret = response.data + r = self._request("GET", self._url, headers={"Range": "bytes=" + ",".join(rs)}) + if r.status not in [200, 206]: + raise URLFileException(f"Expected 206 or 200 response {r.status} ({self._url})") - if self._debug: - t2 = time.monotonic() - if t2 - t1 > 0.1: - print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow") + ctype = (r.headers.get("content-type") or "").lower() + if "multipart/byteranges" not in ctype: + return [r.data,] - response_code = response.status - if response_code == 416: # Requested Range Not Satisfiable - raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(ret)[:500]}") - if download_range and response_code != 206: # Partial Content - raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(ret)[:500]}") - if (not download_range) and response_code != 200: # OK - raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(ret)[:500]}") + m = re.search(r'boundary="?([^";]+)"?', ctype) + if not m: + raise URLFileException(f"Missing multipart boundary ({self._url})") + boundary = m.group(1).encode() - self._pos += len(ret) - return ret + parts = [] + for chunk in r.data.split(b"--" + boundary): + if b"\r\n\r\n" not in chunk: + continue + payload = chunk.split(b"\r\n\r\n", 1)[1].rstrip(b"\r\n") + if payload and payload != b"--": + parts.append(payload) + if len(parts) != len(ranges): + raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})") + return parts def seek(self, pos: int) -> None: self._pos = pos diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 0ae0b35359..ae8a1974ac 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -32,23 +32,7 @@ else brew up fi -brew bundle --file=- <<-EOS -brew "git-lfs" -brew "capnp" -brew "coreutils" -brew "eigen" -brew "ffmpeg" -brew "glfw" -brew "libusb" -brew "libtool" -brew "llvm" -brew "openssl@3.0" -brew "qt@5" -brew "zeromq" -cask "gcc-arm-embedded" -brew "portaudio" -brew "gcc@13" -EOS +brew bundle --file=$DIR/Brewfile echo "[ ] finished brew install t=$SECONDS" diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index bdbdb3e841..a57c8a125d 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -117,7 +117,12 @@ void ConsoleUI::initWindows() { w[Win::Log] = newwin(log_height - 2, max_width - 2 * BORDER_SIZE, 18, BORDER_SIZE); scrollok(w[Win::Log], true); } - w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE); + if (max_height >= 23) { + w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE); + } else if (max_height >= 17) { + w[Win::Help] = newwin(1, max_width - (2 * BORDER_SIZE), max_height - 1, BORDER_SIZE); + mvwprintw(w[Win::Help], 0, 0, "Expand screen vertically to list available commands"); + } // set the title bar wbkgd(w[Win::Title], A_REVERSE); @@ -126,7 +131,7 @@ void ConsoleUI::initWindows() { // show windows on the real screen refresh(); displayTimelineDesc(); - displayHelp(); + if (max_height >= 23) displayHelp(); updateSummary(); updateTimeline(); for (auto win : w) { diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index c9ab7e7e2b..cc105dd10e 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -31,6 +31,8 @@ void Replay::setupServices(const std::vector &allow, const std::vec sockets_.resize(event_schema.getUnionFields().size(), nullptr); std::vector active_services; + active_services.reserve(services.size()); + for (const auto &[name, _] : services) { bool is_blocked = std::find(block.begin(), block.end(), name) != block.end(); bool is_allowed = allow.empty() || std::find(allow.begin(), allow.end(), name) != allow.end(); @@ -40,7 +42,9 @@ void Replay::setupServices(const std::vector &allow, const std::vec active_services.push_back(name.c_str()); } } - rInfo("active services: %s", join(active_services, ", ").c_str()); + + std::string services_str = join(active_services, ", "); + rInfo("active services: %s", services_str.c_str()); if (!sm_) { pm_ = std::make_unique(active_services); } @@ -59,7 +63,6 @@ void Replay::setupSegmentManager(bool has_filters) { } Replay::~Replay() { - seg_mgr_.reset(); if (stream_thread_.joinable()) { rInfo("shutdown: in progress..."); interruptStream([this]() { @@ -70,6 +73,7 @@ Replay::~Replay() { rInfo("shutdown: done"); } camera_server_.reset(); + seg_mgr_.reset(); } bool Replay::load() { diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc index ee034fb083..f4e865d476 100644 --- a/tools/replay/seg_mgr.cc +++ b/tools/replay/seg_mgr.cc @@ -91,7 +91,8 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm auto &merged_events = merged_event_data->events; merged_events.reserve(total_event_count); - rDebug("merging segments: %s", join(segments_to_merge, ", ").c_str()); + std::string segments_str = join(segments_to_merge, ", "); + rDebug("merging segments: %s", segments_str.c_str()); for (int n : segments_to_merge) { const auto &events = segments_.at(n)->log->events; if (events.empty()) continue; diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py deleted file mode 100755 index e5a7a3ffde..0000000000 --- a/tools/replay/unlog_ci_segment.py +++ /dev/null @@ -1,108 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import bisect -import select -import sys -import termios -import time -import tty -from collections import defaultdict - -import cereal.messaging as messaging -from openpilot.tools.lib.framereader import FrameReader -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.openpilotci import get_url - -IGNORE = ['initData', 'sentinel'] - - -def input_ready(): - return select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []) - - -def replay(route, segment, loop): - route = route.replace('|', '/') - - lr = LogReader(get_url(route, segment, "rlog.bz2")) - fr = FrameReader(get_url(route, segment, "fcamera.hevc"), readahead=True) - - # Build mapping from frameId to segmentId from roadEncodeIdx, type == fullHEVC - msgs = [m for m in lr if m.which() not in IGNORE] - msgs = sorted(msgs, key=lambda m: m.logMonoTime) - times = [m.logMonoTime for m in msgs] - frame_idx = {m.roadEncodeIdx.frameId: m.roadEncodeIdx.segmentId for m in msgs if m.which() == 'roadEncodeIdx' and m.roadEncodeIdx.type == 'fullHEVC'} - - socks = {} - lag = 0.0 - i = 0 - max_i = len(msgs) - 2 - - while True: - msg = msgs[i].as_builder() - next_msg = msgs[i + 1] - - start_time = time.monotonic() - w = msg.which() - - if w == 'roadCameraState': - try: - img = fr.get(frame_idx[msg.roadCameraState.frameId]) - img = img[:, ::-1] # Convert RGB to BGR, which is what the camera outputs - msg.roadCameraState.image = img.flatten().tobytes() - except (KeyError, ValueError): - pass - - if w not in socks: - socks[w] = messaging.pub_sock(w) - - try: - if socks[w]: - socks[w].send(msg.to_bytes()) - except messaging.messaging_pyx.MultiplePublishersError: - socks[w] = None - - lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9 - lag -= time.monotonic() - start_time - - dt = max(lag, 0.0) - lag -= dt - time.sleep(dt) - - if lag < -1.0 and i % 1000 == 0: - print(f"{-lag:.2f} s behind") - - if input_ready(): - key = sys.stdin.read(1) - - # Handle pause - if key == " ": - while True: - if input_ready() and sys.stdin.read(1) == " ": - break - time.sleep(0.01) - - # Handle seek - dt = defaultdict(int, s=10, S=-10)[key] - new_time = msgs[i].logMonoTime + dt * 1e9 - i = bisect.bisect_left(times, new_time) - - i = (i + 1) % max_i if loop else min(i + 1, max_i) - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("--loop", action='store_true') - parser.add_argument("route") - parser.add_argument("segment") - args = parser.parse_args() - - orig_settings = termios.tcgetattr(sys.stdin) - tty.setcbreak(sys.stdin) - - try: - replay(args.route, args.segment, args.loop) - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings) - except Exception: - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings) - raise diff --git a/tools/setup.sh b/tools/setup.sh index e0a9a4f6a6..fd7efcee90 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -1,6 +1,5 @@ #!/usr/bin/env bash - -set -e +set -euo pipefail RED='\033[0;31m' GREEN='\033[0;32m' diff --git a/uv.lock b/uv.lock index c34a6d9b71..b179517e0b 100644 --- a/uv.lock +++ b/uv.lock @@ -371,6 +371,41 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