diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 99d42c36e3..d2228a2079 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -8,8 +8,7 @@ jobs: build_masterci: name: build master-ci env: - TARGET_DIR: /tmp/openpilot - ImageOS: ubuntu20 + ImageOS: ubuntu24 container: image: ghcr.io/commaai/openpilot-base:latest runs-on: ubuntu-latest @@ -23,7 +22,7 @@ jobs: sudo apt-get update sudo apt-get install -y libyaml-dev - name: Wait for green check mark - if: ${{ github.event_name != 'workflow_dispatch' }} + if: ${{ github.event_name == 'schedule' }} uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc with: ref: master @@ -39,16 +38,5 @@ jobs: run: | git config --global --add safe.directory '*' git lfs pull - - name: Build master-ci - run: | - release/build_devel.sh - - name: Run tests - run: | - export PYTHONPATH=$TARGET_DIR - cd $TARGET_DIR - scons -j$(nproc) - pytest -n logical selfdrive/car/tests/test_car_interfaces.py - name: Push master-ci - run: | - unset TARGET_DIR - BRANCH=__nightly release/build_devel.sh + run: BRANCH=__nightly release/build_devel.sh diff --git a/RELEASES.md b/RELEASES.md index acdb709c9b..5d74689a2d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,8 @@ Version 0.9.9 (2025-05-23) * New driving model * New training architecture using parts from MLSIM * Steering actuation delay is now learned online +* Ford Escape 2023-24 support thanks to incognitojam! +* Ford Kuga 2024 support thanks to incognitojam! * Hyundai Nexo 2021 support thanks to sunnyhaibin! * Tesla Model 3 and Y support thanks to lukasloetkolben! * Lexus RC 2023 support thanks to nelsonjchen! diff --git a/SConstruct b/SConstruct index f62c5b13af..02126f6359 100644 --- a/SConstruct +++ b/SConstruct @@ -369,7 +369,6 @@ SConscript([ ]) if arch != "Darwin": SConscript([ - 'system/sensord/SConscript', 'system/logcatd/SConscript', ]) diff --git a/common/SConscript b/common/SConscript index 829db6eeec..3cdb6fc5a2 100644 --- a/common/SConscript +++ b/common/SConscript @@ -4,14 +4,10 @@ common_libs = [ 'params.cc', 'swaglog.cc', 'util.cc', - 'i2c.cc', 'watchdog.cc', 'ratekeeper.cc' ] -if arch != "Darwin": - common_libs.append('gpio.cc') - _common = env.Library('common', common_libs, LIBS="json11") files = [ diff --git a/common/gpio.cc b/common/gpio.cc deleted file mode 100644 index dd7ba34b6d..0000000000 --- a/common/gpio.cc +++ /dev/null @@ -1,84 +0,0 @@ -#include "common/gpio.h" - -#include - -#ifdef __APPLE__ -int gpio_init(int pin_nr, bool output) { - return 0; -} - -int gpio_set(int pin_nr, bool high) { - return 0; -} - -int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { - return 0; -} - -#else - -#include -#include - -#include -#include -#include - -#include "common/util.h" -#include "common/swaglog.h" - -int gpio_init(int pin_nr, bool output) { - char pin_dir_path[50]; - int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path), - "/sys/class/gpio/gpio%d/direction", pin_nr); - if (pin_dir_path_len <= 0) { - return -1; - } - const char *value = output ? "out" : "in"; - return util::write_file(pin_dir_path, (void*)value, strlen(value)); -} - -int gpio_set(int pin_nr, bool high) { - char pin_val_path[50]; - int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path), - "/sys/class/gpio/gpio%d/value", pin_nr); - if (pin_val_path_len <= 0) { - return -1; - } - return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1); -} - -int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { - - // Assumed that all interrupt pins are unexported and rights are given to - // read from gpiochip0. - std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id); - int fd = open(gpiochip_path.c_str(), O_RDONLY); - if (fd < 0) { - LOGE("Error opening gpiochip0 fd"); - return -1; - } - - // Setup event - struct gpioevent_request rq; - rq.lineoffset = pin_nr; - rq.handleflags = GPIOHANDLE_REQUEST_INPUT; - - /* Requesting both edges as the data ready pulse from the lsm6ds sensor is - very short(75us) and is mostly detected as falling edge instead of rising. - So if it is detected as rising the following falling edge is skipped. */ - rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; - - strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1); - int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); - if (ret == -1) { - LOGE("Unable to get line event from ioctl : %s", strerror(errno)); - close(fd); - return -1; - } - - close(fd); - return rq.fd; -} - -#endif diff --git a/common/gpio.h b/common/gpio.h deleted file mode 100644 index 89cdedd66c..0000000000 --- a/common/gpio.h +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once - -// Pin definitions -#ifdef QCOM2 - #define GPIO_HUB_RST_N 30 - #define GPIO_UBLOX_RST_N 32 - #define GPIO_UBLOX_SAFEBOOT_N 33 - #define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ - #define GPIO_STM_RST_N 124 - #define GPIO_STM_BOOT0 134 - #define GPIO_BMX_ACCEL_INT 21 - #define GPIO_BMX_GYRO_INT 23 - #define GPIO_BMX_MAGN_INT 87 - #define GPIO_LSM_INT 84 - #define GPIOCHIP_INT 0 -#else - #define GPIO_HUB_RST_N 0 - #define GPIO_UBLOX_RST_N 0 - #define GPIO_UBLOX_SAFEBOOT_N 0 - #define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ - #define GPIO_STM_RST_N 0 - #define GPIO_STM_BOOT0 0 - #define GPIO_BMX_ACCEL_INT 0 - #define GPIO_BMX_GYRO_INT 0 - #define GPIO_BMX_MAGN_INT 0 - #define GPIO_LSM_INT 0 - #define GPIOCHIP_INT 0 -#endif - -int gpio_init(int pin_nr, bool output); -int gpio_set(int pin_nr, bool high); - -int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr); diff --git a/common/gpio.py b/common/gpio.py index 66b2adf438..8f025a2daf 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,4 +1,6 @@ import os +import fcntl +import ctypes from functools import cache def gpio_init(pin: int, output: bool) -> None: @@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]: if irq.isdigit() and action in get_irq_action(irq): ret.append(irq) return ret + +# *** gpiochip *** + +class gpioevent_data(ctypes.Structure): + _fields_ = [ + ("timestamp", ctypes.c_uint64), + ("id", ctypes.c_uint32), + ] + +class gpioevent_request(ctypes.Structure): + _fields_ = [ + ("lineoffset", ctypes.c_uint32), + ("handleflags", ctypes.c_uint32), + ("eventflags", ctypes.c_uint32), + ("label", ctypes.c_char * 32), + ("fd", ctypes.c_int) + ] + +def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int: + GPIOEVENT_REQUEST_BOTH_EDGES = 0x3 + GPIOHANDLE_REQUEST_INPUT = 0x1 + GPIO_GET_LINEEVENT_IOCTL = 0xc030b404 + + rq = gpioevent_request() + rq.lineoffset = pin + rq.handleflags = GPIOHANDLE_REQUEST_INPUT + rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES + rq.label = label.encode('utf-8')[:31] + b'\0' + + fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY) + fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq) + os.close(fd) + return int(rq.fd) diff --git a/common/i2c.cc b/common/i2c.cc deleted file mode 100644 index 3d6c79efc5..0000000000 --- a/common/i2c.cc +++ /dev/null @@ -1,92 +0,0 @@ -#include "common/i2c.h" - -#include -#include -#include - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -#define UNUSED(x) (void)(x) - -#ifdef QCOM2 -// TODO: decide if we want to install libi2c-dev everywhere -extern "C" { - #include - #include -} - -I2CBus::I2CBus(uint8_t bus_id) { - char bus_name[20]; - snprintf(bus_name, 20, "/dev/i2c-%d", bus_id); - - i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR)); - if (i2c_fd < 0) { - throw std::runtime_error("Failed to open I2C bus"); - } -} - -I2CBus::~I2CBus() { - if (i2c_fd >= 0) { - close(i2c_fd); - } -} - -int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { - std::lock_guard lk(m); - - int ret = 0; - - ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if (ret < 0) { goto fail; } - - ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer); - if ((ret < 0) || (ret != len)) { goto fail; } - -fail: - return ret; -} - -int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) { - std::lock_guard lk(m); - - int ret = 0; - - ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if (ret < 0) { goto fail; } - - ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data); - if (ret < 0) { goto fail; } - -fail: - return ret; -} - -#else - -I2CBus::I2CBus(uint8_t bus_id) { - UNUSED(bus_id); - i2c_fd = -1; -} - -I2CBus::~I2CBus() {} - -int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { - UNUSED(device_address); - UNUSED(register_address); - UNUSED(buffer); - UNUSED(len); - return -1; -} - -int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) { - UNUSED(device_address); - UNUSED(register_address); - UNUSED(data); - return -1; -} -#endif diff --git a/common/i2c.h b/common/i2c.h deleted file mode 100644 index ca0d4635b8..0000000000 --- a/common/i2c.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include - -#include - -class I2CBus { - private: - int i2c_fd; - std::mutex m; - - public: - I2CBus(uint8_t bus_id); - ~I2CBus(); - - int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len); - int set_register(uint8_t device_address, uint register_address, uint8_t data); -}; diff --git a/common/model.h b/common/model.h index ac01b27691..6a3286acce 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "Vegan Filet O Fish (Default)" +#define DEFAULT_MODEL "Filet o Fish (Default)" diff --git a/common/params_keys.h b/common/params_keys.h index cfb71b9d9d..f468ac0108 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -93,6 +93,7 @@ inline static std::unordered_map keys = { {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, + {"OnroadCycleRequested", CLEAR_ON_MANAGER_START}, {"OpenpilotEnabledToggle", PERSISTENT | BACKUP}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, diff --git a/common/util.py b/common/util.py index 33885a9024..e6ddb46e7b 100644 --- a/common/util.py +++ b/common/util.py @@ -1,3 +1,25 @@ +import os +import subprocess + +def sudo_write(val: str, path: str) -> None: + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + os.system(f"sudo chmod a+w {path}") + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + # fallback for debugfs files + os.system(f"sudo su -c 'echo {val} > {path}'") + +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() + except Exception: + return "" + class MovingAverage: def __init__(self, window_size: int): self.window_size: int = window_size diff --git a/launch_env.sh b/launch_env.sh index 6f31fcf776..29e3e38905 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.2" + export AGNOS_VERSION="12.3" fi export STAGING_ROOT="/data/safe_staging" diff --git a/msgq_repo b/msgq_repo index a144e41d5f..fd7bd0df50 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit a144e41d5ff382177b979bafeab54cf8d39f6f3e +Subproject commit fd7bd0df50a95dca3f180705721aa1fa300aef0f diff --git a/opendbc_repo b/opendbc_repo index db2bb8a2fe..3ff688313c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit db2bb8a2fe677f37097632531ae45265ffa62d26 +Subproject commit 3ff688313c363448cbe3a603814cfeefd26483f9 diff --git a/panda b/panda index 5a1b1c9225..5f4742c39e 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5a1b1c9225206e9a4d11e06790f5a571de7fa674 +Subproject commit 5f4742c39e9fc3690c4318ebf2ee8f3b83bfc8a9 diff --git a/scripts/usb.sh b/scripts/usb.sh new file mode 100755 index 0000000000..5796cfa028 --- /dev/null +++ b/scripts/usb.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash + +# testing the GPU box + +export XDG_CACHE_HOME=/data/tinycache +mkdir -p $XDG_CACHE_HOME + +cd /data/openpilot/tinygrad_repo/examples +while true; do + AMD=1 AMD_IFACE=usb python ./beautiful_cartpole.py + sleep 1 +done diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index ed9a2d1cd3..62dc818cd9 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -87,6 +87,8 @@ class Car: self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan']) + is_release = self.params.get_bool("IsReleaseBranch") + if CI is None: # wait for one pandaState and one CAN packet print("Waiting for CAN messages...") @@ -106,7 +108,7 @@ class Car: fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None) - self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint) + self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint) sunnypilot_interfaces.setup_interfaces(self.CI, self.params) self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP) self.CP = self.CI.CP @@ -134,7 +136,7 @@ class Car: safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] - if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"): + if self.CP.secOcRequired and not is_release: # Copy user key if available try: with open("/cache/params/SecOCKey") as f: diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 75e5467b7e..7d136b824c 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -42,7 +42,7 @@ class TestCarInterfaces: args = get_fuzzy_car_interface_args(data.draw) car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], - alpha_long=args['alpha_long'], docs=False) + alpha_long=args['alpha_long'], is_release=False, docs=False) car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'], alpha_long=args['alpha_long'], docs=False) car_params = car_params.as_reader() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ae5f57db9d..a880e06fca 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -153,7 +153,7 @@ class TestCarModelBase(unittest.TestCase): cls.openpilot_enabled = cls.car_safety_mode_frame is not None cls.CarInterface = interfaces[cls.platform] - cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False) + cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False) cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False) assert cls.CP assert cls.CP_SP diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 5da6d85300..3601bbb5da 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:abbb1f5a74a6d047ed4b7f376b19451a9443986660f136afd0f8d76fc254a579 -size 15976894 +oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 +size 15966721 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 6c8cf592b0..aee6d8f1bf 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 sha256:6dfffac033d7ae8e68aa5763bd9b5dd99ddc748f6a95523c84fc2523eefdec55 +oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 size 34882971 diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 695111bd58..3e48718002 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -192,6 +192,16 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5) +def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + text = "Toggle stock LKAS on or off to engage" + if CP.brand == "tesla": + text = "Switch to Traffic-Aware Cruise Control to engage" + elif CP.brand == "mazda": + text = "Enable your car's LKAS to engage" + elif CP.brand == "nissan": + text = "Disable your car's stock LKAS to engage" + return NormalPermanentAlert("Invalid LKAS setting", text) + EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** @@ -245,8 +255,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.invalidLkasSetting: { - ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting", - "Toggle stock LKAS on or off to engage"), + ET.PERMANENT: invalid_lkas_setting_alert, ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"), }, diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index e32d7dfb23..4c2e44ed9d 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -544,6 +544,7 @@ class SelfdriveD(CruiseHelper): def params_thread(self, evt): while not evt.is_set(): self.is_metric = self.params.get_bool("IsMetric") + self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl self.personality = self.read_personality_param() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index be7411ef70..8966be7e20 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params) + _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params) CP, CP_SP = _CI.CP, _CI.CP_SP params.put("CarParams", CP.to_bytes()) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index d0c725cacb..f98e3bd88c 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -40,14 +40,14 @@ PROCS = { "selfdrive.selfdrived.selfdrived": 16.0, "selfdrive.car.card": 26.0, "./loggerd": 14.0, - "./encoderd": 17.0, + "./encoderd": 13.0, "./camerad": 10.0, - "selfdrive.controls.plannerd": 9.0, + "selfdrive.controls.plannerd": 8.0, "./ui": 18.0, - "./sensord": 7.0, + "system.sensord.sensord": 13.0, "selfdrive.controls.radard": 2.0, "selfdrive.modeld.modeld": 22.0, - "selfdrive.modeld.dmonitoringmodeld": 21.0, + "selfdrive.modeld.dmonitoringmodeld": 18.0, "system.hardware.hardwared": 4.0, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 1e8ebb957f..05d407d10c 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,6 +1,5 @@ -import os import json -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') base_libs = [common, messaging, visionipc, transformations, 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] @@ -83,8 +82,15 @@ if GetOption('extras'): if arch != "Darwin": # build installers - senv = qt_env.Clone() - senv['LINKFLAGS'].append('-Wl,-strip-debug') + raylib_env = env.Clone() + raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/'] + raylib_env['LINKFLAGS'].append('-Wl,-strip-debug') + + raylib_libs = common + ["raylib"] + if arch == "larch64": + raylib_libs += ["GLESv2", "wayland-client", "wayland-egl", "EGL"] + else: + raylib_libs += ["GL"] release = "release3" installers = [ @@ -94,17 +100,19 @@ if GetOption('extras'): ("openpilot_internal", "nightly-dev"), ] - cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh", - "ld -r -b binary -o $TARGET $SOURCE") + cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh", + "ld -r -b binary -o $TARGET $SOURCE") + inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf", + "ld -r -b binary -o $TARGET $SOURCE") for name, branch in installers: d = {'BRANCH': f"'\"{branch}\"'"} if "internal" in name: d['INTERNAL'] = "1" - obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) - f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs) + obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) + f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs) # keep installers small - assert f[0].get_size() < 370*1e3 + assert f[0].get_size() < 1300*1e3, f[0].get_size() # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 84486e61be..7326e089ab 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -1,19 +1,15 @@ -#include - -#include +#include +#include #include #include -#include - -#include -#include -#include -#include +#include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/ui/installer/installer.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" +#include "third_party/raylib/include/raylib.h" + +int freshClone(); +int cachedFetch(const std::string &cache); +int executeGitCommand(const std::string &cmd); std::string get_str(std::string const s) { std::string::size_type pos = s.find('?'); @@ -28,136 +24,108 @@ const std::string BRANCH_STR = get_str(BRANCH "? #define GIT_SSH_URL "git@github.com:commaai/openpilot.git" #define CONTINUE_PATH "/data/continue.sh" -const QString CACHE_PATH = "/data/openpilot.cache"; +const std::string CACHE_PATH = "/data/openpilot.cache"; #define INSTALL_PATH "/data/openpilot" #define TMP_INSTALL_PATH "/data/tmppilot" extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start"); extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end"); +extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start"); +extern const uint8_t inter_ttf_end[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_end"); + +Font font; void run(const char* cmd) { int err = std::system(cmd); assert(err == 0); } -Installer::Installer(QWidget *parent) : QWidget(parent) { - QVBoxLayout *layout = new QVBoxLayout(this); - layout->setContentsMargins(150, 290, 150, 150); - layout->setSpacing(0); - - QLabel *title = new QLabel(tr("Installing...")); - title->setStyleSheet("font-size: 90px; font-weight: 600;"); - layout->addWidget(title, 0, Qt::AlignTop); - - layout->addSpacing(170); - - bar = new QProgressBar(); - bar->setRange(0, 100); - bar->setTextVisible(false); - bar->setFixedHeight(72); - layout->addWidget(bar, 0, Qt::AlignTop); - - layout->addSpacing(30); - - val = new QLabel("0%"); - val->setStyleSheet("font-size: 70px; font-weight: 300;"); - layout->addWidget(val, 0, Qt::AlignTop); - - layout->addStretch(); - - QObject::connect(&proc, QOverload::of(&QProcess::finished), this, &Installer::cloneFinished); - QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress); - - QTimer::singleShot(100, this, &Installer::doInstall); - - setStyleSheet(R"( - * { - font-family: Inter; - color: white; - background-color: black; - } - QProgressBar { - border: none; - background-color: #292929; - } - QProgressBar::chunk { - background-color: #364DEF; - } - )"); +void renderProgress(int progress) { + BeginDrawing(); + ClearBackground(BLACK); + DrawTextEx(font, "Installing...", (Vector2){150, 290}, 110, 0, WHITE); + Rectangle bar = {150, 570, (float)GetScreenWidth() - 300, 72}; + DrawRectangleRec(bar, (Color){41, 41, 41, 255}); + progress = std::clamp(progress, 0, 100); + bar.width *= progress / 100.0f; + DrawRectangleRec(bar, (Color){70, 91, 234, 255}); + DrawTextEx(font, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE); + EndDrawing(); } -void Installer::updateProgress(int percent) { - bar->setValue(percent); - val->setText(QString("%1%").arg(percent)); - update(); -} - -void Installer::doInstall() { +int doInstall() { // wait for valid time while (!util::system_time_valid()) { - usleep(500 * 1000); - qDebug() << "Waiting for valid time"; + util::sleep_for(500); + LOGD("Waiting for valid time"); } // cleanup previous install attempts run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH); // do the install - if (QDir(CACHE_PATH).exists()) { - cachedFetch(CACHE_PATH); + if (util::file_exists(CACHE_PATH)) { + return cachedFetch(CACHE_PATH); } else { - freshClone(); + return freshClone(); } } -void Installer::freshClone() { - qDebug() << "Doing fresh clone"; - proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(), - "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH}); +int freshClone() { + LOGD("Doing fresh clone"); + std::string cmd = util::string_format("git clone --progress %s -b %s --depth=1 --recurse-submodules %s 2>&1", + GIT_URL.c_str(), BRANCH_STR.c_str(), TMP_INSTALL_PATH); + return executeGitCommand(cmd); } -void Installer::cachedFetch(const QString &cache) { - qDebug() << "Fetching with cache: " << cache; +int cachedFetch(const std::string &cache) { + LOGD("Fetching with cache: %s", cache.c_str()); - run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str()); - int err = chdir(TMP_INSTALL_PATH); - assert(err == 0); - run(("git remote set-branches --add origin " + BRANCH_STR).c_str()); + run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str()); + run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, BRANCH_STR.c_str()).c_str()); - updateProgress(10); + renderProgress(10); - proc.setWorkingDirectory(TMP_INSTALL_PATH); - proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()}); + return executeGitCommand(util::string_format("cd %s && git fetch --progress origin %s 2>&1", TMP_INSTALL_PATH, BRANCH_STR.c_str())); } -void Installer::readProgress() { - const QVector> stages = { +int executeGitCommand(const std::string &cmd) { + static const std::array stages = { // prefix, weight in percentage - {"Receiving objects: ", 91}, - {"Resolving deltas: ", 2}, - {"Updating files: ", 7}, + std::pair{"Receiving objects: ", 91}, + std::pair{"Resolving deltas: ", 2}, + std::pair{"Updating files: ", 7}, }; - auto line = QString(proc.readAllStandardError()); + FILE *pipe = popen(cmd.c_str(), "r"); + if (!pipe) return -1; - int base = 0; - for (const QPair kv : stages) { - if (line.startsWith(kv.first)) { - auto perc = line.split(kv.first)[1].split("%")[0]; - int p = base + int(perc.toFloat() / 100. * kv.second); - updateProgress(p); - break; + char buffer[512]; + while (fgets(buffer, sizeof(buffer), pipe) != nullptr) { + std::string line(buffer); + int base = 0; + for (const auto &[text, weight] : stages) { + if (line.find(text) != std::string::npos) { + size_t percentPos = line.find("%"); + if (percentPos != std::string::npos && percentPos >= 3) { + int percent = std::stoi(line.substr(percentPos - 3, 3)); + int progress = base + int(percent / 100. * weight); + renderProgress(progress); + } + break; + } + base += weight; } - base += kv.second; } + return pclose(pipe); } -void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) { - qDebug() << "git finished with " << exitCode; +void cloneFinished(int exitCode) { + LOGD("git finished with %d", exitCode); assert(exitCode == 0); - updateProgress(100); + renderProgress(100); // ensure correct branch is checked out int err = chdir(TMP_INSTALL_PATH); @@ -203,13 +171,17 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) { run("mv /data/continue.sh.new " CONTINUE_PATH); // wait for the installed software's UI to take over - QTimer::singleShot(60 * 1000, &QCoreApplication::quit); + util::sleep_for(60 * 1000); } int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Installer installer; - setMainWindow(&installer); - return a.exec(); + InitWindow(2160, 1080, "Installer"); + font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0); + SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR); + renderProgress(0); + int result = doInstall(); + cloneFinished(result); + CloseWindow(); + UnloadFont(font); + return 0; } diff --git a/selfdrive/ui/installer/installer.h b/selfdrive/ui/installer/installer.h deleted file mode 100644 index de3af0ff39..0000000000 --- a/selfdrive/ui/installer/installer.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -class Installer : public QWidget { - Q_OBJECT - -public: - explicit Installer(QWidget *parent = 0); - -private slots: - void updateProgress(int percent); - - void readProgress(); - void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus); - -private: - QLabel *val; - QProgressBar *bar; - QProcess proc; - - void doInstall(); - void freshClone(); - void cachedFetch(const QString &cache); -}; diff --git a/selfdrive/ui/installer/inter-ascii.ttf b/selfdrive/ui/installer/inter-ascii.ttf new file mode 100644 index 0000000000..5d480c515a --- /dev/null +++ b/selfdrive/ui/installer/inter-ascii.ttf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ef26a4099ef867f3493389379d882381a2491cdbfa41a086be8899a2154dcb3 +size 26160 diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 7ace68ef94..41527fe692 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -190,7 +190,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Wi-Fi metered toggle std::vector metered_button_texts{tr("default"), tr("metered"), tr("unmetered")}; - wifiMeteredToggle = new MultiButtonControl(tr("Wi-Fi Network Metered"), tr("Prevent large data uploads when on a metered Wi-FI connection"), "", metered_button_texts); + wifiMeteredToggle = new MultiButtonControl(tr("Wi-Fi Network Metered"), tr("Prevent large data uploads when on a metered Wi-Fi connection"), "", metered_button_texts); QObject::connect(wifiMeteredToggle, &MultiButtonControl::buttonClicked, [=](int id) { wifiMeteredToggle->setEnabled(false); MeteredType metered = MeteredType::UNKNOWN; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 9fc3a2edf1..4a2bfd9dd3 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -17,55 +17,63 @@ #include "selfdrive/ui/qt/offroad/firehose.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { - // param, title, desc, icon - std::vector> toggle_defs{ + // param, title, desc, icon, restart needed + std::vector> toggle_defs{ { "OpenpilotEnabledToggle", tr("Enable sunnypilot"), - tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), + tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature."), "../assets/icons/chffr_wheel.png", + true, }, { "ExperimentalMode", tr("Experimental Mode"), "", "../assets/icons/experimental_white.svg", + false, }, { "DynamicExperimentalControl", tr("Enable Dynamic Experimental Control"), tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."), "../assets/offroad/icon_blank.png", + false, }, { "DisengageOnAccelerator", tr("Disengage on Accelerator Pedal"), tr("When enabled, pressing the accelerator pedal will disengage sunnypilot."), "../assets/icons/disengage_on_accelerator.svg", + false, }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), tr("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)."), "../assets/icons/warning.png", + false, }, { "AlwaysOnDM", tr("Always-On Driver Monitoring"), tr("Enable driver monitoring even when sunnypilot is not engaged."), "../assets/icons/monitoring.png", + false, }, { "RecordFront", tr("Record and Upload Driver Camera"), tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/icons/monitoring.png", + true, }, { "IsMetric", tr("Use Metric System"), tr("Display speed in km/h instead of mph."), "../assets/icons/metric.png", + false, }, }; @@ -81,12 +89,24 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // set up uiState update for personality setting QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState); - for (auto &[param, title, desc, icon] : toggle_defs) { + for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); + if (needs_restart && !locked) { + toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on.")); + + QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) { + toggle->setEnabled(!engaged); + }); + + QObject::connect(toggle, &ParamControl::toggleFlipped, [=](bool state) { + params.putBool("OnroadCycleRequested", true); + }); + } + addItem(toggle); toggles[param.toStdString()] = toggle; @@ -205,12 +225,20 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { - params.remove("CalibrationParams"); - params.remove("LiveTorqueParameters"); - params.remove("LiveParameters"); - params.remove("LiveParametersV2"); - params.remove("LiveDelay"); + if (!uiState()->engaged()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { + // Check engaged again in case it changed while the dialog was open + if (!uiState()->engaged()) { + params.remove("CalibrationParams"); + params.remove("LiveTorqueParameters"); + params.remove("LiveParameters"); + params.remove("LiveParametersV2"); + params.remove("LiveDelay"); + params.putBool("OnroadCycleRequested", true); + } + } + } else { + ConfirmationDialog::alert(tr("Disengage to Reset Calibration"), this); } }); addItem(resetCalibBtn); @@ -249,7 +277,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { for (auto btn : findChildren()) { - if (btn != pair_device) { + if (btn != pair_device && btn != resetCalibBtn) { btn->setEnabled(offroad); } } @@ -305,6 +333,7 @@ void DevicePanel::updateCalibDescription() { qInfo() << "invalid CalibrationParams"; } } + desc += tr(" Resetting calibration will restart openpilot if the car is powered on."); qobject_cast(sender())->setDescription(desc); } diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 4572873049..9498f0c3cb 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -24,6 +24,7 @@ qt_src = [ "sunnypilot/qt/offroad/settings/lateral_panel.cc", "sunnypilot/qt/offroad/settings/longitudinal_panel.cc", "sunnypilot/qt/offroad/settings/max_time_offroad.cc", + "sunnypilot/qt/offroad/settings/models_panel.cc", "sunnypilot/qt/offroad/settings/settings.cc", "sunnypilot/qt/offroad/settings/software_panel.cc", "sunnypilot/qt/offroad/settings/sunnylink_panel.cc", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc new file mode 100644 index 0000000000..d33cb550ce --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -0,0 +1,213 @@ +/** + * 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 +#include + +#include "common/model.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(50, 20, 50, 20); + + ListWidgetSP *list = new ListWidgetSP(this); + ScrollViewSP *scroller = new ScrollViewSP(list, this); + main_layout->addWidget(scroller); + + const auto current_model = GetActiveModelName(); + currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model); + currentModelLblBtn->setValue(current_model); + + connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked); + connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { + is_onroad = !offroad; + updateLabels(); + }); + connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels); + list->addItem(currentModelLblBtn); +} + + +/** + * @brief Updates the UI with bundle download progress information + * Reads status from modelManagerSP cereal message and displays status for all models + */ +void ModelsPanel::handleBundleDownloadProgress() { + using DS = cereal::ModelManagerSP::DownloadStatus; + if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) { + currentModelLblBtn->setDescription(tr("No custom model selected!")); + return; + } + + const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED); + const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle(); + const auto &models = bundle.getModels(); + download_status = bundle.getStatus(); + const auto download_status_changed = prev_download_status != download_status; + QStringList status; + + // Get status for each model type in order + for (const auto &model: models) { + QString typeName; + QString modelName = QString::fromStdString(bundle.getDisplayName()); + + switch (model.getType()) { + case cereal::ModelManagerSP::Model::Type::SUPERCOMBO: + typeName = tr("Driving"); + break; + case cereal::ModelManagerSP::Model::Type::NAVIGATION: + typeName = tr("Navigation"); + break; + case cereal::ModelManagerSP::Model::Type::VISION: + typeName = tr("Vision"); + break; + case cereal::ModelManagerSP::Model::Type::POLICY: + typeName = tr("Policy"); + break; + } + + const auto &progress = model.getArtifact().getDownloadProgress(); + QString line; + + if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) { + line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2); + } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) { + line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready")); + } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) { + line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready")); + } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) { + line = tr("%1 model [%2] download failed").arg(typeName, modelName); + } else { + line = tr("%1 model [%2] pending...").arg(typeName, modelName); + } + status.append(line); + } + + currentModelLblBtn->setDescription(status.join("\n")); + + if (prev_download_status != download_status) { + switch (bundle.getStatus()) { + case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING: + case cereal::ModelManagerSP::DownloadStatus::CACHED: + case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED: + currentModelLblBtn->showDescription(); + break; + case cereal::ModelManagerSP::DownloadStatus::FAILED: + default: + break; + } + } + prev_download_status = download_status; +} + +/** + * @brief Gets the name of the currently selected model bundle + * @return Display name of the selected bundle or default model name + */ +QString ModelsPanel::GetActiveModelName() { + if (model_manager.hasActiveBundle()) { + return QString::fromStdString(model_manager.getActiveBundle().getDisplayName()); + } + + return DEFAULT_MODEL; +} + +void ModelsPanel::updateModelManagerState() { + const SubMaster &sm = *(uiStateSP()->sm); + model_manager = sm["modelManagerSP"].getModelManagerSP(); +} + +/** + * @brief Handles the model bundle selection button click + * Displays available bundles, allows selection, and initiates download + */ +void ModelsPanel::handleCurrentModelLblBtnClicked() { + currentModelLblBtn->setEnabled(false); + currentModelLblBtn->setValue(tr("Fetching models...")); + + // Create mapping of bundle indices to display names + QMap index_to_bundle; + const auto bundles = model_manager.getAvailableBundles(); + for (const auto &bundle: bundles) { + index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName())); + } + + // Sort bundles by index in descending order + QStringList bundleNames; + // Add "Default" as the first option + bundleNames.append(tr("Use Default")); + + auto indices = index_to_bundle.keys(); + std::sort(indices.begin(), indices.end(), std::greater()); + for (const auto &index: indices) { + bundleNames.append(index_to_bundle[index]); + } + + currentModelLblBtn->setValue(GetActiveModelName()); + + const QString selectedBundleName = MultiOptionDialog::getSelection( + tr("Select a Model"), bundleNames, GetActiveModelName(), this); + + if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) { + return; + } + + // Handle "Stock" selection differently + if (selectedBundleName == tr("Use Default")) { + params.remove("ModelManager_ActiveBundle"); + currentModelLblBtn->setValue(tr("Default")); + showResetParamsDialog(); + } else { + // Find selected bundle and initiate download + for (const auto &bundle: bundles) { + if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) { + params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex())); + if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) { + showResetParamsDialog(); + } + break; + } + } + } + + updateLabels(); +} + +/** + * @brief Updates the UI elements based on current state + */ +void ModelsPanel::updateLabels() { + if (!isVisible()) { + return; + } + + updateModelManagerState(); + handleBundleDownloadProgress(); + currentModelLblBtn->setEnabled(!is_onroad && !isDownloading()); + currentModelLblBtn->setValue(GetActiveModelName()); +} + +/** + * @brief Shows dialog prompting user to reset calibration after model download + */ +void ModelsPanel::showResetParamsDialog() { + const auto confirmMsg = QString("%1

%2

%3") + .arg(tr("Model download has started in the background.")) + .arg(tr("We STRONGLY suggest you to reset calibration.")) + .arg(tr("Would you like to do that now?")); + const auto button_text = tr("Reset Calibration"); + + QString content("

" + tr("Driving Model Selector") + "


" + "

" + confirmMsg + "

"); + + if (showConfirmationDialog(content, button_text, false)) { + params.remove("CalibrationParams"); + params.remove("LiveTorqueParameters"); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h new file mode 100644 index 0000000000..4ba526651e --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h @@ -0,0 +1,64 @@ +/** + * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" + +class ModelsPanel : public QWidget { + Q_OBJECT + +public: + explicit ModelsPanel(QWidget *parent = nullptr); + +private: + QString GetActiveModelName(); + void updateModelManagerState(); + + bool isDownloading() const { + if (!model_manager.hasSelectedBundle()) { + return false; + } + + const auto &selected_bundle = model_manager.getSelectedBundle(); + return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING; + } + + // UI update related methods + void updateLabels(); + void handleCurrentModelLblBtnClicked(); + void handleBundleDownloadProgress(); + void showResetParamsDialog(); + cereal::ModelManagerSP::Reader model_manager; + cereal::ModelManagerSP::DownloadStatus download_status{}; + cereal::ModelManagerSP::DownloadStatus prev_download_status{}; + + bool canContinueOnMeteredDialog() { + if (!is_metered) return true; + return showConfirmationDialog(QString(), QString(), is_metered); + } + + inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) { + return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning); + } + + static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) { + const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString(); + const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message); + const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : ""); + + return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec(); + } + + bool is_metered{}; + bool is_wifi{}; + bool is_onroad = false; + + ButtonControlSP *currentModelLblBtn; + Params params; + +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index 48a395dad7..ad057ac714 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -13,6 +13,7 @@ #include "selfdrive/ui/sunnypilot/qt/network/networking.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h" @@ -79,6 +80,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { PanelInfo(" " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/icons/wifi_strength_full.svg"), PanelInfo(" " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"), PanelInfo(" " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"), + PanelInfo(" " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"), PanelInfo(" " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"), PanelInfo(" " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc index 20f3fdb598..9430d02ba8 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc @@ -7,201 +7,45 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h" -#include -#include - -#include "common/model.h" - -/** - * @brief Constructs the software panel with model bundle selection functionality - * @param parent Parent widget - */ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) { - const auto current_model = GetActiveModelName(); - currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model); - currentModelLblBtn->setValue(current_model); - - connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &SoftwarePanelSP::handleCurrentModelLblBtnClicked); - QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SoftwarePanelSP::updateLabels); - AddWidgetAt(0, currentModelLblBtn); -} - -/** - * @brief Updates the UI with bundle download progress information - * Reads status from modelManagerSP cereal message and displays status for all models - */ -void SoftwarePanelSP::handleBundleDownloadProgress() { - using DS = cereal::ModelManagerSP::DownloadStatus; - if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) { - currentModelLblBtn->setDescription(tr("No custom model selected!")); - return; - } - - const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED); - const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle(); - const auto &models = bundle.getModels(); - download_status = bundle.getStatus(); - const auto download_status_changed = prev_download_status != download_status; - QStringList status; - - // Get status for each model type in order - for (const auto &model: models) { - QString typeName; - QString modelName = QString::fromStdString(bundle.getDisplayName()); - - switch (model.getType()) { - case cereal::ModelManagerSP::Model::Type::SUPERCOMBO: - typeName = tr("Driving"); - break; - case cereal::ModelManagerSP::Model::Type::NAVIGATION: - typeName = tr("Navigation"); - break; - case cereal::ModelManagerSP::Model::Type::VISION: - typeName = tr("Vision"); - break; - case cereal::ModelManagerSP::Model::Type::POLICY: - typeName = tr("Policy"); - break; - } - - const auto &progress = model.getArtifact().getDownloadProgress(); - QString line; - - if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) { - line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2); - } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) { - line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready")); - } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) { - line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready")); - } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) { - line = tr("%1 model [%2] download failed").arg(typeName, modelName); - } else { - line = tr("%1 model [%2] pending...").arg(typeName, modelName); - } - status.append(line); - } - - currentModelLblBtn->setDescription(status.join("\n")); - - if (prev_download_status != download_status) { - switch (bundle.getStatus()) { - case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING: - case cereal::ModelManagerSP::DownloadStatus::CACHED: - case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED: - currentModelLblBtn->showDescription(); - break; - case cereal::ModelManagerSP::DownloadStatus::FAILED: - default: - break; - } - } - prev_download_status = download_status; -} - -/** - * @brief Gets the name of the currently selected model bundle - * @return Display name of the selected bundle or default model name - */ -QString SoftwarePanelSP::GetActiveModelName() { - if (model_manager.hasActiveBundle()) { - return QString::fromStdString(model_manager.getActiveBundle().getDisplayName()); - } - - return DEFAULT_MODEL; -} - -void SoftwarePanelSP::updateModelManagerState() { - const SubMaster &sm = *(uiStateSP()->sm); - model_manager = sm["modelManagerSP"].getModelManagerSP(); -} - -/** - * @brief Handles the model bundle selection button click - * Displays available bundles, allows selection, and initiates download - */ -void SoftwarePanelSP::handleCurrentModelLblBtnClicked() { - currentModelLblBtn->setEnabled(false); - currentModelLblBtn->setValue(tr("Fetching models...")); - - // Create mapping of bundle indices to display names - QMap index_to_bundle; - const auto bundles = model_manager.getAvailableBundles(); - for (const auto &bundle: bundles) { - index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName())); - } - - // Sort bundles by index in descending order - QStringList bundleNames; - // Add "Default" as the first option - bundleNames.append(tr("Use Default")); - - auto indices = index_to_bundle.keys(); - std::sort(indices.begin(), indices.end(), std::greater()); - for (const auto &index: indices) { - bundleNames.append(index_to_bundle[index]); - } - - currentModelLblBtn->setValue(GetActiveModelName()); - - const QString selectedBundleName = MultiOptionDialog::getSelection( - tr("Select a Model"), bundleNames, GetActiveModelName(), this); - - if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) { - return; - } - - // Handle "Stock" selection differently - if (selectedBundleName == tr("Use Default")) { - params.remove("ModelManager_ActiveBundle"); - currentModelLblBtn->setValue(tr("Default")); - showResetParamsDialog(); - } else { - // Find selected bundle and initiate download - for (const auto &bundle: bundles) { - if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) { - params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex())); - if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) { - showResetParamsDialog(); - } - break; + // branch selector + QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr); + connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() { + InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false); + d.setMinLength(0); + const int ret = d.exec(); + if (ret) { + searchBranches(d.text()); } - } - } - - updateLabels(); + }); } /** - * @brief Updates the UI elements based on current state + * @brief Searches for available branches based on a query string, presents the results in a dialog, + * and updates the target branch if a selection is made. + * + * This function filters the list of branches based on the provided query, and displays the filtered branches in a selection dialog. + * If a branch is selected, the "UpdaterTargetBranch" parameter is updated and a check for updates is triggered. + * If no branches are found matching the query, an alert dialog is displayed. + * + * @param query The search query string. */ -void SoftwarePanelSP::updateLabels() { - if (!isVisible()) { +void SoftwarePanelSP::searchBranches(const QString &query) { + + QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); + QStringList results = searchFromList(query, branches); + results.sort(); + + if (results.isEmpty()) { + ConfirmationDialog::alert(tr("No branches found for keywords: %1").arg(query), this); return; } - updateModelManagerState(); - handleBundleDownloadProgress(); - currentModelLblBtn->setEnabled(!is_onroad && !isDownloading()); - currentModelLblBtn->setValue(GetActiveModelName()); + QString selected_branch = MultiOptionDialog::getSelection(tr("Select a branch"), results, "", this); - SoftwarePanel::updateLabels(); -} - -/** - * @brief Shows dialog prompting user to reset calibration after model download - */ -void SoftwarePanelSP::showResetParamsDialog() { - const auto confirmMsg = QString("%1

%2

%3") - .arg(tr("Model download has started in the background.")) - .arg(tr("We STRONGLY suggest you to reset calibration.")) - .arg(tr("Would you like to do that now?")); - const auto button_text = tr("Reset Calibration"); - - QString content("

" + tr("Driving Model Selector") + "


" - "

" + confirmMsg + "

"); - - if (showConfirmationDialog(content, button_text, false)) { - params.remove("CalibrationParams"); - params.remove("LiveTorqueParameters"); + if (!selected_branch.isEmpty()) { + params.put("UpdaterTargetBranch", selected_branch.toStdString()); + targetBranchBtn->setValue(selected_branch); + checkForUpdates(); } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h index d0299d6efd..56d8b9be5b 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h @@ -7,8 +7,8 @@ #pragma once -#include #include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/util.h" #include "selfdrive/ui/qt/offroad/settings.h" class SoftwarePanelSP final : public SoftwarePanel { @@ -18,45 +18,5 @@ public: explicit SoftwarePanelSP(QWidget *parent = nullptr); private: - QString GetActiveModelName(); - void updateModelManagerState(); - - bool isDownloading() const { - if (!model_manager.hasSelectedBundle()) { - return false; - } - - const auto &selected_bundle = model_manager.getSelectedBundle(); - return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING; - } - - // UI update related methods - void updateLabels() override; - void handleCurrentModelLblBtnClicked(); - void handleBundleDownloadProgress(); - void showResetParamsDialog(); - cereal::ModelManagerSP::Reader model_manager; - cereal::ModelManagerSP::DownloadStatus download_status{}; - cereal::ModelManagerSP::DownloadStatus prev_download_status{}; - - bool canContinueOnMeteredDialog() { - if (!is_metered) return true; - return showConfirmationDialog(QString(), QString(), is_metered); - } - - inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) { - return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning); - } - - static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) { - const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString(); - const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message); - const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : ""); - - return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec(); - } - - bool is_metered{}; - bool is_wifi{}; - ButtonControlSP *currentModelLblBtn; + void searchBranches(const QString &query); }; diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc index c729eaafd5..ca85935d0b 100644 --- a/selfdrive/ui/sunnypilot/qt/util.cc +++ b/selfdrive/ui/sunnypilot/qt/util.cc @@ -78,3 +78,35 @@ QMap loadPlatformList() { return _platforms; } + +/** + * @brief Searches a list of strings for elements containing all search terms in a query. + * + * The search is case-insensitive and normalizes both the query and the list elements + * using Unicode KD normalization before comparison. Non-alphanumeric characters are + * removed from the search terms before comparison. + * + * @param query The search query string. Multiple words can be separated by spaces. + * @param list The source list of strings to search. + * @return A list of strings from the input list that contain all of the search terms. + */ +QStringList searchFromList(const QString &query, const QStringList &list) { + if (query.isEmpty()) { + return list; + } + + QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts); + QStringList search_results; + + for (const QString &element : list) { + if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) { + QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower(); + normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]")); + QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower(); + return normalized_element.contains(normalized_term, Qt::CaseInsensitive); + })) { + search_results << element; + } + } + return search_results; +} diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h index 0a581579e2..089b5370cc 100644 --- a/selfdrive/ui/sunnypilot/qt/util.h +++ b/selfdrive/ui/sunnypilot/qt/util.h @@ -12,9 +12,11 @@ #include #include +#include #include QString getUserAgent(bool sunnylink = false); std::optional getSunnylinkDongleId(); std::optional getParamIgnoringDefault(const std::string ¶m_name, const std::string &default_value); QMap loadPlatformList(); +QStringList searchFromList(const QString &query, const QStringList &list); diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 9d078fdd9e..f8c64de769 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -213,6 +213,12 @@ def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None): click(1967, 225) time.sleep(UI_DELAY) +def setup_settings_models(click, pm: PubMaster, scroll=None): + setup_settings_device(click, pm) + click(278, 852) + time.sleep(UI_DELAY) + + def setup_settings_steering(click, pm: PubMaster, scroll=None): CP = car.CarParams() CP.carFingerprint = "HONDA_CIVIC" @@ -223,25 +229,26 @@ def setup_settings_steering(click, pm: PubMaster, scroll=None): Params().put("CarParamsSPPersistent", CP_SP.to_bytes()) setup_settings_device(click, pm) - click(278, 852) + click(278, 962) time.sleep(UI_DELAY) def setup_settings_steering_mads(click, pm: PubMaster, scroll=None): Params().put_bool("Mads", True) setup_settings_device(click, pm) - click(278, 852) + click(278, 962) click(970, 250) time.sleep(UI_DELAY) def setup_settings_steering_alc(click, pm: PubMaster, scroll=None): setup_settings_device(click, pm) - click(278, 852) + click(278, 962) click(970, 534) time.sleep(UI_DELAY) def setup_settings_driving(click, pm: PubMaster, scroll=None): setup_settings_device(click, pm) + scroll(-1, 278, 962) click(278, 962) time.sleep(UI_DELAY) @@ -295,6 +302,7 @@ CASES = { CASES.update({ "settings_sunnylink": setup_settings_sunnylink, "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button, + "settings_models": setup_settings_models, "settings_steering": setup_settings_steering, "settings_steering_mads": setup_settings_steering_mads, "settings_steering_alc": setup_settings_steering_alc, diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 751ae7ce9b..2aba1e4e9f 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -62,10 +62,6 @@ Cellular Metered محدود بالاتصال الخلوي - - Prevent large data uploads when on a metered connection - منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً - Hidden Network شبكة مخفية @@ -86,6 +82,30 @@ for "%1" من أجل "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode وضع المناورة الطولية - - sunnypilot Longitudinal Control (Alpha) - التحكم الطولي sunnypilot (ألفا) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - تحذير: التحكم الطولي في sunnypilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB). - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - في هذه السيارة يعمل sunnypilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من sunnypilot. - Enable ADB تمكين ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR إقران + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -530,6 +550,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -548,13 +611,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - جارٍ التثبيت... - - LaneChangeSettings @@ -588,6 +644,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -615,10 +687,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -628,12 +696,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + اختيار + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + إعادة ضبط المعايرة + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + متابعة + + + on Metered + + + + Cancel + إلغاء + MultiOptionDialog @@ -925,6 +1160,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -970,14 +1229,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - إعادة التشغيل - - - Exit - إغلاق - sunnypilot sunnypilot @@ -1138,6 +1389,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1429,108 +1688,20 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - اختيار - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - إعادة ضبط المعايرة - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - متابعة - - - on Metered - - - - Cancel - إلغاء + Select a branch + اختر فرعاً @@ -1834,10 +2005,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي. - - sunnypilot longitudinal control may come in a future update. - قد يتم الحصول على التحكم الطولي في sunnypilot في عمليات التحديث المستقبلية. - An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches. يمكن اختبار نسخة ألفا من التحكم الطولي من sunnypilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة. @@ -1875,8 +2042,16 @@ This may take up to a minute. تمكين sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - استخدم نظام sunnypilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة. + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 3123e52578..e5d90381e1 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -62,10 +62,6 @@ Cellular Metered Getaktete Verbindung - - Prevent large data uploads when on a metered connection - Hochladen großer Dateien über getaktete Verbindungen unterbinden - Hidden Network Verborgenes Netzwerk @@ -86,6 +82,58 @@ for "%1" für "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + + + + AutoLaneChangeTimer + + Auto Lane Change by Blinker + + + + Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge. +Please use caution when using this feature. Only use the blinker when traffic and road conditions permit. + + + + s + + + + Off + + + + Nudge + + + + Nudgeless + + ConfirmationDialog @@ -100,10 +148,6 @@ DeclinePage - - You must accept the Terms and Conditions in order to use openpilot. - Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen. - Back Zurück @@ -112,6 +156,10 @@ Decline, uninstall %1 Ablehnen, deinstallieren %1 + + You must accept the Terms and Conditions in order to use sunnypilot. + + DeveloperPanel @@ -131,10 +179,6 @@ WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (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. - Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird. - Enable ADB ADB aktivieren @@ -143,6 +187,30 @@ 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. ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen. + + On this car, sunnypilot 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. + + + + Enable GitHub runner service + + + + Enables or disables the github runner service. + + + + Error Log + + + + VIEW + ANSEHEN + + + View the error log for sunnypilot crashes. + + DevicePanel @@ -190,10 +258,6 @@ REVIEW TRAINING - - Review the rules, features, and limitations of openpilot - Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot - Are you sure you want to review the training guide? Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? @@ -226,10 +290,6 @@ Power Off Ausschalten - - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. - Your device is pointed %1° %2 and %3° %4. Deine Geräteausrichtung ist %1° %2 und %3° %4. @@ -286,6 +346,136 @@ PAIR KOPPELN + + Disengage to Reset Calibration + + + + Review the rules, features, and limitations of sunnypilot + + + + sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required. + + + + Resetting calibration will restart openpilot if the car is powered on. + + + + + DevicePanelSP + + Quiet Mode + + + + Driver Camera Preview + + + + Training Guide + + + + Regulatory + Rechtliche Hinweise + + + Language + + + + Reset Settings + + + + Are you sure you want to review the training guide? + Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? + + + Review + Überprüfen + + + Select a language + Sprache wählen + + + Reboot + Neustart + + + Power Off + Ausschalten + + + Offroad Mode + + + + Are you sure you want to exit Always Offroad mode? + + + + Confirm + Bestätigen + + + Are you sure you want to enter Always Offroad mode? + + + + Disengage to Enter Always Offroad Mode + + + + Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back. + + + + Reset + Zurücksetzen + + + The reset cannot be undone. You have been warned. + + + + Exit Always Offroad + + + + Always Offroad + + + + + DriveStats + + Drives + + + + Hours + + + + ALL TIME + + + + PAST WEEK + + + + KM + + + + Miles + + DriverViewWindow @@ -311,14 +501,6 @@ 🔥 Firehose Mode 🔥 🔥 Firehose-Modus 🔥 - - openpilot learns to drive by watching humans, like you, drive. - -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. - openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut. - -Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt. - Firehose Mode: ACTIVE Firehose-Modus: AKTIV @@ -327,10 +509,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere ACTIVE AKTIV - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.<br><br>Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.<br><br><br><b>Häufig gestellte Fragen</b><br><br><i>Spielt es eine Rolle, wie oder wo ich fahre?</i> Nein, fahre einfach wie gewohnt.<br><br><i>Werden im Firehose-Modus alle meine Segmente hochgeladen?</i> Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.<br><br><i>Welcher USB-C-Adapter ist gut?</i> Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.<br><br><i>Spielt es eine Rolle, welche Software ich nutze?</i> Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden. - <b>%n segment(s)</b> of your driving is in the training dataset so far. @@ -342,6 +520,16 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INAKTIV</span>: Verbinde dich mit einem ungedrosselten Netzwerk + + sunnypilot learns to drive by watching humans, like you, drive. + +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. + + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream sunnypilot (and particular forks) are able to be used for training. + + HudRenderer @@ -358,6 +546,49 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere MAX + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -373,10 +604,262 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere - Installer + LaneChangeSettings - Installing... - Installiere... + Back + Zurück + + + Auto Lane Change: Delay with Blind Spot + + + + Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering. + + + + + LateralPanel + + Modular Assistive Driving System (MADS) + + + + Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement. + + + + Customize MADS + + + + Customize Lane Change + + + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + + + + MadsSettings + + Toggle with Main Cruise + + + + Unified Engagement Mode (UEM) + + + + Steering Mode on Brake Pedal + + + + Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement. + + + + Engage lateral and longitudinal control with cruise control engagement. + + + + Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off. + + + + Start the vehicle to check vehicle compatibility. + + + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + AUSWÄHLEN + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + Neu kalibrieren + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Fortsetzen + + + on Metered + + + + Cancel + Abbrechen @@ -409,16 +892,78 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Falsches Passwort + + NetworkingSP + + Scan + + + + Scanning... + + + + + NeuralNetworkLateralControl + + Neural Network Lateral Control (NNLC) + + + + NNLC is currently not available on this platform. + + + + Start the car to check car compatibility + + + + NNLC Not Loaded + + + + NNLC Loaded + + + + Match + + + + Exact + + + + Fuzzy + + + + Match: "Exact" is ideal, but "Fuzzy" is fine too. + + + + Formerly known as <b>"NNFF"</b>, this replaces the lateral <b>"torque"</b> controller, with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy. + + + + Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server + + + + with feedback, or to provide log data for your car if your car is currently unsupported: + + + + if there are any issues: + + + + and donate logs to get NNLC loaded for your car: + + + OffroadAlert - - Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 - Stelle sofort eine Internetverbindung her, um nach Updates zu suchen. Wenn du keine Verbindung herstellst, kann openpilot in %1 nicht mehr aktiviert werden. - - - Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. - Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde. - Unable to download updates %1 @@ -445,18 +990,30 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen. - - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. - - - openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist. - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 + + Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won't engage in %1 + + + + Connect to internet to check for updates. sunnypilot won't automatically start until it connects to internet to check for updates. + + + + sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + + + + sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + + + + sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to "Settings" -> "Device" to exit Always Offroad mode. + + OffroadHome @@ -475,10 +1032,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere OnroadAlerts - - openpilot Unavailable - openpilot nicht verfügbar - TAKE CONTROL IMMEDIATELY ÜBERNIMM SOFORT DIE KONTROLLE @@ -495,6 +1048,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere System Unresponsive System reagiert nicht + + sunnypilot Unavailable + + PairingPopup @@ -530,6 +1087,96 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Aktivieren + + ParamControlSP + + Enable + Aktivieren + + + Cancel + Abbrechen + + + + PlatformSelector + + Vehicle + + + + SEARCH + + + + Search your vehicle + + + + Enter model year (e.g., 2021) and model name (Toyota Corolla): + + + + SEARCHING + + + + REMOVE + LÖSCHEN + + + This setting will take effect immediately. + + + + This setting will take effect once the device enters offroad state. + + + + Vehicle Selector + + + + Confirm + Bestätigen + + + Cancel + Abbrechen + + + No vehicles found for query: %1 + + + + Select a vehicle + + + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + + PrimeAdWidget @@ -574,10 +1221,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere QObject - - openpilot - openpilot - %n minute(s) ago @@ -603,6 +1246,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere now jetzt + + sunnypilot + + Reset @@ -676,6 +1323,61 @@ Dies kann bis zu einer Minute dauern. Firehose + + SettingsWindowSP + + × + x + + + Device + Gerät + + + Network + Netzwerk + + + sunnylink + + + + Toggles + Schalter + + + Software + Software + + + Models + + + + Steering + + + + Cruise + + + + Trips + + + + Vehicle + + + + Firehose + Firehose + + + Developer + Entwickler + + Setup @@ -762,14 +1464,14 @@ Dies kann bis zu einer Minute dauern. Choose Software to Install Wähle die zu installierende Software - - openpilot - openpilot - Custom Software Benutzerdefinierte Software + + sunnypilot + + SetupWidget @@ -862,6 +1564,33 @@ Dies kann bis zu einer Minute dauern. 5G + + SidebarSP + + DISABLED + + + + OFFLINE + OFFLINE + + + REGIST... + + + + ONLINE + ONLINE + + + ERROR + FEHLER + + + SUNNYLINK + + + SoftwarePanel @@ -938,6 +1667,25 @@ Dies kann bis zu einer Minute dauern. nie + + SoftwarePanelSP + + Search Branch + + + + Enter search keywords, or leave blank to list all branches. + + + + No branches found for keywords: %1 + + + + Select a branch + Wähle einen Branch + + SshControl @@ -984,6 +1732,168 @@ Dies kann bis zu einer Minute dauern. SSH aktivieren + + SunnylinkPanel + + This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that. + + + + Enable sunnylink + + + + Sponsor Status + + + + SPONSOR + + + + Become a sponsor of sunnypilot to get early access to sunnylink features when they become available. + + + + Pair GitHub Account + + + + PAIR + KOPPELN + + + Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink. + + + + N/A + Nicht verfügbar + + + sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again. + + + + 🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀 + + + + 👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉. + + + + Backup Settings + + + + Are you sure you want to backup sunnypilot settings? + + + + Back Up + + + + Restore Settings + + + + Are you sure you want to restore the last backed up sunnypilot settings? + + + + Restore + + + + Backup in progress %1% + + + + Backup Failed + + + + Settings backup completed. + + + + Restore in progress %1% + + + + Restore Failed + + + + Unable to restore the settings, try again later. + + + + Settings restored. Confirm to restart the interface. + + + + Device ID + + + + THANKS ♥ + + + + Not Sponsor + + + + Paired + + + + Not Paired + + + + + SunnylinkSponsorPopup + + Scan the QR code to login to your GitHub account + + + + Follow the prompts to complete the pairing process + + + + Re-enter the "sunnylink" panel to verify sponsorship status + + + + If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot + + + + Scan the QR code to visit sunnyhaibin's GitHub Sponsors page + + + + Choose your sponsorship tier and confirm your support + + + + Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status + + + + Pair your GitHub account + + + + Early Access: Become a sunnypilot Sponsor + + + TermsPage @@ -995,24 +1905,16 @@ Dies kann bis zu einer Minute dauern. Zustimmen - Welcome to openpilot - Willkommen bei openpilot + Welcome to sunnypilot + - You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter <span style='color: #465BEA;'>https://comma.ai/terms</span>, bevor du fortfährst. + You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. + TogglesPanel - - Enable openpilot - Openpilot aktivieren - - - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist. - Enable Lane Departure Warnings Spurverlassenswarnungen aktivieren @@ -1037,10 +1939,6 @@ Dies kann bis zu einer Minute dauern. Upload data from the driver facing camera and help improve the driver monitoring algorithm. Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern. - - When enabled, pressing the accelerator pedal will disengage openpilot. - Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird. - Experimental Mode Experimenteller Modus @@ -1049,14 +1947,6 @@ Dies kann bis zu einer Minute dauern. Disengage on Accelerator Pedal Bei Gasbetätigung ausschalten - - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: - Openpilot fährt standardmäßig im <b>entspannten Modus</b>. Der Experimentelle Modus aktiviert<b>Alpha-level Funktionen</b>, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden: - - - 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. - Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten. - New Driving Visualization Neue Fahrvisualisierung @@ -1089,18 +1979,6 @@ Dies kann bis zu einer Minute dauern. openpilot longitudinal control may come in a future update. Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden. - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben. - - - 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. - Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln. - 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. Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt. @@ -1110,8 +1988,52 @@ Dies kann bis zu einer Minute dauern. Dauerhaft aktive Fahrerüberwachung - Enable driver monitoring even when openpilot is not engaged. - Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + Enable sunnypilot + + + + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Enable Dynamic Experimental Control + + + + Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal. + + + + When enabled, pressing the accelerator pedal will disengage sunnypilot. + + + + Enable driver monitoring even when sunnypilot is not engaged. + + + + Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + sunnypilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + + + + Let the driving model control the gas and brakes. sunnypilot 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. + + + + An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode. + diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 82f585a43c..edc2295bc7 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -62,10 +62,6 @@ Cellular Metered Plano de datos limitado - - Prevent large data uploads when on a metered connection - Evitar grandes descargas de datos cuando tenga una conexión limitada - Hidden Network Red Oculta @@ -86,6 +82,30 @@ for "%1" para "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode Modo de maniobra longitudinal - - sunnypilot Longitudinal Control (Alpha) - Control longitudinal de sunnypilot (fase experimental) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - AVISO: el control longitudinal de sunnypilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB). - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - En este automóvil, sunnypilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de sunnypilot. Habilita esta opción para cambiar al control longitudinal de sunnypilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de sunnypilot (aún en fase experimental). - Enable ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an Disengage to Power Off Desactivar para apagar + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - Instalando... - - LaneChangeSettings @@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + SELECCIONAR + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + Formatear Calibración + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Continuar + + + on Metered + + + + Cancel + Cancelar + MultiOptionDialog @@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - Reiniciar - - - Exit - Salir - sunnypilot sunnypilot @@ -1118,6 +1369,14 @@ Esto puede tardar un minuto. Steering + + Models + + + + Cruise + + Setup @@ -1409,108 +1668,20 @@ Esto puede tardar un minuto. SoftwarePanelSP - Current Model + Search Branch - SELECT - SELECCIONAR - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - Formatear Calibración - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - Continuar - - - on Metered - - - - Cancel - Cancelar + Select a branch + Selecione una rama @@ -1830,10 +2001,6 @@ Esto puede tardar un minuto. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal. - - sunnypilot longitudinal control may come in a future update. - El control longitudinal de sunnypilot podrá llegar en futuras actualizaciones. - An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches. Se puede probar una versión experimental del control longitudinal sunnypilot, junto con el modo Experimental, en ramas no liberadas. @@ -1855,8 +2022,16 @@ Esto puede tardar un minuto. Activar sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Utilice el sistema sunnypilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado. + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index fba7af60d9..5f7c7502cf 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -62,10 +62,6 @@ Cellular Metered Connexion cellulaire limitée - - Prevent large data uploads when on a metered connection - Éviter les transferts de données importants sur une connexion limitée - Hidden Network Réseau Caché @@ -86,6 +82,30 @@ for "%1" pour "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode Mode manœuvre longitudinale - - sunnypilot Longitudinal Control (Alpha) - Contrôle longitudinal sunnypilot (Alpha) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette voiture et désactivera le freinage d'urgence automatique (AEB). - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - Sur cette voiture, sunnypilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d'sunnypilot. Activez ceci pour passer au contrôle longitudinal sunnypilot. Il est recommandé d'activer le mode expérimental lors de l'activation du contrôle longitudinal sunnypilot alpha. - Enable ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR ASSOCIER + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - Installation... - - LaneChangeSettings @@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + SÉLECTIONNER + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + Réinitialiser la calibration + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Continuer + + + on Metered + + + + Cancel + Annuler + MultiOptionDialog @@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - Redémarrer - - - Exit - Quitter - sunnypilot sunnypilot @@ -1118,6 +1369,14 @@ Cela peut prendre jusqu'à une minute. Steering + + Models + + + + Cruise + + Setup @@ -1409,108 +1668,20 @@ Cela peut prendre jusqu'à une minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - SÉLECTIONNER - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - Réinitialiser la calibration - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - Continuer - - - on Metered - - - - Cancel - Annuler + Select a branch + Sélectionner une branche @@ -1810,10 +1981,6 @@ Cela peut prendre jusqu'à une minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d'origine est utilisé pour le contrôle longitudinal. - - sunnypilot longitudinal control may come in a future update. - Le contrôle longitudinal sunnypilot pourrait être disponible dans une future mise à jour. - An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches. Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec le mode expérimental, sur des branches non publiées. @@ -1855,8 +2022,16 @@ Cela peut prendre jusqu'à une minute. Activer sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Utilisez le système sunnypilot pour le régulateur de vitesse adaptatif et l'assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte. + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index dba867fcea..d4b3f3e742 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -62,10 +62,6 @@ Cellular Metered 従量制通信設定 - - Prevent large data uploads when on a metered connection - 大量のデータのアップロードを防止する - Hidden Network ネットワーク非表示 @@ -86,6 +82,30 @@ for "%1" [%1] + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode アクセル制御マニューバー - - sunnypilot Longitudinal Control (Alpha) - sunnypilotアクセル制御(Alpha) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - この車ではsunnypilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。 - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - この車では、sunnypilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、sunnypilotのアクセル制御は無効化されています。アクセル制御をsunnypilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。 - Enable ADB ADBを有効にする @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。 - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR OK + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 最大速度 + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - インストール中... - - LaneChangeSettings @@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + 選択 + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + キャリブレーションリセット + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 続ける + + + on Metered + + + + Cancel + キャンセル + MultiOptionDialog @@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - 再起動 - - - Exit - 閉じる - sunnypilot sunnypilot @@ -1113,6 +1364,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1404,108 +1663,20 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - 選択 - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - キャリブレーションリセット - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - 続ける - - - on Metered - - - - Cancel - キャンセル + Select a branch + ブランチを選択 @@ -1809,10 +1980,6 @@ This may take up to a minute. End-to-End Longitudinal Control End-to-Endアクセル制御 - - sunnypilot longitudinal control may come in a future update. - sunnypilotのアクセル制御は将来のアップデートで利用できる可能性があります。 - An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches. sunnypilotのアルファ版アクセル制御は、Experimentalモードと共に非リリースのブランチでテストすることができます。 @@ -1850,8 +2017,16 @@ This may take up to a minute. sunnypilot を有効化 - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - sunnypilotによるアダプティブクルーズコントロールとレーンキープアシストを利用します。この機能を利用する際は常に前方への注意が必要です。この設定を変更は車の電源が必要です。 + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 34be6e5a2e..e5d139e83e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -62,10 +62,6 @@ Cellular Metered 데이터 요금제 - - Prevent large data uploads when on a metered connection - 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 - Hidden Network 숨겨진 네트워크 @@ -86,6 +82,30 @@ for "%1" "%1"에 접속하려면 비밀번호가 필요합니다 + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode 롱컨 제어 모드 - - sunnypilot Longitudinal Control (Alpha) - sunnypilot 가감속 제어 (알파) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 경고: sunnypilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다. - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - 이 차량에서 sunnypilot은 sunnypilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. sunnypilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. sunnypilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다. - Enable ADB ADB 사용 @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR 동기화 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - 설치 중... - - LaneChangeSettings @@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + 선택 + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + 캘리브레이션 + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 계속 + + + on Metered + + + + Cancel + 취소 + MultiOptionDialog @@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - 재부팅 - - - Exit - 종료 - sunnypilot sunnypilot @@ -1113,6 +1364,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1404,108 +1663,20 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - 선택 - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - 캘리브레이션 - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - 계속 - - - on Metered - - - - Cancel - 취소 + Select a branch + 브랜치 선택 @@ -1789,10 +1960,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. 차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다. - - sunnypilot longitudinal control may come in a future update. - sunnypilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다. - Aggressive 공격적 @@ -1850,8 +2017,16 @@ This may take up to a minute. sunnypilot 사용 - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 sunnypilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다. + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index bb37dba541..ef4b4c1ee3 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -62,10 +62,6 @@ Cellular Metered Plano de Dados Limitado - - Prevent large data uploads when on a metered connection - Evite grandes uploads de dados quando estiver em uma conexão limitada - Hidden Network Rede Oculta @@ -86,6 +82,30 @@ for "%1" para "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode Modo Longitudinal Maneuver - - sunnypilot Longitudinal Control (Alpha) - Controle Longitudinal sunnypilot (Embrionário) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - AVISO: o controle longitudinal sunnypilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB). - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - Neste carro, o sunnypilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do sunnypilot. Habilite isso para alternar para o controle longitudinal sunnypilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal sunnypilot. - Enable ADB Habilitar ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR PAREAR + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp LIMITE + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - Instalando... - - LaneChangeSettings @@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + SELECIONE + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + Reinicializar Calibragem + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Continuar + + + on Metered + + + + Cancel + Cancelar + MultiOptionDialog @@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - Reiniciar - - - Exit - Sair - sunnypilot sunnypilot @@ -1118,6 +1369,14 @@ Isso pode levar até um minuto. Steering + + Models + + + + Cruise + + Setup @@ -1409,108 +1668,20 @@ Isso pode levar até um minuto. SoftwarePanelSP - Current Model + Search Branch - SELECT - SELECIONE - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - Reinicializar Calibragem - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - Continuar - - - on Metered - - - - Cancel - Cancelar + Select a branch + Selecione uma branch @@ -1794,10 +1965,6 @@ Isso pode levar até um minuto. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal. - - sunnypilot longitudinal control may come in a future update. - O controle longitudinal sunnypilot poderá vir em uma atualização futura. - Aggressive Disputa @@ -1855,8 +2022,16 @@ Isso pode levar até um minuto. Ativar sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Use o sistema sunnypilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado. + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 765aff4ab0..3f6a199a83 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -62,10 +62,6 @@ Cellular Metered ลดการส่งข้อมูลผ่านเซลลูล่าร์ - - Prevent large data uploads when on a metered connection - ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ - Hidden Network เครือข่ายที่ซ่อนอยู่ @@ -86,6 +82,30 @@ for "%1" สำหรับ "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode - - sunnypilot Longitudinal Control (Alpha) - ระบบควบคุมการเร่ง/เบรคโดย sunnypilot (Alpha) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - คำเตือน: การควบคุมการเร่ง/เบรคโดย sunnypilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - โดยปกติสำหรับรถคันนี้ sunnypilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย sunnypilot เปิดสวิตซ์นี้เพื่อให้ sunnypilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ sunnypilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha - Enable ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR จับคู่ + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp สูงสุด + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - กำลังติดตั้ง... - - LaneChangeSettings @@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + เลือก + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + รีเซ็ตการคาลิเบรท + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + ดำเนินการต่อ + + + on Metered + + + + Cancel + ยกเลิก + MultiOptionDialog @@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - รีบูต - - - Exit - ปิด - sunnypilot sunnypilot @@ -1113,6 +1364,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1404,108 +1663,20 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - เลือก - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - รีเซ็ตการคาลิเบรท - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - ดำเนินการต่อ - - - on Metered - - - - Cancel - ยกเลิก + Select a branch + เลือก Branch @@ -1789,10 +1960,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่ - - sunnypilot longitudinal control may come in a future update. - ระบบควบคุมการเร่ง/เบรคโดย sunnypilot อาจมาในการอัปเดตในอนาคต - Aggressive ดุดัน @@ -1850,8 +2017,16 @@ This may take up to a minute. เปิดใช้งาน sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - ใช้ระบบ sunnypilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 1ddf267e4b..b20e38fbf7 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -62,10 +62,6 @@ Cellular Metered - - Prevent large data uploads when on a metered connection - - Hidden Network @@ -86,6 +82,30 @@ for "%1" için "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode - - sunnypilot Longitudinal Control (Alpha) - - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - - Enable ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp MAX + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - Yükleniyor... - - LaneChangeSettings @@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -618,10 +686,177 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + Kalibrasyonu sıfırla + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + Devam et + + + on Metered + + + + Cancel @@ -914,6 +1149,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -959,14 +1218,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - Yeniden başlat - - - Exit - Çık - sunnypilot sunnypilot @@ -1111,6 +1362,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1402,107 +1661,19 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT + Enter search keywords, or leave blank to list all branches. - No custom model selected! + No branches found for keywords: %1 - Driving - - - - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - Kalibrasyonu sıfırla - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - Devam et - - - on Metered - - - - Cancel + Select a branch @@ -1807,10 +1978,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - - sunnypilot longitudinal control may come in a future update. - - An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches. @@ -1848,8 +2015,16 @@ This may take up to a minute. sunnypilot'u aktifleştir - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için sunnypilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor. + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index d336fef2c7..0c4029c7fe 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -62,10 +62,6 @@ Cellular Metered 按流量计费的手机移动网络 - - Prevent large data uploads when on a metered connection - 当使用按流量计费的连接时，避免上传大流量数据 - Hidden Network 隐藏的网络 @@ -86,6 +82,30 @@ for "%1" 网络名称："%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode 纵向操控测试模式 - - sunnypilot Longitudinal Control (Alpha) - sunnypilot纵向控制（Alpha 版） - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此车辆的 sunnypilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - 在这辆车上，sunnypilot 默认使用车辆内建的主动巡航控制（ACC），而非 sunnypilot 的纵向控制。启用此项功能可切换至 sunnypilot 的纵向控制。当启用 sunnypilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 - Enable ADB 启用 ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR 配对 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 最高定速 + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - 正在安装…… - - LaneChangeSettings @@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + 选择 + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + 重置设备校准 + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 继续 + + + on Metered + + + + Cancel + 取消 + MultiOptionDialog @@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - 重启 - - - Exit - 退出 - sunnypilot sunnypilot @@ -1113,6 +1364,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1404,108 +1663,20 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - 选择 - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - 重置设备校准 - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - 继续 - - - on Metered - - - - Cancel - 取消 + Select a branch + 选择分支 @@ -1789,10 +1960,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. 由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。 - - sunnypilot longitudinal control may come in a future update. - sunnypilot纵向控制可能会在未来的更新中提供。 - Aggressive 积极 @@ -1850,8 +2017,16 @@ This may take up to a minute. 启用sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 使用sunnypilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。 + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index f69e106872..116e7b0725 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -62,10 +62,6 @@ Cellular Metered 行動網路 - - Prevent large data uploads when on a metered connection - 防止使用行動網路上傳大量的數據 - Hidden Network 隱藏的網路 @@ -86,6 +82,30 @@ for "%1" 給 "%1" + + Prevent large data uploads when on a metered cellular connection + + + + default + + + + metered + + + + unmetered + + + + Wi-Fi Network Metered + + + + Prevent large data uploads when on a metered Wi-Fi connection + + AutoLaneChangeTimer @@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an Longitudinal Maneuver Mode 縱向操控測試模式 - - sunnypilot Longitudinal Control (Alpha) - sunnypilot 縱向控制 (Alpha 版) - - - WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此車輛的 sunnypilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 - - - On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. - 在這輛車上，sunnypilot 預設使用車輛內建的主動巡航控制（ACC），而非 sunnypilot 的縱向控制。啟用此項功能可切換至 sunnypilot 的縱向控制。當啟用 sunnypilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 - Enable ADB 啟用 ADB @@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an 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. ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 - - Hyundai: Enable Radar Tracks - - - - Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance. - - Enable GitHub runner service @@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an View the error log for sunnypilot crashes. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, sunnypilot 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. + + DevicePanel @@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an PAIR 配對 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DevicePanelSP @@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 最高 + + HyundaiSettings + + Off + + + + Dynamic + + + + Predictive + + + + Custom Longitudinal Tuning + + + + This feature can only be used with openpilot longitudinal control enabled. + + + + Enable "Always Offroad" in Device panel, or turn vehicle off to select an option. + + + + Off: Uses default tuning + + + + Dynamic: Adjusts acceleration limits based on current speed + + + + Predictive: Uses future trajectory data to anticipate needed adjustments + + + + Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control. + + + InputDialog @@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - 安裝中… - - LaneChangeSettings @@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Customize Lane Change + + Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC). + + + + Start the vehicle to check vehicle compatibility. + + + + This platform supports all MADS settings. + + + + This platform supports limited MADS settings. + + MadsSettings @@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remain Active - - Pause Steering - - Disengage @@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. - -Remain Active: ALC will remain active even after the brake pedal is pressed. -Pause Steering: ALC will be paused when the brake pedal is manually pressed. + Start the vehicle to check vehicle compatibility. + + This feature defaults to OFF, and does not allow selection due to vehicle limitations. + + + + This feature defaults to ON, and does not allow selection due to vehicle limitations. + + + + This platform only supports Disengage mode due to vehicle limitations. + + + + Remain Active: ALC will remain active when the brake pedal is pressed. + + + + Pause + + + + Pause: ALC will pause when the brake pedal is pressed. + + + + Disengage: ALC will disengage when the brake pedal is pressed. + + + + Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot. + + + + + MaxTimeOffroad + + Max Time Offroad + + + + Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default) + + + + Always On + + + + h + + + + m + + + + (default) + + + + + ModelsPanel + + Current Model + + + + SELECT + 選取 + + + No custom model selected! + + + + Driving + + + + Navigation + + + + Vision + + + + Policy + + + + Downloading %1 model [%2]... (%3%) + + + + %1 model [%2] %3 + + + + downloaded + + + + ready + + + + from cache + + + + %1 model [%2] download failed + + + + %1 model [%2] pending... + + + + Fetching models... + + + + Use Default + + + + Select a Model + + + + Default + + + + Model download has started in the background. + + + + We STRONGLY suggest you to reset calibration. + + + + Would you like to do that now? + + + + Reset Calibration + 重設校準 + + + Driving Model Selector + + + + Warning: You are on a metered connection! + + + + Continue + 繼續 + + + on Metered + + + + Cancel + 取消 + MultiOptionDialog @@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.Select a vehicle + + Unrecognized Vehicle + + + + Fingerprinted automatically + + + + Manually selected + + + + Not fingerprinted or manually selected + + + + Select vehicle to force fingerprint manually. + + + + Colors represent fingerprint status: + + PrimeAdWidget @@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed. QObject - - Reboot - 重新啟動 - - - Exit - 離開 - sunnypilot sunnypilot @@ -1113,6 +1364,14 @@ This may take up to a minute. Steering + + Models + + + + Cruise + + Setup @@ -1404,108 +1663,20 @@ This may take up to a minute. SoftwarePanelSP - Current Model + Search Branch - SELECT - 選取 - - - No custom model selected! + Enter search keywords, or leave blank to list all branches. - Driving + No branches found for keywords: %1 - Navigation - - - - Metadata - - - - Downloading %1 model [%2]... (%3%) - - - - %1 model [%2] %3 - - - - downloaded - - - - ready - - - - from cache - - - - %1 model [%2] download failed - - - - %1 model [%2] pending... - - - - Fetching models... - - - - Use Default - - - - Select a Model - - - - Default - - - - Model download has started in the background. - - - - We STRONGLY suggest you to reset calibration. - - - - Would you like to do that now? - - - - Reset Calibration - 重設校準 - - - Driving Model Selector - - - - Warning: You are on a metered connection! - - - - Continue - 繼續 - - - on Metered - - - - Cancel - 取消 + Select a branch + 選取一個分支 @@ -1789,10 +1960,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. 因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。 - - sunnypilot longitudinal control may come in a future update. - sunnypilot 縱向控制可能會在未來的更新中提供。 - Aggressive 積極 @@ -1850,8 +2017,16 @@ This may take up to a minute. 啟用 sunnypilot - Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 使用 sunnypilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 + Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. + + + + Changing this setting will restart openpilot if the car is powered on. + + + + openpilot longitudinal control may come in a future update. + diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 3b565e0e13..06208638db 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -91,6 +91,11 @@ void UIState::updateStatus() { } } + if (engaged() != engaged_prev) { + engaged_prev = engaged(); + emit engagedChanged(engaged()); + } + // Handle onroad/offroad transition if (scene.started != started_prev || sm->frame == 1) { if (scene.started) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 21e74af1d2..6ef4f8e6d9 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -85,6 +85,7 @@ public: signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); + void engagedChanged(bool engaged); protected slots: virtual void update(); @@ -94,6 +95,7 @@ protected: private: bool started_prev = false; + bool engaged_prev = false; }; #ifndef SUNNYPILOT diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index d51753107e..2f50b2085c 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -bfbbf61606dad5d9349db246ad51a3468490d756bc61106a63fb5a220af4cdc6 \ No newline at end of file +dec34c57c4131f6fca5d1035201d1afbf43e5250cede7bfdc798371af008afad \ No newline at end of file diff --git a/sunnypilot/selfdrive/assets/offroad/icon_models.png b/sunnypilot/selfdrive/assets/offroad/icon_models.png new file mode 100644 index 0000000000..0131759703 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_models.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9b431c274a55437b5a65ada7c85503e137bc2ffa8917510ad9affb14a407d82 +size 14366 diff --git a/system/hardware/base.py b/system/hardware/base.py index e429f0e9f2..3506be5145 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -210,6 +210,9 @@ class HardwareBase(ABC): def configure_modem(self): pass + def reboot_modem(self): + pass + @abstractmethod def get_networks(self): pass diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 6668a1cdd3..58ead6593f 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse - +import time from openpilot.system.hardware import HARDWARE @@ -14,14 +14,16 @@ if __name__ == '__main__': parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile') args = parser.parse_args() + mutated = False lpa = HARDWARE.get_sim_lpa() if args.switch: lpa.switch_profile(args.switch) + mutated = True elif args.delete: confirm = input('are you sure you want to delete this profile? (y/N) ') if confirm == 'y': lpa.delete_profile(args.delete) - print('deleted profile, please restart device to apply changes') + mutated = True else: print('cancelled') exit(0) @@ -32,6 +34,11 @@ if __name__ == '__main__': else: parser.print_help() + if mutated: + HARDWARE.reboot_modem() + # eUICC needs a small delay post-reboot before querying profiles + time.sleep(.5) + profiles = lpa.list_profiles() print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:') for p in profiles: diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index bb90c12ba2..38cbe8c991 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -34,6 +34,7 @@ CURRENT_TAU = 15. # 15s time constant TEMP_TAU = 5. # 5s time constant DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5) # 1.5x the expected pandaState frequency +ONROAD_CYCLE_TIME = 1 # seconds to wait offroad after requesting an onroad cycle ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', @@ -170,6 +171,7 @@ def hardware_thread(end_event, hw_queue) -> None: onroad_conditions: dict[str, bool] = { "ignition": False, + "not_onroad_cycle": True, } startup_conditions: dict[str, bool] = {} startup_conditions_prev: dict[str, bool] = {} @@ -195,6 +197,7 @@ def hardware_thread(end_event, hw_queue) -> None: should_start_prev = False in_car = False engaged_prev = False + offroad_cycle_count = 0 params = Params() power_monitor = PowerMonitoring() @@ -211,6 +214,12 @@ def hardware_thread(end_event, hw_queue) -> None: peripheralState = sm['peripheralState'] peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown + # handle requests to cycle system started state + if params.get_bool("OnroadCycleRequested"): + params.put_bool("OnroadCycleRequested", False) + offroad_cycle_count = sm.frame + onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency + if sm.updated['pandaStates'] and len(pandaStates) > 0: # Set ignition based on any panda connected @@ -231,7 +240,7 @@ def hardware_thread(end_event, hw_queue) -> None: cloudlog.error("panda timed out onroad") # Run at 2Hz, plus either edge of ignition - ign_edge = (started_ts is not None) != onroad_conditions["ignition"] + ign_edge = (started_ts is not None) != all(onroad_conditions.values()) if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge: continue diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index e209613f42..7e5b9f187d 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968.img.xz", - "hash": "eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968", - 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"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-180ad331538f20c00218d41591afed3a25bb0f76fa30b1a665cad102cf6c9f7d.img.xz", - "hash": "7fc09317f005676150bfcced43ebb1aa919d854c2511d547a588a35c1122bfe3", - "hash_raw": "180ad331538f20c00218d41591afed3a25bb0f76fa30b1a665cad102cf6c9f7d", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-2a8e8278b3bb545e6d7292c2417ccebdca9b47507eb5924f7c1e068737a7edfd.img.xz", + "hash": "b3bc293c9c5e0480ef663e980c8ccb2fb83ffd230c85f8797830fb61b8f59360", + "hash_raw": "2a8e8278b3bb545e6d7292c2417ccebdca9b47507eb5924f7c1e068737a7edfd", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "1a2f2d14c922bd2895073446460a0bd680711a7b14318a4402631635e6d133b3" + "ondevice_hash": "8dae1cda089828c750d1d646337774ccd9432f567ecefde19a06dc7feeda9cd3" } ] \ No newline at end of file diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection deleted file mode 100644 index 74f6f8e82c..0000000000 --- a/system/hardware/tici/esim.nmconnection +++ /dev/null @@ -1,30 +0,0 @@ -[connection] -id=esim -uuid=fff6553c-3284-4707-a6b1-acc021caaafb -type=gsm -permissions= -autoconnect=true -autoconnect-retries=100 -autoconnect-priority=2 -metered=1 - -[gsm] -apn= -home-only=false -auto-config=true -sim-id= - -[ipv4] -route-metric=1000 -dns-priority=1000 -dns-search= -method=auto - -[ipv6] -ddr-gen-mode=stable-privacy -dns-search= -route-metric=1000 -dns-priority=1000 -method=auto - -[proxy] diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py index f657966ddf..b489286f50 100644 --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -54,15 +54,10 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) def switch_profile(self, iccid: str) -> None: - self._enable_profile(iccid) - - def _enable_profile(self, iccid: str) -> None: self._validate_profile_exists(iccid) latest = self.get_active_profile() - if latest: - if latest.iccid == iccid: - return - self._validate_successful(self._invoke('profile', 'disable', latest.iccid)) + if latest and latest.iccid == iccid: + return self._validate_successful(self._invoke('profile', 'enable', iccid)) self._process_notifications() diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 3add52d21c..f46c94c4f0 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -3,12 +3,12 @@ import math import os import subprocess import time -import tempfile from enum import IntEnum from functools import cached_property, lru_cache from pathlib import Path from cereal import log +from openpilot.common.util import sudo_read, sudo_write from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone from openpilot.system.hardware.tici import iwlist @@ -62,25 +62,6 @@ MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5 MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14 -def sudo_write(val, path): - try: - with open(path, 'w') as f: - f.write(str(val)) - except PermissionError: - os.system(f"sudo chmod a+w {path}") - try: - with open(path, 'w') as f: - f.write(str(val)) - except PermissionError: - # fallback for debugfs files - os.system(f"sudo su -c 'echo {val} > {path}'") - -def sudo_read(path: str) -> str: - try: - return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() - except Exception: - return "" - def affine_irq(val, action): irqs = get_irqs_for_action(action) if len(irqs) == 0: @@ -518,18 +499,19 @@ class Tici(HardwareBase): except Exception: pass - # eSIM prime + # we use the lte connection built into AGNOS. cleanup esim connection if it exists dest = "/etc/NetworkManager/system-connections/esim.nmconnection" - if sim_id.startswith('8985235') and not os.path.exists(dest): - with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: - dat = f.read() - dat = dat.replace("sim-id=", f"sim-id={sim_id}") - tf.write(dat) - tf.flush() + if os.path.exists(dest): + os.system(f"sudo nmcli con delete {dest}") + self.reboot_modem() - # needs to be root - os.system(f"sudo cp {tf.name} {dest}") - os.system(f"sudo nmcli con load {dest}") + def reboot_modem(self): + modem = self.get_modem() + for state in (0, 1): + try: + modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) + except Exception: + pass def get_networks(self): r = {} diff --git a/system/manager/build.py b/system/manager/build.py index 771024794f..49c8128660 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 = 3130 +TOTAL_SCONS_NODES = 3765 MAX_BUILD_PROGRESS = 100 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 50b4d7069c..5f3cfc6177 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -108,7 +108,7 @@ procs = [ PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)), - NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), + PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", and_(only_onroad, not_joystick)), PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad), diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore deleted file mode 100644 index e17675e254..0000000000 --- a/system/sensord/.gitignore +++ /dev/null @@ -1 +0,0 @@ -sensord diff --git a/system/sensord/SConscript b/system/sensord/SConscript deleted file mode 100644 index e2dfb522c6..0000000000 --- a/system/sensord/SConscript +++ /dev/null @@ -1,17 +0,0 @@ -Import('env', 'arch', 'common', 'messaging') - -sensors = [ - 'sensors/i2c_sensor.cc', - 'sensors/bmx055_accel.cc', - 'sensors/bmx055_gyro.cc', - 'sensors/bmx055_magn.cc', - 'sensors/bmx055_temp.cc', - 'sensors/lsm6ds3_accel.cc', - 'sensors/lsm6ds3_gyro.cc', - 'sensors/lsm6ds3_temp.cc', - 'sensors/mmc5603nj_magn.cc', -] -libs = [common, messaging, 'pthread'] -if arch == "larch64": - libs.append('i2c') -env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs) diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py new file mode 100755 index 0000000000..ed9d0ed415 --- /dev/null +++ b/system/sensord/sensord.py @@ -0,0 +1,139 @@ +#!/usr/bin/env python3 +import os +import time +import ctypes +import select +import threading + +import cereal.messaging as messaging +from cereal.services import SERVICE_LIST +from openpilot.common.util import sudo_write +from openpilot.common.realtime import config_realtime_process, Ratekeeper +from openpilot.common.swaglog import cloudlog +from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data + +from openpilot.system.sensord.sensors.i2c_sensor import Sensor +from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel +from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro +from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp +from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn + +I2C_BUS_IMU = 1 + +def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None: + pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt]) + + # Requesting both edges as the data ready pulse from the lsm6ds sensor is + # very short (75us) and is mostly detected as falling edge instead of rising. + # So if it is detected as rising the following falling edge is skipped. + fd = gpiochip_get_ro_value_fd("sensord", 0, 84) + + # Configure IRQ affinity + irq_path = "/proc/irq/336/smp_affinity_list" + if not os.path.exists(irq_path): + irq_path = "/proc/irq/335/smp_affinity_list" + if os.path.exists(irq_path): + sudo_write('1\n', irq_path) + + offset = time.time_ns() - time.monotonic_ns() + + poller = select.poll() + poller.register(fd, select.POLLIN | select.POLLPRI) + while not event.is_set(): + events = poller.poll(100) + if not events: + cloudlog.error("poll timed out") + continue + if not (events[0][1] & (select.POLLIN | select.POLLPRI)): + cloudlog.error("no poll events set") + continue + + dat = os.read(fd, ctypes.sizeof(gpioevent_data)*16) + evd = gpioevent_data.from_buffer_copy(dat) + + cur_offset = time.time_ns() - time.monotonic_ns() + if abs(cur_offset - offset) > 10 * 1e6: # ms + cloudlog.warning(f"time jumped: {cur_offset} {offset}") + offset = cur_offset + continue + + ts = evd.timestamp - cur_offset + for sensor, service, interrupt in sensors: + if interrupt: + try: + evt = sensor.get_event(ts) + if not sensor.is_data_valid(): + continue + msg = messaging.new_message(service, valid=True) + setattr(msg, service, evt) + pm.send(service, msg) + except Sensor.DataNotReady: + pass + except Exception: + cloudlog.exception(f"Error processing {service}") + + +def polling_loop(sensor: Sensor, service: str, event: threading.Event) -> None: + pm = messaging.PubMaster([service]) + rk = Ratekeeper(SERVICE_LIST[service].frequency, print_delay_threshold=None) + while not event.is_set(): + try: + evt = sensor.get_event() + if not sensor.is_data_valid(): + continue + msg = messaging.new_message(service, valid=True) + setattr(msg, service, evt) + pm.send(service, msg) + except Exception: + cloudlog.exception(f"Error in {service} polling loop") + rk.keep_time() + +def main() -> None: + config_realtime_process([1, ], 1) + + sensors_cfg = [ + (LSM6DS3_Accel(I2C_BUS_IMU), "accelerometer", True), + (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True), + (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False), + (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False), + ] + + # Initialize sensors + exit_event = threading.Event() + threads = [ + threading.Thread(target=interrupt_loop, args=(sensors_cfg, exit_event), daemon=True) + ] + for sensor, service, interrupt in sensors_cfg: + try: + sensor.init() + if not interrupt: + # Start polling thread for sensors without interrupts + threads.append(threading.Thread( + target=polling_loop, + args=(sensor, service, exit_event), + daemon=True + )) + except Exception: + cloudlog.exception(f"Error initializing {service} sensor") + + try: + for t in threads: + t.start() + while any(t.is_alive() for t in threads): + time.sleep(1) + except KeyboardInterrupt: + pass + finally: + exit_event.set() + for t in threads: + if t.is_alive(): + t.join() + + for sensor, _, _ in sensors_cfg: + try: + sensor.shutdown() + except Exception: + cloudlog.exception("Error shutting down sensor") + +if __name__ == "__main__": + main() diff --git a/system/sensord/sensors/__init__.py b/system/sensord/sensors/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc deleted file mode 100644 index bcc31e1d6c..0000000000 --- a/system/sensord/sensors/bmx055_accel.cc +++ /dev/null @@ -1,85 +0,0 @@ -#include "system/sensord/sensors/bmx055_accel.h" - -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Accel::init() { - int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}); - if (ret == -1) { - goto fail; - } - - ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); - if (ret < 0) { - goto fail; - } - - // bmx055 accel has a 1.3ms wakeup time from deep suspend mode - util::sleep_for(10); - - // High bandwidth - // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE); - // if (ret < 0) { - // goto fail; - // } - - // Low bandwidth - ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE); - if (ret < 0) { - goto fail; - } - - ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ); - if (ret < 0) { - goto fail; - } - - enabled = true; - -fail: - return ret; -} - -int BMX055_Accel::shutdown() { - if (!enabled) return 0; - - // enter deep suspend mode (lowest power mode) - int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND); - if (ret < 0) { - LOGE("Could not move BMX055 ACCEL in deep suspend mode!"); - } - - return ret; -} - -bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[6]; - int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer)); - assert(len == 6); - - // 12 bit = +-2g - float scale = 9.81 * 2.0f / (1 << 11); - float x = -read_12_bit(buffer[0], buffer[1]) * scale; - float y = -read_12_bit(buffer[2], buffer[3]) * scale; - float z = read_12_bit(buffer[4], buffer[5]) * scale; - - auto event = msg.initEvent().initAccelerometer2(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(1); - event.setSensor(SENSOR_ACCELEROMETER); - event.setType(SENSOR_TYPE_ACCELEROMETER); - event.setTimestamp(start_time); - - float xyz[] = {x, y, z}; - auto svec = event.initAcceleration(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h deleted file mode 100644 index 2cc316e992..0000000000 --- a/system/sensord/sensors/bmx055_accel.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define BMX055_ACCEL_I2C_ADDR 0x18 - -// Registers of the chip -#define BMX055_ACCEL_I2C_REG_ID 0x00 -#define BMX055_ACCEL_I2C_REG_X_LSB 0x02 -#define BMX055_ACCEL_I2C_REG_TEMP 0x08 -#define BMX055_ACCEL_I2C_REG_BW 0x10 -#define BMX055_ACCEL_I2C_REG_PMU 0x11 -#define BMX055_ACCEL_I2C_REG_HBW 0x13 -#define BMX055_ACCEL_I2C_REG_FIFO 0x3F - -// Constants -#define BMX055_ACCEL_CHIP_ID 0xFA - -#define BMX055_ACCEL_HBW_ENABLE 0b10000000 -#define BMX055_ACCEL_HBW_DISABLE 0b00000000 -#define BMX055_ACCEL_DEEP_SUSPEND 0b00100000 -#define BMX055_ACCEL_NORMAL_MODE 0b00000000 - -#define BMX055_ACCEL_BW_7_81HZ 0b01000 -#define BMX055_ACCEL_BW_15_63HZ 0b01001 -#define BMX055_ACCEL_BW_31_25HZ 0b01010 -#define BMX055_ACCEL_BW_62_5HZ 0b01011 -#define BMX055_ACCEL_BW_125HZ 0b01100 -#define BMX055_ACCEL_BW_250HZ 0b01101 -#define BMX055_ACCEL_BW_500HZ 0b01110 -#define BMX055_ACCEL_BW_1000HZ 0b01111 - -class BMX055_Accel : public I2CSensor { - uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} -public: - BMX055_Accel(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc deleted file mode 100644 index 0cc405f654..0000000000 --- a/system/sensord/sensors/bmx055_gyro.cc +++ /dev/null @@ -1,92 +0,0 @@ -#include "system/sensord/sensors/bmx055_gyro.h" - -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -#define DEG2RAD(x) ((x) * M_PI / 180.0) - - -BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Gyro::init() { - int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID}); - if (ret == -1) return -1; - - ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE); - if (ret < 0) { - goto fail; - } - // bmx055 gyro has a 30ms wakeup time from deep suspend mode - util::sleep_for(50); - - // High bandwidth - // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE); - // if (ret < 0) { - // goto fail; - // } - - // Low bandwidth - ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE); - if (ret < 0) { - goto fail; - } - - // 116 Hz filter - ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ); - if (ret < 0) { - goto fail; - } - - // +- 125 deg/s range - ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125); - if (ret < 0) { - goto fail; - } - - enabled = true; - -fail: - return ret; -} - -int BMX055_Gyro::shutdown() { - if (!enabled) return 0; - - // enter deep suspend mode (lowest power mode) - int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND); - if (ret < 0) { - LOGE("Could not move BMX055 GYRO in deep suspend mode!"); - } - - return ret; -} - -bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[6]; - int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer)); - assert(len == 6); - - // 16 bit = +- 125 deg/s - float scale = 125.0f / (1 << 15); - float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale); - float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); - float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); - - auto event = msg.initEvent().initGyroscope2(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(1); - event.setSensor(SENSOR_GYRO_UNCALIBRATED); - event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); - event.setTimestamp(start_time); - - float xyz[] = {x, y, z}; - auto svec = event.initGyroUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h deleted file mode 100644 index 7be3e56563..0000000000 --- a/system/sensord/sensors/bmx055_gyro.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define BMX055_GYRO_I2C_ADDR 0x68 - -// Registers of the chip -#define BMX055_GYRO_I2C_REG_ID 0x00 -#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02 -#define BMX055_GYRO_I2C_REG_RANGE 0x0F -#define BMX055_GYRO_I2C_REG_BW 0x10 -#define BMX055_GYRO_I2C_REG_LPM1 0x11 -#define BMX055_GYRO_I2C_REG_HBW 0x13 -#define BMX055_GYRO_I2C_REG_FIFO 0x3F - -// Constants -#define BMX055_GYRO_CHIP_ID 0x0F - -#define BMX055_GYRO_HBW_ENABLE 0b10000000 -#define BMX055_GYRO_HBW_DISABLE 0b00000000 -#define BMX055_GYRO_DEEP_SUSPEND 0b00100000 -#define BMX055_GYRO_NORMAL_MODE 0b00000000 - -#define BMX055_GYRO_RANGE_2000 0b000 -#define BMX055_GYRO_RANGE_1000 0b001 -#define BMX055_GYRO_RANGE_500 0b010 -#define BMX055_GYRO_RANGE_250 0b011 -#define BMX055_GYRO_RANGE_125 0b100 - -#define BMX055_GYRO_BW_116HZ 0b0010 - - -class BMX055_Gyro : public I2CSensor { - uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;} -public: - BMX055_Gyro(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc deleted file mode 100644 index b498c5fe3d..0000000000 --- a/system/sensord/sensors/bmx055_magn.cc +++ /dev/null @@ -1,258 +0,0 @@ -#include "system/sensord/sensors/bmx055_magn.h" - -#include - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) { - uint16_t process_comp_x0 = data_rhall; - int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384; - uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000); - int16_t retval = ((int16_t)process_comp_x2); - int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval)); - int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128)); - int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128); - int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5; - int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000)); - int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0))); - int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096); - int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9; - retval = ((int16_t)(process_comp_x10 / 8192)); - retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16; - - return retval; -} - -static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) { - uint16_t process_comp_y0 = trim_data.dig_xyz1; - int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0; - uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000); - int16_t retval = ((int16_t)process_comp_y2); - int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval); - int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128); - int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128)); - int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512); - int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0))); - int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096); - int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8); - retval = (int16_t)(process_comp_y9 / 8192); - retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16; - - return retval; -} - -static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) { - int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1); - int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4; - int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768); - int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2); - int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536); - int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4)); - - /* saturate result to +/- 2 micro-tesla */ - retval = std::clamp(retval, -32767, 32767); - - /* Conversion of LSB to micro-tesla*/ - retval = retval / 16; - - return (int16_t)retval; -} - -BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Magn::init() { - uint8_t trim_x1y1[2] = {0}; - uint8_t trim_x2y2[2] = {0}; - uint8_t trim_xy1xy2[2] = {0}; - uint8_t trim_z1[2] = {0}; - uint8_t trim_z2[2] = {0}; - uint8_t trim_z3[2] = {0}; - uint8_t trim_z4[2] = {0}; - uint8_t trim_xyz1[2] = {0}; - - // suspend -> sleep - int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); - if (ret < 0) { - LOGD("Enabling power failed: %d", ret); - goto fail; - } - util::sleep_for(5); // wait until the chip is powered on - - ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID}); - if (ret == -1) { - goto fail; - } - - // Load magnetometer trim - ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2); - if (ret < 0) goto fail; - - // Read trim data - trim_data.dig_x1 = trim_x1y1[0]; - trim_data.dig_y1 = trim_x1y1[1]; - - trim_data.dig_x2 = trim_x2y2[0]; - trim_data.dig_y2 = trim_x2y2[1]; - - trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped - trim_data.dig_xy2 = trim_xy1xy2[0]; - - trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]); - trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]); - trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]); - trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]); - - trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f); - assert(trim_data.dig_xyz1 != 0); - - perform_self_test(); - - // f_max = 1 / (145us * nXY + 500us * NZ + 980us) - // Chose NXY = 7, NZ = 12, which gives 125 Hz, - // and has the same ratio as the high accuracy preset - ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2); - if (ret < 0) { - goto fail; - } - - ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1); - if (ret < 0) { - goto fail; - } - - enabled = true; - return 0; - - fail: - return ret; -} - -int BMX055_Magn::shutdown() { - if (!enabled) return 0; - - // move to suspend mode - int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0); - if (ret < 0) { - LOGE("Could not move BMX055 MAGN in suspend mode!"); - } - - return ret; -} - -bool BMX055_Magn::perform_self_test() { - uint8_t buffer[8]; - int16_t x, y; - int16_t neg_z, pos_z; - - // Increase z reps for less false positives (~30 Hz ODR) - set_register(BMX055_MAGN_I2C_REG_REPXY, 1); - set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1); - - // Clean existing measurement - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - - uint8_t forced = BMX055_MAGN_FORCED; - - // Negative current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6)); - util::sleep_for(100); - - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - parse_xyz(buffer, &x, &y, &neg_z); - - // Positive current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6)); - util::sleep_for(100); - - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - parse_xyz(buffer, &x, &y, &pos_z); - - // Put back in normal mode - set_register(BMX055_MAGN_I2C_REG_MAG, 0); - - int16_t diff = pos_z - neg_z; - bool passed = (diff > 180) && (diff < 240); - - if (!passed) { - LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff); - } - - return passed; -} - -bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) { - bool ready = buffer[6] & 0x1; - if (ready) { - int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3; - int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3; - int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1; - uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2; - assert(data_r != 0); - - *x = compensate_x(trim_data, mdata_x, data_r); - *y = compensate_y(trim_data, mdata_y, data_r); - *z = compensate_z(trim_data, mdata_z, data_r); - } - return ready; -} - - -bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[8]; - int16_t _x, _y, x, y, z; - - int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - bool parsed = parse_xyz(buffer, &_x, &_y, &z); - if (parsed) { - - auto event = msg.initEvent().initMagnetometer(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(2); - event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); - event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED); - event.setTimestamp(start_time); - - // Move magnetometer into same reference frame as accel/gryo - x = -_y; - y = _x; - - // Axis convention - x = -x; - y = -y; - - float xyz[] = {(float)x, (float)y, (float)z}; - auto svec = event.initMagneticUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - } - - // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes - // up to 30 Hz. Therefore we put in forced mode, and request measurements - // at a 100 Hz. When reading the registers we have to check the ready bit - // To verify the measurement was completed this cycle. - set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED); - - return parsed; -} diff --git a/system/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h deleted file mode 100644 index 15c4e734b9..0000000000 --- a/system/sensord/sensors/bmx055_magn.h +++ /dev/null @@ -1,64 +0,0 @@ -#pragma once -#include - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define BMX055_MAGN_I2C_ADDR 0x10 - -// Registers of the chip -#define BMX055_MAGN_I2C_REG_ID 0x40 -#define BMX055_MAGN_I2C_REG_PWR_0 0x4B -#define BMX055_MAGN_I2C_REG_MAG 0x4C -#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42 -#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48 -#define BMX055_MAGN_I2C_REG_REPXY 0x51 -#define BMX055_MAGN_I2C_REG_REPZ 0x52 - -#define BMX055_MAGN_I2C_REG_DIG_X1 0x5D -#define BMX055_MAGN_I2C_REG_DIG_Y1 0x5E -#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB 0x62 -#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB 0x63 -#define BMX055_MAGN_I2C_REG_DIG_X2 0x64 -#define BMX055_MAGN_I2C_REG_DIG_Y2 0x65 -#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB 0x68 -#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB 0x69 -#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB 0x6A -#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB 0x6B -#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C -#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D -#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB 0x6E -#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB 0x6F -#define BMX055_MAGN_I2C_REG_DIG_XY2 0x70 -#define BMX055_MAGN_I2C_REG_DIG_XY1 0x71 - -// Constants -#define BMX055_MAGN_CHIP_ID 0x32 -#define BMX055_MAGN_FORCED (0b01 << 1) - -struct trim_data_t { - int8_t dig_x1; - int8_t dig_y1; - int8_t dig_x2; - int8_t dig_y2; - uint16_t dig_z1; - int16_t dig_z2; - int16_t dig_z3; - int16_t dig_z4; - uint8_t dig_xy1; - int8_t dig_xy2; - uint16_t dig_xyz1; -}; - - -class BMX055_Magn : public I2CSensor{ - uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;} - trim_data_t trim_data = {0}; - bool perform_self_test(); - bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z); -public: - BMX055_Magn(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc deleted file mode 100644 index da7b86476c..0000000000 --- a/system/sensord/sensors/bmx055_temp.cc +++ /dev/null @@ -1,31 +0,0 @@ -#include "system/sensord/sensors/bmx055_temp.h" - -#include - -#include "system/sensord/sensors/bmx055_accel.h" -#include "common/swaglog.h" -#include "common/timing.h" - -BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Temp::init() { - return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0; -} - -bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[1]; - int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float temp = 23.0f + int8_t(buffer[0]) / 2.0f; - - auto event = msg.initEvent().initTemperatureSensor(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(1); - event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); - event.setTimestamp(start_time); - event.setTemperature(temp); - - return true; -} diff --git a/system/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h deleted file mode 100644 index a2eabae395..0000000000 --- a/system/sensord/sensors/bmx055_temp.h +++ /dev/null @@ -1,13 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/bmx055_accel.h" -#include "system/sensord/sensors/i2c_sensor.h" - -class BMX055_Temp : public I2CSensor { - uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} -public: - BMX055_Temp(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown() { return 0; } -}; diff --git a/system/sensord/sensors/constants.h b/system/sensord/sensors/constants.h deleted file mode 100644 index c216f838a5..0000000000 --- a/system/sensord/sensors/constants.h +++ /dev/null @@ -1,18 +0,0 @@ -#pragma once - - -#define SENSOR_ACCELEROMETER 1 -#define SENSOR_MAGNETOMETER 2 -#define SENSOR_MAGNETOMETER_UNCALIBRATED 3 -#define SENSOR_GYRO 4 -#define SENSOR_GYRO_UNCALIBRATED 5 -#define SENSOR_LIGHT 7 - -#define SENSOR_TYPE_ACCELEROMETER 1 -#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2 -#define SENSOR_TYPE_GYROSCOPE 4 -#define SENSOR_TYPE_LIGHT 5 -#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13 -#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14 -#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD -#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16 diff --git a/system/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc deleted file mode 100644 index 90220f551d..0000000000 --- a/system/sensord/sensors/i2c_sensor.cc +++ /dev/null @@ -1,50 +0,0 @@ -#include "system/sensord/sensors/i2c_sensor.h" - -int16_t read_12_bit(uint8_t lsb, uint8_t msb) { - uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0); - return int16_t(combined) / (1 << 4); -} - -int16_t read_16_bit(uint8_t lsb, uint8_t msb) { - uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb); - return int16_t(combined); -} - -int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) { - uint32_t combined = (uint32_t(b0) << 16) | (uint32_t(b1) << 8) | uint32_t(b2); - return int32_t(combined) / (1 << 4); -} - -I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : - bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {} - -I2CSensor::~I2CSensor() { - if (gpio_fd != -1) { - close(gpio_fd); - } -} - -int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) { - return bus->read_register(get_device_address(), register_address, buffer, len); -} - -int I2CSensor::set_register(uint register_address, uint8_t data) { - return bus->set_register(get_device_address(), register_address, data); -} - -int I2CSensor::init_gpio() { - if (shared_gpio || gpio_nr == 0) { - return 0; - } - - gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr); - if (gpio_fd < 0) { - return -1; - } - - return 0; -} - -bool I2CSensor::has_interrupt_enabled() { - return gpio_nr != 0; -} diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h deleted file mode 100644 index e6d328ce72..0000000000 --- a/system/sensord/sensors/i2c_sensor.h +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once - -#include -#include -#include -#include "cereal/gen/cpp/log.capnp.h" - -#include "common/i2c.h" -#include "common/gpio.h" - -#include "common/swaglog.h" -#include "system/sensord/sensors/constants.h" -#include "system/sensord/sensors/sensor.h" - -int16_t read_12_bit(uint8_t lsb, uint8_t msb); -int16_t read_16_bit(uint8_t lsb, uint8_t msb); -int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0); - - -class I2CSensor : public Sensor { -private: - I2CBus *bus; - int gpio_nr; - bool shared_gpio; - virtual uint8_t get_device_address() = 0; - -public: - I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); - ~I2CSensor(); - int read_register(uint register_address, uint8_t *buffer, uint8_t len); - int set_register(uint register_address, uint8_t data); - int init_gpio(); - bool has_interrupt_enabled(); - virtual int init() = 0; - virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; - virtual int shutdown() = 0; - - int verify_chip_id(uint8_t address, const std::vector &expected_ids) { - uint8_t chip_id = 0; - int ret = read_register(address, &chip_id, 1); - if (ret < 0) { - LOGD("Reading chip ID failed: %d", ret); - return -1; - } - for (int i = 0; i < expected_ids.size(); ++i) { - if (chip_id == expected_ids[i]) return chip_id; - } - LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]); - return -1; - } -}; diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py new file mode 100644 index 0000000000..0e15a6622b --- /dev/null +++ b/system/sensord/sensors/i2c_sensor.py @@ -0,0 +1,72 @@ +import time +import smbus2 +import ctypes +from collections.abc import Iterable + +from cereal import log + +class Sensor: + class SensorException(Exception): + pass + + class DataNotReady(SensorException): + pass + + def __init__(self, bus: int) -> None: + self.bus = smbus2.SMBus(bus) + self.source = log.SensorEventData.SensorSource.velodyne # unknown + self.start_ts = 0. + + def __del__(self): + self.bus.close() + + def read(self, addr: int, length: int) -> bytes: + return bytes(self.bus.read_i2c_block_data(self.device_address, addr, length)) + + def write(self, addr: int, data: int) -> None: + self.bus.write_byte_data(self.device_address, addr, data) + + def writes(self, writes: Iterable[tuple[int, int]]) -> None: + for addr, data in writes: + self.write(addr, data) + + def verify_chip_id(self, address: int, expected_ids: list[int]) -> int: + chip_id = self.read(address, 1)[0] + assert chip_id in expected_ids + return chip_id + + # Abstract methods that must be implemented by subclasses + @property + def device_address(self) -> int: + raise NotImplementedError + + def init(self) -> None: + raise NotImplementedError + + def get_event(self, ts: int | None = None) -> log.SensorEventData: + raise NotImplementedError + + def shutdown(self) -> None: + raise NotImplementedError + + def is_data_valid(self) -> bool: + if self.start_ts == 0: + self.start_ts = time.monotonic() + + # unclear whether we need this... + return (time.monotonic() - self.start_ts) > 0.5 + + # *** helpers *** + @staticmethod + def wait(): + # a standard small sleep + time.sleep(0.005) + + @staticmethod + def parse_16bit(lsb: int, msb: int) -> int: + return ctypes.c_int16((msb << 8) | lsb).value + + @staticmethod + def parse_20bit(b2: int, b1: int, b0: int) -> int: + combined = ctypes.c_uint32((b0 << 16) | (b1 << 8) | b2).value + return ctypes.c_int32(combined).value // (1 << 4) diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc deleted file mode 100644 index 03533e0657..0000000000 --- a/system/sensord/sensors/lsm6ds3_accel.cc +++ /dev/null @@ -1,250 +0,0 @@ -#include "system/sensord/sensors/lsm6ds3_accel.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : - I2CSensor(bus, gpio_nr, shared_gpio) {} - -void LSM6DS3_Accel::wait_for_data_ready() { - uint8_t drdy = 0; - uint8_t buffer[6]; - - do { - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_ACCEL_DRDY_XLDA; - } while (drdy == 0); - - read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); -} - -void LSM6DS3_Accel::read_and_avg_data(float* out_buf) { - uint8_t drdy = 0; - uint8_t buffer[6]; - - float scaling = 0.061f; - if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) { - scaling = 0.122f; - } - - for (int i = 0; i < 5; i++) { - do { - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_ACCEL_DRDY_XLDA; - } while (drdy == 0); - - int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - for (int j = 0; j < 3; j++) { - out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling; - } - } - - for (int i = 0; i < 3; i++) { - out_buf[i] /= 5.0f; - } -} - -int LSM6DS3_Accel::self_test(int test_type) { - float val_st_off[3] = {0}; - float val_st_on[3] = {0}; - float test_val[3] = {0}; - uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz - - // prepare sensor for self-test - - // enable block data update and automatic increment - int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU); - if (ret < 0) { - return ret; - } - - if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) { - ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ; - } - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(100); - wait_for_data_ready(); - read_and_avg_data(val_st_off); - - // enable Self Test positive (or negative) - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(100); - wait_for_data_ready(); - read_and_avg_data(val_st_on); - - // disable sensor - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0); - if (ret < 0) { - return ret; - } - - // disable self test - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0); - if (ret < 0) { - return ret; - } - - // calculate the mg values for self test - for (int i = 0; i < 3; i++) { - test_val[i] = fabs(val_st_on[i] - val_st_off[i]); - } - - // verify test result - for (int i = 0; i < 3; i++) { - if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) || - (test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) { - return -1; - } - } - - return ret; -} - -int LSM6DS3_Accel::init() { - uint8_t value = 0; - bool do_self_test = false; - - const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); - if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { - do_self_test = true; - } - - int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID}); - if (ret == -1) return -1; - - if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) { - source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; - } - - ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 accel positive self-test failed!"); - if (do_self_test) goto fail; - } - - ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 accel negative self-test failed!"); - if (do_self_test) goto fail; - } - - ret = init_gpio(); - if (ret < 0) { - goto fail; - } - - // enable continuous update, and automatic increase - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC); - if (ret < 0) { - goto fail; - } - - // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ); - if (ret < 0) { - goto fail; - } - - ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE); - if (ret < 0) { - goto fail; - } - - // enable data ready interrupt for accel on INT1 - // (without resetting existing interrupts) - ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value |= LSM6DS3_ACCEL_INT1_DRDY_XL; - ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); - -fail: - return ret; -} - -int LSM6DS3_Accel::shutdown() { - int ret = 0; - - // disable data ready interrupt for accel on INT1 - uint8_t value = 0; - ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); - ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); - if (ret < 0) { - LOGE("Could not disable lsm6ds3 acceleration interrupt!"); - goto fail; - } - - // enable power-down mode - value = 0; - ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= 0x0F; - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value); - if (ret < 0) { - LOGE("Could not power-down lsm6ds3 accelerometer!"); - goto fail; - } - -fail: - return ret; -} - -bool LSM6DS3_Accel::get_event(MessageBuilder &msg, uint64_t ts) { - - // INT1 shared with gyro, check STATUS_REG who triggered - uint8_t status_reg = 0; - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); - if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) { - return false; - } - - uint8_t buffer[6]; - int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float scale = 9.81 * 2.0f / (1 << 15); - float x = read_16_bit(buffer[0], buffer[1]) * scale; - float y = read_16_bit(buffer[2], buffer[3]) * scale; - float z = read_16_bit(buffer[4], buffer[5]) * scale; - - auto event = msg.initEvent().initAccelerometer(); - event.setSource(source); - event.setVersion(1); - event.setSensor(SENSOR_ACCELEROMETER); - event.setType(SENSOR_TYPE_ACCELEROMETER); - event.setTimestamp(ts); - - float xyz[] = {y, -x, z}; - auto svec = event.initAcceleration(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h deleted file mode 100644 index 69667cb759..0000000000 --- a/system/sensord/sensors/lsm6ds3_accel.h +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define LSM6DS3_ACCEL_I2C_ADDR 0x6A - -// Registers of the chip -#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG 0x0B -#define LSM6DS3_ACCEL_I2C_REG_ID 0x0F -#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D -#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10 -#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C 0x12 -#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C 0x14 -#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL 0x18 -#define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E -#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28 - -// Constants -#define LSM6DS3_ACCEL_CHIP_ID 0x69 -#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A -#define LSM6DS3_ACCEL_FS_4G (0b10 << 2) -#define LSM6DS3_ACCEL_ODR_52HZ (0b0011 << 4) -#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) -#define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1 -#define LSM6DS3_ACCEL_DRDY_XLDA 0b1 -#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7) -#define LSM6DS3_ACCEL_IF_INC 0b00000100 -#define LSM6DS3_ACCEL_IF_INC_BDU 0b01000100 -#define LSM6DS3_ACCEL_XYZ_DEN 0b11100000 -#define LSM6DS3_ACCEL_POSITIVE_TEST 0b01 -#define LSM6DS3_ACCEL_NEGATIVE_TEST 0b10 -#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f -#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f - -class LSM6DS3_Accel : public I2CSensor { - uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;} - cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; - - // self test functions - int self_test(int test_type); - void wait_for_data_ready(); - void read_and_avg_data(float* val_st_off); -public: - LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py new file mode 100644 index 0000000000..2d788fcbe2 --- /dev/null +++ b/system/sensord/sensors/lsm6ds3_accel.py @@ -0,0 +1,157 @@ +import os +import time + +from cereal import log +from openpilot.system.sensord.sensors.i2c_sensor import Sensor + +class LSM6DS3_Accel(Sensor): + LSM6DS3_ACCEL_I2C_REG_DRDY_CFG = 0x0B + LSM6DS3_ACCEL_I2C_REG_INT1_CTRL = 0x0D + LSM6DS3_ACCEL_I2C_REG_CTRL1_XL = 0x10 + LSM6DS3_ACCEL_I2C_REG_CTRL3_C = 0x12 + LSM6DS3_ACCEL_I2C_REG_CTRL5_C = 0x14 + LSM6DS3_ACCEL_I2C_REG_STAT_REG = 0x1E + LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL = 0x28 + + LSM6DS3_ACCEL_ODR_104HZ = (0b0100 << 4) + LSM6DS3_ACCEL_INT1_DRDY_XL = 0b1 + LSM6DS3_ACCEL_DRDY_XLDA = 0b1 + LSM6DS3_ACCEL_DRDY_PULSE_MODE = (1 << 7) + LSM6DS3_ACCEL_IF_INC = 0b00000100 + + LSM6DS3_ACCEL_ODR_52HZ = (0b0011 << 4) + LSM6DS3_ACCEL_FS_4G = (0b10 << 2) + LSM6DS3_ACCEL_IF_INC_BDU = 0b01000100 + LSM6DS3_ACCEL_POSITIVE_TEST = 0b01 + LSM6DS3_ACCEL_NEGATIVE_TEST = 0b10 + LSM6DS3_ACCEL_MIN_ST_LIMIT_mg = 90.0 + LSM6DS3_ACCEL_MAX_ST_LIMIT_mg = 1700.0 + + @property + def device_address(self) -> int: + return 0x6A + + def init(self): + chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A]) + if chip_id == 0x6A: + self.source = log.SensorEventData.SensorSource.lsm6ds3trc + else: + self.source = log.SensorEventData.SensorSource.lsm6ds3 + + # self-test + if os.getenv("LSM_SELF_TEST") == "1": + self.self_test(self.LSM6DS3_ACCEL_POSITIVE_TEST) + self.self_test(self.LSM6DS3_ACCEL_NEGATIVE_TEST) + + # actual init + int1 = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0] + int1 |= self.LSM6DS3_ACCEL_INT1_DRDY_XL + self.writes(( + # Enable continuous update and automatic address increment + (self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC), + # Set ODR to 104 Hz, FS to ±2g (default) + (self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, self.LSM6DS3_ACCEL_ODR_104HZ), + # Configure data ready signal to pulse mode + (self.LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, self.LSM6DS3_ACCEL_DRDY_PULSE_MODE), + # Enable data ready interrupt on INT1 without resetting existing interrupts + (self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, int1), + )) + + def get_event(self, ts: int | None = None) -> log.SensorEventData: + assert ts is not None # must come from the IRQ event + + # Check if data is ready since IRQ is shared with gyro + status_reg = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0] + if (status_reg & self.LSM6DS3_ACCEL_DRDY_XLDA) == 0: + raise self.DataNotReady + + scale = 9.81 * 2.0 / (1 << 15) + b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6) + x = self.parse_16bit(b[0], b[1]) * scale + y = self.parse_16bit(b[2], b[3]) * scale + z = self.parse_16bit(b[4], b[5]) * scale + + event = log.SensorEventData.new_message() + event.timestamp = ts + event.version = 1 + event.sensor = 1 # SENSOR_ACCELEROMETER + event.type = 1 # SENSOR_TYPE_ACCELEROMETER + event.source = self.source + a = event.init('acceleration') + a.v = [y, -x, z] + a.status = 1 + return event + + def shutdown(self) -> None: + # Disable data ready interrupt on INT1 + value = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0] + value &= ~self.LSM6DS3_ACCEL_INT1_DRDY_XL + self.write(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value) + + # Power down by clearing ODR bits + value = self.read(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 1)[0] + value &= 0x0F + self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value) + + # *** self-test stuff *** + def _wait_for_data_ready(self): + while True: + drdy = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0] + if drdy & self.LSM6DS3_ACCEL_DRDY_XLDA: + break + + def _read_and_avg_data(self, scaling: float) -> list[float]: + out_buf = [0.0, 0.0, 0.0] + for _ in range(5): + self._wait_for_data_ready() + b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6) + for j in range(3): + val = self.parse_16bit(b[j*2], b[j*2+1]) * scaling + out_buf[j] += val + return [x / 5.0 for x in out_buf] + + def self_test(self, test_type: int) -> None: + # Prepare sensor for self-test + self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC_BDU) + + # Configure ODR and full scale based on sensor type + if self.source == log.SensorEventData.SensorSource.lsm6ds3trc: + odr_fs = self.LSM6DS3_ACCEL_FS_4G | self.LSM6DS3_ACCEL_ODR_52HZ + scaling = 0.122 # mg/LSB for ±4g + else: + odr_fs = self.LSM6DS3_ACCEL_ODR_52HZ + scaling = 0.061 # mg/LSB for ±2g + self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, odr_fs) + + # Wait for stable output + time.sleep(0.1) + self._wait_for_data_ready() + val_st_off = self._read_and_avg_data(scaling) + + # Enable self-test + self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type) + + # Wait for stable output + time.sleep(0.1) + self._wait_for_data_ready() + val_st_on = self._read_and_avg_data(scaling) + + # Disable sensor and self-test + self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0) + self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0) + + # Calculate differences and check limits + test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)] + for val in test_val: + if val < self.LSM6DS3_ACCEL_MIN_ST_LIMIT_mg or val > self.LSM6DS3_ACCEL_MAX_ST_LIMIT_mg: + raise self.SensorException(f"Accelerometer self-test failed for test type {test_type}") + +if __name__ == "__main__": + import numpy as np + s = LSM6DS3_Accel(1) + s.init() + time.sleep(0.2) + e = s.get_event(0) + print(e) + print(np.linalg.norm(e.acceleration.v)) + s.shutdown() diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc deleted file mode 100644 index bb560edeab..0000000000 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ /dev/null @@ -1,233 +0,0 @@ -#include "system/sensord/sensors/lsm6ds3_gyro.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -#define DEG2RAD(x) ((x) * M_PI / 180.0) - -LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : - I2CSensor(bus, gpio_nr, shared_gpio) {} - -void LSM6DS3_Gyro::wait_for_data_ready() { - uint8_t drdy = 0; - uint8_t buffer[6]; - - do { - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_GYRO_DRDY_GDA; - } while (drdy == 0); - - read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); -} - -void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) { - uint8_t drdy = 0; - uint8_t buffer[6]; - - for (int i = 0; i < 5; i++) { - do { - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_GYRO_DRDY_GDA; - } while (drdy == 0); - - int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - for (int j = 0; j < 3; j++) { - out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f; - } - } - - // calculate the mg average values - for (int i = 0; i < 3; i++) { - out_buf[i] /= 5.0f; - } -} - -int LSM6DS3_Gyro::self_test(int test_type) { - float val_st_off[3] = {0}; - float val_st_on[3] = {0}; - float test_val[3] = {0}; - - // prepare sensor for self-test - - // full scale: 2000dps, ODR: 208Hz - int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(150); - wait_for_data_ready(); - read_and_avg_data(val_st_off); - - // enable Self Test positive (or negative) - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(50); - wait_for_data_ready(); - read_and_avg_data(val_st_on); - - // disable sensor - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0); - if (ret < 0) { - return ret; - } - - // disable self test - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0); - if (ret < 0) { - return ret; - } - - // calculate the mg values for self test - for (int i = 0; i < 3; i++) { - test_val[i] = fabs(val_st_on[i] - val_st_off[i]); - } - - // verify test result - for (int i = 0; i < 3; i++) { - if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) || - (test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) { - return -1; - } - } - - return ret; -} - -int LSM6DS3_Gyro::init() { - uint8_t value = 0; - bool do_self_test = false; - - const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); - if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { - do_self_test = true; - } - - int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID}); - if (ret == -1) return -1; - - if (ret == LSM6DS3TRC_GYRO_CHIP_ID) { - source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; - } - - ret = init_gpio(); - if (ret < 0) { - goto fail; - } - - ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 gyro positive self-test failed!"); - if (do_self_test) goto fail; - } - - ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 gyro negative self-test failed!"); - if (do_self_test) goto fail; - } - - // TODO: set scale. Default is +- 250 deg/s - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ); - if (ret < 0) { - goto fail; - } - - ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE); - if (ret < 0) { - goto fail; - } - - // enable data ready interrupt for gyro on INT1 - // (without resetting existing interrupts) - ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value |= LSM6DS3_GYRO_INT1_DRDY_G; - ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); - -fail: - return ret; -} - -int LSM6DS3_Gyro::shutdown() { - int ret = 0; - - // disable data ready interrupt for gyro on INT1 - uint8_t value = 0; - ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); - ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); - if (ret < 0) { - LOGE("Could not disable lsm6ds3 gyroscope interrupt!"); - goto fail; - } - - // enable power-down mode - value = 0; - ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= 0x0F; - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value); - if (ret < 0) { - LOGE("Could not power-down lsm6ds3 gyroscope!"); - goto fail; - } - -fail: - return ret; -} - -bool LSM6DS3_Gyro::get_event(MessageBuilder &msg, uint64_t ts) { - - // INT1 shared with accel, check STATUS_REG who triggered - uint8_t status_reg = 0; - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); - if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) { - return false; - } - - uint8_t buffer[6]; - int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float scale = 8.75 / 1000.0; - float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale); - float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); - float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); - - auto event = msg.initEvent().initGyroscope(); - event.setSource(source); - event.setVersion(2); - event.setSensor(SENSOR_GYRO_UNCALIBRATED); - event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); - event.setTimestamp(ts); - - float xyz[] = {y, -x, z}; - auto svec = event.initGyroUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h deleted file mode 100644 index adaae62dd2..0000000000 --- a/system/sensord/sensors/lsm6ds3_gyro.h +++ /dev/null @@ -1,45 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define LSM6DS3_GYRO_I2C_ADDR 0x6A - -// Registers of the chip -#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG 0x0B -#define LSM6DS3_GYRO_I2C_REG_ID 0x0F -#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D -#define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11 -#define LSM6DS3_GYRO_I2C_REG_CTRL5_C 0x14 -#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E -#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22 -#define LSM6DS3_GYRO_POSITIVE_TEST (0b01 << 2) -#define LSM6DS3_GYRO_NEGATIVE_TEST (0b11 << 2) - -// Constants -#define LSM6DS3_GYRO_CHIP_ID 0x69 -#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A -#define LSM6DS3_GYRO_FS_2000dps (0b11 << 2) -#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) -#define LSM6DS3_GYRO_ODR_208HZ (0b0101 << 4) -#define LSM6DS3_GYRO_INT1_DRDY_G 0b10 -#define LSM6DS3_GYRO_DRDY_GDA 0b10 -#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7) -#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f -#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f - - -class LSM6DS3_Gyro : public I2CSensor { - uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;} - cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; - - // self test functions - int self_test(int test_type); - void wait_for_data_ready(); - void read_and_avg_data(float* val_st_off); -public: - LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py new file mode 100644 index 0000000000..68fd267df2 --- /dev/null +++ b/system/sensord/sensors/lsm6ds3_gyro.py @@ -0,0 +1,141 @@ +import os +import math +import time + +from cereal import log +from openpilot.system.sensord.sensors.i2c_sensor import Sensor + +class LSM6DS3_Gyro(Sensor): + LSM6DS3_GYRO_I2C_REG_DRDY_CFG = 0x0B + LSM6DS3_GYRO_I2C_REG_INT1_CTRL = 0x0D + LSM6DS3_GYRO_I2C_REG_CTRL2_G = 0x11 + LSM6DS3_GYRO_I2C_REG_CTRL5_C = 0x14 + LSM6DS3_GYRO_I2C_REG_STAT_REG = 0x1E + LSM6DS3_GYRO_I2C_REG_OUTX_L_G = 0x22 + + LSM6DS3_GYRO_ODR_104HZ = (0b0100 << 4) + LSM6DS3_GYRO_INT1_DRDY_G = 0b10 + LSM6DS3_GYRO_DRDY_GDA = 0b10 + LSM6DS3_GYRO_DRDY_PULSE_MODE = (1 << 7) + + LSM6DS3_GYRO_ODR_208HZ = (0b0101 << 4) + LSM6DS3_GYRO_FS_2000dps = (0b11 << 2) + LSM6DS3_GYRO_POSITIVE_TEST = (0b01 << 2) + LSM6DS3_GYRO_NEGATIVE_TEST = (0b11 << 2) + LSM6DS3_GYRO_MIN_ST_LIMIT_mdps = 150000.0 + LSM6DS3_GYRO_MAX_ST_LIMIT_mdps = 700000.0 + + @property + def device_address(self) -> int: + return 0x6A + + def init(self): + chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A]) + if chip_id == 0x6A: + self.source = log.SensorEventData.SensorSource.lsm6ds3trc + else: + self.source = log.SensorEventData.SensorSource.lsm6ds3 + + # self-test + if "LSM_SELF_TEST" in os.environ: + self.self_test(self.LSM6DS3_GYRO_POSITIVE_TEST) + self.self_test(self.LSM6DS3_GYRO_NEGATIVE_TEST) + + # actual init + self.writes(( + # TODO: set scale. Default is +- 250 deg/s + (self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_104HZ), + # Configure data ready signal to pulse mode + (self.LSM6DS3_GYRO_I2C_REG_DRDY_CFG, self.LSM6DS3_GYRO_DRDY_PULSE_MODE), + )) + value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0] + value |= self.LSM6DS3_GYRO_INT1_DRDY_G + self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value) + + def get_event(self, ts: int | None = None) -> log.SensorEventData: + assert ts is not None # must come from the IRQ event + + # Check if gyroscope data is ready, since it's shared with accelerometer + status_reg = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0] + if not (status_reg & self.LSM6DS3_GYRO_DRDY_GDA): + raise self.DataNotReady + + b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6) + x = self.parse_16bit(b[0], b[1]) + y = self.parse_16bit(b[2], b[3]) + z = self.parse_16bit(b[4], b[5]) + scale = (8.75 / 1000.0) * (math.pi / 180.0) + xyz = [y * scale, -x * scale, z * scale] + + event = log.SensorEventData.new_message() + event.timestamp = ts + event.version = 2 + event.sensor = 5 # SENSOR_GYRO_UNCALIBRATED + event.type = 16 # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED + event.source = self.source + g = event.init('gyroUncalibrated') + g.v = xyz + g.status = 1 + return event + + def shutdown(self) -> None: + # Disable data ready interrupt on INT1 + value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0] + value &= ~self.LSM6DS3_GYRO_INT1_DRDY_G + self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value) + + # Power down by clearing ODR bits + value = self.read(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 1)[0] + value &= 0x0F + self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, value) + + # *** self-test stuff *** + def _wait_for_data_ready(self): + while True: + drdy = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0] + if drdy & self.LSM6DS3_GYRO_DRDY_GDA: + break + + def _read_and_avg_data(self) -> list[float]: + out_buf = [0.0, 0.0, 0.0] + for _ in range(5): + self._wait_for_data_ready() + b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6) + for j in range(3): + val = self.parse_16bit(b[j*2], b[j*2+1]) * 70.0 # mdps/LSB for 2000 dps + out_buf[j] += val + return [x / 5.0 for x in out_buf] + + def self_test(self, test_type: int): + # Set ODR to 208Hz, FS to 2000dps + self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_208HZ | self.LSM6DS3_GYRO_FS_2000dps) + + # Wait for stable output + time.sleep(0.15) + self._wait_for_data_ready() + val_st_off = self._read_and_avg_data() + + # Enable self-test + self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type) + + # Wait for stable output + time.sleep(0.05) + self._wait_for_data_ready() + val_st_on = self._read_and_avg_data() + + # Disable sensor and self-test + self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0) + self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0) + + # Calculate differences and check limits + test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)] + for val in test_val: + if val < self.LSM6DS3_GYRO_MIN_ST_LIMIT_mdps or val > self.LSM6DS3_GYRO_MAX_ST_LIMIT_mdps: + raise Exception(f"Gyroscope self-test failed for test type {test_type}") + +if __name__ == "__main__": + s = LSM6DS3_Gyro(1) + s.init() + time.sleep(0.1) + print(s.get_event(0)) + s.shutdown() diff --git a/system/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc deleted file mode 100644 index f481614154..0000000000 --- a/system/sensord/sensors/lsm6ds3_temp.cc +++ /dev/null @@ -1,37 +0,0 @@ -#include "system/sensord/sensors/lsm6ds3_temp.h" - -#include - -#include "common/swaglog.h" -#include "common/timing.h" - -LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {} - -int LSM6DS3_Temp::init() { - int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID}); - if (ret == -1) return -1; - - if (ret == LSM6DS3TRC_TEMP_CHIP_ID) { - source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; - } - return 0; -} - -bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[2]; - int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f; - float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale; - - auto event = msg.initEvent().initTemperatureSensor(); - event.setSource(source); - event.setVersion(1); - event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); - event.setTimestamp(start_time); - event.setTemperature(temp); - - return true; -} diff --git a/system/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h deleted file mode 100644 index 1b5b621814..0000000000 --- a/system/sensord/sensors/lsm6ds3_temp.h +++ /dev/null @@ -1,26 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define LSM6DS3_TEMP_I2C_ADDR 0x6A - -// Registers of the chip -#define LSM6DS3_TEMP_I2C_REG_ID 0x0F -#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L 0x20 - -// Constants -#define LSM6DS3_TEMP_CHIP_ID 0x69 -#define LSM6DS3TRC_TEMP_CHIP_ID 0x6A - - -class LSM6DS3_Temp : public I2CSensor { - uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;} - cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; - -public: - LSM6DS3_Temp(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown() { return 0; } -}; diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py new file mode 100644 index 0000000000..7d7b1c2ce1 --- /dev/null +++ b/system/sensord/sensors/lsm6ds3_temp.py @@ -0,0 +1,33 @@ +import time + +from cereal import log +from openpilot.system.sensord.sensors.i2c_sensor import Sensor + +# https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf +class LSM6DS3_Temp(Sensor): + @property + def device_address(self) -> int: + return 0x6A # Default I2C address for LSM6DS3 + + def _read_temperature(self) -> float: + scale = 16.0 if log.SensorEventData.SensorSource.lsm6ds3 else 256.0 + data = self.read(0x20, 2) + return 25 + (self.parse_16bit(data[0], data[1]) / scale) + + def init(self): + chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A]) + if chip_id == 0x6A: + self.source = log.SensorEventData.SensorSource.lsm6ds3trc + else: + self.source = log.SensorEventData.SensorSource.lsm6ds3 + + def get_event(self, ts: int | None = None) -> log.SensorEventData: + event = log.SensorEventData.new_message() + event.version = 1 + event.timestamp = int(time.monotonic() * 1e9) + event.source = self.source + event.temperature = self._read_temperature() + return event + + def shutdown(self) -> None: + pass diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc deleted file mode 100644 index 0e8ba967e3..0000000000 --- a/system/sensord/sensors/mmc5603nj_magn.cc +++ /dev/null @@ -1,108 +0,0 @@ -#include "system/sensord/sensors/mmc5603nj_magn.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {} - -int MMC5603NJ_Magn::init() { - int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID}); - if (ret == -1) return -1; - - // Set ODR to 0 - ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); - if (ret < 0) { - goto fail; - } - - // Set BW to 0b01 for 1-150 Hz operation - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01); - if (ret < 0) { - goto fail; - } - -fail: - return ret; -} - -int MMC5603NJ_Magn::shutdown() { - int ret = 0; - - // disable auto reset of measurements - uint8_t value = 0; - ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN); - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value); - if (ret < 0) { - goto fail; - } - - // set ODR to 0 to leave continuous mode - ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); - if (ret < 0) { - goto fail; - } - return ret; - -fail: - LOGE("Could not disable mmc5603nj auto set reset"); - return ret; -} - -void MMC5603NJ_Magn::start_measurement() { - set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01); - util::sleep_for(5); -} - -std::vector MMC5603NJ_Magn::read_measurement() { - int len; - uint8_t buffer[9]; - len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - float scale = 1.0 / 16384.0; - float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0; - float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0; - float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0; - std::vector xyz = {x, y, z}; - return xyz; -} - -bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - // SET - RESET cycle - set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET); - util::sleep_for(5); - MMC5603NJ_Magn::start_measurement(); - std::vector xyz = MMC5603NJ_Magn::read_measurement(); - - set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET); - util::sleep_for(5); - MMC5603NJ_Magn::start_measurement(); - std::vector reset_xyz = MMC5603NJ_Magn::read_measurement(); - - auto event = msg.initEvent().initMagnetometer(); - event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ); - event.setVersion(1); - event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); - event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED); - event.setTimestamp(start_time); - - float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]}; - bool valid = true; - if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) { - valid = false; - } - auto svec = event.initMagneticUncalibrated(); - svec.setV(vals); - svec.setStatus(valid); - return true; -} diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h deleted file mode 100644 index 9c0fbd2521..0000000000 --- a/system/sensord/sensors/mmc5603nj_magn.h +++ /dev/null @@ -1,37 +0,0 @@ -#pragma once - -#include - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define MMC5603NJ_I2C_ADDR 0x30 - -// Registers of the chip -#define MMC5603NJ_I2C_REG_XOUT0 0x00 -#define MMC5603NJ_I2C_REG_ODR 0x1A -#define MMC5603NJ_I2C_REG_INTERNAL_0 0x1B -#define MMC5603NJ_I2C_REG_INTERNAL_1 0x1C -#define MMC5603NJ_I2C_REG_INTERNAL_2 0x1D -#define MMC5603NJ_I2C_REG_ID 0x39 - -// Constants -#define MMC5603NJ_CHIP_ID 0x10 -#define MMC5603NJ_CMM_FREQ_EN (1 << 7) -#define MMC5603NJ_AUTO_SR_EN (1 << 5) -#define MMC5603NJ_CMM_EN (1 << 4) -#define MMC5603NJ_EN_PRD_SET (1 << 3) -#define MMC5603NJ_SET (1 << 3) -#define MMC5603NJ_RESET (1 << 4) - -class MMC5603NJ_Magn : public I2CSensor { -private: - uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;} - void start_measurement(); - std::vector read_measurement(); -public: - MMC5603NJ_Magn(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py new file mode 100644 index 0000000000..255e99eb3e --- /dev/null +++ b/system/sensord/sensors/mmc5603nj_magn.py @@ -0,0 +1,76 @@ +import time + +from cereal import log +from openpilot.system.sensord.sensors.i2c_sensor import Sensor + +# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf + +# Register addresses +REG_ODR = 0x1A +REG_INTERNAL_0 = 0x1B +REG_INTERNAL_1 = 0x1C + +# Control register settings +CMM_FREQ_EN = (1 << 7) +AUTO_SR_EN = (1 << 5) +SET = (1 << 3) +RESET = (1 << 4) + +class MMC5603NJ_Magn(Sensor): + @property + def device_address(self) -> int: + return 0x30 + + def init(self): + self.verify_chip_id(0x39, [0x10, ]) + self.writes(( + (REG_ODR, 0), + + # Set BW to 0b01 for 1-150 Hz operation + (REG_INTERNAL_1, 0b01), + )) + + def _read_data(self, cycle) -> list[float]: + # start measurement + self.write(REG_INTERNAL_0, cycle) + self.wait() + + # read out XYZ + scale = 1.0 / 16384.0 + b = self.read(0x00, 9) + return [ + (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0, + (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0, + (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0, + ] + + def get_event(self, ts: int | None = None) -> log.SensorEventData: + ts = time.monotonic_ns() + + # SET - RESET cycle + xyz = self._read_data(SET) + reset_xyz = self._read_data(RESET) + vals = [*xyz, *reset_xyz] + + event = log.SensorEventData.new_message() + event.timestamp = ts + event.version = 1 + event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED + event.type = 14 # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED + event.source = log.SensorEventData.SensorSource.mmc5603nj + + m = event.init('magneticUncalibrated') + m.v = vals + m.status = int(all(int(v) != -32 for v in vals)) + + return event + + def shutdown(self) -> None: + v = self.read(REG_INTERNAL_0, 1)[0] + self.writes(( + # disable auto-reset of measurements + (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))), + + # disable continuous mode + (REG_ODR, 0), + )) diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h deleted file mode 100644 index ccf998d161..0000000000 --- a/system/sensord/sensors/sensor.h +++ /dev/null @@ -1,24 +0,0 @@ -#pragma once - -#include "cereal/messaging/messaging.h" - -class Sensor { -public: - int gpio_fd = -1; - bool enabled = false; - uint64_t start_ts = 0; - uint64_t init_delay = 500e6; // default dealy 500ms - - virtual ~Sensor() {} - virtual int init() = 0; - virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; - virtual bool has_interrupt_enabled() = 0; - virtual int shutdown() = 0; - - virtual bool is_data_valid(uint64_t current_ts) { - if (start_ts == 0) { - start_ts = current_ts; - } - return (current_ts - start_ts) > init_delay; - } -}; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc deleted file mode 100644 index f9f51539c9..0000000000 --- a/system/sensord/sensors_qcom2.cc +++ /dev/null @@ -1,179 +0,0 @@ -#include - -#include -#include -#include -#include -#include -#include - -#include "cereal/services.h" -#include "cereal/messaging/messaging.h" -#include "common/i2c.h" -#include "common/ratekeeper.h" -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" -#include "system/sensord/sensors/bmx055_accel.h" -#include "system/sensord/sensors/bmx055_gyro.h" -#include "system/sensord/sensors/bmx055_magn.h" -#include "system/sensord/sensors/bmx055_temp.h" -#include "system/sensord/sensors/constants.h" -#include "system/sensord/sensors/lsm6ds3_accel.h" -#include "system/sensord/sensors/lsm6ds3_gyro.h" -#include "system/sensord/sensors/lsm6ds3_temp.h" -#include "system/sensord/sensors/mmc5603nj_magn.h" - -#define I2C_BUS_IMU 1 - -ExitHandler do_exit; - -void interrupt_loop(std::vector> sensors) { - PubMaster pm({"gyroscope", "accelerometer"}); - - int fd = -1; - for (auto &[sensor, msg_name] : sensors) { - if (sensor->has_interrupt_enabled()) { - fd = sensor->gpio_fd; - break; - } - } - - uint64_t offset = nanos_since_epoch() - nanos_since_boot(); - struct pollfd fd_list[1] = {0}; - fd_list[0].fd = fd; - fd_list[0].events = POLLIN | POLLPRI; - - while (!do_exit) { - int err = poll(fd_list, 1, 100); - if (err == -1) { - if (errno == EINTR) { - continue; - } - return; - } else if (err == 0) { - LOGE("poll timed out"); - continue; - } - - if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) { - LOGE("no poll events set"); - continue; - } - - // Read all events - struct gpioevent_data evdata[16]; - err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata))); - if (err < 0 || err % sizeof(*evdata) != 0) { - LOGE("error reading event data %d", err); - continue; - } - - uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot(); - uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset; - if (diff > 10*1e6) { // 10ms - LOGW("time jumped: %lu %lu", cur_offset, offset); - offset = cur_offset; - - // we don't have a valid timestamp since the - // time jumped, so throw out this measurement. - continue; - } - - int num_events = err / sizeof(*evdata); - uint64_t ts = evdata[num_events - 1].timestamp - cur_offset; - - for (auto &[sensor, msg_name] : sensors) { - if (!sensor->has_interrupt_enabled()) { - continue; - } - - MessageBuilder msg; - if (!sensor->get_event(msg, ts)) { - continue; - } - - if (!sensor->is_data_valid(ts)) { - continue; - } - - pm.send(msg_name.c_str(), msg); - } - } -} - -void polling_loop(Sensor *sensor, std::string msg_name) { - PubMaster pm({msg_name.c_str()}); - RateKeeper rk(msg_name, services.at(msg_name).frequency); - while (!do_exit) { - MessageBuilder msg; - if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) { - pm.send(msg_name.c_str(), msg); - } - rk.keepTime(); - } -} - -int sensor_loop(I2CBus *i2c_bus_imu) { - // Sensor init - std::vector> sensors_init = { - {new BMX055_Accel(i2c_bus_imu), "accelerometer2"}, - {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"}, - {new BMX055_Magn(i2c_bus_imu), "magnetometer"}, - {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"}, - - {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"}, - {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"}, - {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"}, - - {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"}, - }; - - // Initialize sensors - std::vector threads; - for (auto &[sensor, msg_name] : sensors_init) { - int err = sensor->init(); - if (err < 0) { - continue; - } - - if (!sensor->has_interrupt_enabled()) { - threads.emplace_back(polling_loop, sensor, msg_name); - } - } - - // increase interrupt quality by pinning interrupt and process to core 1 - setpriority(PRIO_PROCESS, 0, -18); - util::set_core_affinity({1}); - - // TODO: get the IRQ number from gpiochip - std::string irq_path = "/proc/irq/336/smp_affinity_list"; - if (!util::file_exists(irq_path)) { - irq_path = "/proc/irq/335/smp_affinity_list"; - } - std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str()); - - // thread for reading events via interrupts - threads.emplace_back(&interrupt_loop, std::ref(sensors_init)); - - // wait for all threads to finish - for (auto &t : threads) { - t.join(); - } - - for (auto &[sensor, msg_name] : sensors_init) { - sensor->shutdown(); - delete sensor; - } - return 0; -} - -int main(int argc, char *argv[]) { - try { - auto i2c_bus_imu = std::make_unique(I2C_BUS_IMU); - return sensor_loop(i2c_bus_imu.get()); - } catch (std::exception &e) { - LOGE("I2CBus init failed"); - return -1; - } -} diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 15f1f2dc35..1dab652386 100644 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -12,13 +12,6 @@ from openpilot.common.timeout import Timeout from openpilot.system.hardware import HARDWARE from openpilot.system.manager.process_config import managed_processes -BMX = { - ('bmx055', 'acceleration'), - ('bmx055', 'gyroUncalibrated'), - ('bmx055', 'magneticUncalibrated'), - ('bmx055', 'temperature'), -} - LSM = { ('lsm6ds3', 'acceleration'), ('lsm6ds3', 'gyroUncalibrated'), @@ -30,17 +23,11 @@ MMC = { ('mmc5603nj', 'magneticUncalibrated'), } -SENSOR_CONFIGURATIONS: list[set] = [ - BMX | LSM, - MMC | LSM, - BMX | LSM_C, - MMC| LSM_C, -] -if HARDWARE.get_device_type() == "mici": - SENSOR_CONFIGURATIONS = [ - LSM, - LSM_C, - ] +SENSOR_CONFIGURATIONS: list[set] = { + "mici": [LSM, LSM_C], + "tizi": [MMC | LSM, MMC | LSM_C], + "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C], +}.get(HARDWARE.get_device_type(), []) Sensor = log.SensorEventData.SensorSource SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) @@ -57,13 +44,6 @@ ALL_SENSORS = { SensorConfig("temperature", 0, 60), }, - Sensor.bmx055: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("magneticUncalibrated", 0, 300), - SensorConfig("temperature", 0, 60), - }, - Sensor.mmc5603nj: { SensorConfig("magneticUncalibrated", 0, 300), } diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py deleted file mode 100755 index a9cc16d707..0000000000 --- a/system/sensord/tests/ttff_test.py +++ /dev/null @@ -1,48 +0,0 @@ -#!/usr/bin/env python3 - -import time -import atexit - -from cereal import messaging -from openpilot.system.manager.process_config import managed_processes - -TIMEOUT = 10*60 - -def kill(): - for proc in ['ubloxd', 'pigeond']: - managed_processes[proc].stop(retry=True, block=True) - -if __name__ == "__main__": - # start ubloxd - managed_processes['ubloxd'].start() - atexit.register(kill) - - sm = messaging.SubMaster(['ubloxGnss']) - - times = [] - for i in range(20): - # start pigeond - st = time.monotonic() - managed_processes['pigeond'].start() - - # wait for a >4 satellite fix - while True: - sm.update(0) - msg = sm['ubloxGnss'] - if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]: - report = msg.measurementReport - if report.numMeas > 4: - times.append(time.monotonic() - st) - print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m") - break - - if time.monotonic() - st > TIMEOUT: - raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m") - - time.sleep(0.1) - - # stop pigeond - managed_processes['pigeond'].stop(retry=True, block=True) - time.sleep(20) - - print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m") diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 37da413806..9bb56fec8d 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -202,7 +202,7 @@ class GuiApplication: for index, font_file in enumerate(font_files): with as_file(FONT_DIR.joinpath(font_file)) as fspath: - font = rl.load_font_ex(fspath.as_posix(), 120, codepoints, codepoint_count[0]) + font = rl.load_font_ex(fspath.as_posix(), 200, codepoints, codepoint_count[0]) rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) self._fonts[index] = font diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py new file mode 100644 index 0000000000..9ecaa926bc --- /dev/null +++ b/system/ui/lib/shader_polygon.py @@ -0,0 +1,367 @@ +import pyray as rl +import numpy as np +from typing import Any + +MAX_GRADIENT_COLORS = 15 + +FRAGMENT_SHADER = """ +#version 300 es +precision mediump float; + +in vec2 fragTexCoord; +out vec4 finalColor; + +uniform vec2 points[100]; +uniform int pointCount; +uniform vec4 fillColor; +uniform vec2 resolution; + +uniform bool useGradient; +uniform vec2 gradientStart; +uniform vec2 gradientEnd; +uniform vec4 gradientColors[15]; +uniform float gradientStops[15]; +uniform int gradientColorCount; +uniform vec2 visibleGradientRange; + +vec4 getGradientColor(vec2 pos) { + vec2 gradientDir = gradientEnd - gradientStart; + float gradientLength = length(gradientDir); + if (gradientLength < 0.001) return gradientColors[0]; + + vec2 normalizedDir = gradientDir / gradientLength; + vec2 pointVec = pos - gradientStart; + float projection = dot(pointVec, normalizedDir); + + float t = projection / gradientLength; + + // Gradient clipping: remap t to visible range + float visibleStart = visibleGradientRange.x; + float visibleEnd = visibleGradientRange.y; + float visibleRange = visibleEnd - visibleStart; + + // Remap t to visible range + if (visibleRange > 0.001) { + t = visibleStart + t * visibleRange; + } + + t = clamp(t, 0.0, 1.0); + for (int i = 0; i < gradientColorCount - 1; i++) { + if (t >= gradientStops[i] && t <= gradientStops[i+1]) { + float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]); + return mix(gradientColors[i], gradientColors[i+1], segmentT); + } + } + + return gradientColors[gradientColorCount-1]; +} + +bool isPointInsidePolygon(vec2 p) { + if (pointCount < 3) return false; + + int crossings = 0; + for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) { + vec2 pi = points[i]; + vec2 pj = points[j]; + + // Skip degenerate edges + if (distance(pi, pj) < 0.001) continue; + + // Ray-casting + if (((pi.y > p.y) != (pj.y > p.y)) && + (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y + 0.001) + pi.x)) { + crossings++; + } + } + return (crossings & 1) == 1; +} + +float distanceToEdge(vec2 p) { + float minDist = 1000.0; + + for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) { + vec2 edge0 = points[j]; + vec2 edge1 = points[i]; + + if (distance(edge0, edge1) < 0.0001) continue; + + vec2 v1 = p - edge0; + vec2 v2 = edge1 - edge0; + float l2 = dot(v2, v2); + + if (l2 < 0.0001) { + float dist = length(v1); + minDist = min(minDist, dist); + continue; + } + + float t = clamp(dot(v1, v2) / l2, 0.0, 1.0); + vec2 projection = edge0 + t * v2; + float dist = length(p - projection); + minDist = min(minDist, dist); + } + + return minDist; +} + +float signedDistanceToPolygon(vec2 p) { + float dist = distanceToEdge(p); + bool inside = isPointInsidePolygon(p); + return inside ? dist : -dist; +} + +void main() { + vec2 pixel = fragTexCoord * resolution; + + float signedDist = signedDistanceToPolygon(pixel); + + vec2 pixelGrad = vec2(dFdx(pixel.x), dFdy(pixel.y)); + float pixelSize = length(pixelGrad); + float aaWidth = max(0.5, pixelSize * 0.5); // Sharper anti-aliasing + + float alpha = smoothstep(-aaWidth, aaWidth, signedDist); + if (alpha > 0.0) { + vec4 color = useGradient ? getGradientColor(fragTexCoord) : fillColor; + finalColor = vec4(color.rgb, color.a * alpha); + } else { + finalColor = vec4(0.0); + } +} +""" + +# Default vertex shader +VERTEX_SHADER = """ +#version 300 es +in vec3 vertexPosition; +in vec2 vertexTexCoord; +out vec2 fragTexCoord; +uniform mat4 mvp; + +void main() { + fragTexCoord = vertexTexCoord; + gl_Position = mvp * vec4(vertexPosition, 1.0); +} +""" + + +UNIFORM_INT = rl.ShaderUniformDataType.SHADER_UNIFORM_INT +UNIFORM_FLOAT = rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT +UNIFORM_VEC2 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2 +UNIFORM_VEC4 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4 + + +class ShaderState: + _instance: Any = None + + @classmethod + def get_instance(cls): + if cls._instance is None: + cls._instance = cls() + return cls._instance + + def __init__(self): + if ShaderState._instance is not None: + raise Exception("This class is a singleton. Use get_instance() instead.") + + self.initialized = False + self.shader = None + self.white_texture = None + + # Shader uniform locations + self.locations = { + 'pointCount': None, + 'fillColor': None, + 'resolution': None, + 'points': None, + 'useGradient': None, + 'gradientStart': None, + 'gradientEnd': None, + 'gradientColors': None, + 'gradientStops': None, + 'gradientColorCount': None, + 'mvp': None, + 'visibleGradientRange': None, + } + + # Pre-allocated FFI objects + self.point_count_ptr = rl.ffi.new("int[]", [0]) + self.resolution_ptr = rl.ffi.new("float[]", [0.0, 0.0]) + self.fill_color_ptr = rl.ffi.new("float[]", [0.0, 0.0, 0.0, 0.0]) + self.use_gradient_ptr = rl.ffi.new("int[]", [0]) + self.gradient_start_ptr = rl.ffi.new("float[]", [0.0, 0.0]) + self.gradient_end_ptr = rl.ffi.new("float[]", [0.0, 0.0]) + self.color_count_ptr = rl.ffi.new("int[]", [0]) + self.visible_gradient_range_ptr = rl.ffi.new("float[]", [0.0, 0.0]) + self.gradient_colors_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS * 4) + self.gradient_stops_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS) + + def initialize(self): + if self.initialized: + return + + self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAGMENT_SHADER) + + # Create and cache white texture + white_img = rl.gen_image_color(2, 2, rl.WHITE) + self.white_texture = rl.load_texture_from_image(white_img) + rl.set_texture_filter(self.white_texture, rl.TEXTURE_FILTER_BILINEAR) + rl.unload_image(white_img) + + # Cache all uniform locations + for uniform in self.locations.keys(): + self.locations[uniform] = rl.get_shader_location(self.shader, uniform) + + # Setup default MVP matrix + mvp_ptr = rl.ffi.new("float[16]", [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0]) + rl.set_shader_value_matrix(self.shader, self.locations['mvp'], rl.Matrix(*mvp_ptr)) + + self.initialized = True + + def cleanup(self): + if not self.initialized: + return + + if self.white_texture: + rl.unload_texture(self.white_texture) + self.white_texture = None + + if self.shader: + rl.unload_shader(self.shader) + self.shader = None + + self.initialized = False + + +def _configure_shader_color(state, color, gradient, rect, min_xy, max_xy): + """Configure shader uniforms for solid color or gradient rendering""" + use_gradient = 1 if gradient else 0 + state.use_gradient_ptr[0] = use_gradient + rl.set_shader_value(state.shader, state.locations['useGradient'], state.use_gradient_ptr, UNIFORM_INT) + + if use_gradient: + # Set gradient start/end + state.gradient_start_ptr[0:2] = gradient['start'] + state.gradient_end_ptr[0:2] = gradient['end'] + rl.set_shader_value(state.shader, state.locations['gradientStart'], state.gradient_start_ptr, UNIFORM_VEC2) + rl.set_shader_value(state.shader, state.locations['gradientEnd'], state.gradient_end_ptr, UNIFORM_VEC2) + + # Calculate visible gradient range + width = max_xy[0] - min_xy[0] + height = max_xy[1] - min_xy[1] + + gradient_dir = (gradient['end'][0] - gradient['start'][0], gradient['end'][1] - gradient['start'][1]) + is_vertical = abs(gradient_dir[1]) > abs(gradient_dir[0]) + + visible_start = 0.0 + visible_end = 1.0 + + if is_vertical and height > 0: + visible_start = (rect.y - min_xy[1]) / height + visible_end = visible_start + rect.height / height + elif width > 0: + visible_start = (rect.x - min_xy[0]) / width + visible_end = visible_start + rect.width / width + + # Clamp visible range + visible_start = max(0.0, min(1.0, visible_start)) + visible_end = max(0.0, min(1.0, visible_end)) + + state.visible_gradient_range_ptr[0:2] = [visible_start, visible_end] + rl.set_shader_value(state.shader, state.locations['visibleGradientRange'], state.visible_gradient_range_ptr, UNIFORM_VEC2) + + # Set gradient colors + colors = gradient['colors'] + color_count = min(len(colors), MAX_GRADIENT_COLORS) + for i, c in enumerate(colors[:color_count]): + base_idx = i * 4 + state.gradient_colors_ptr[base_idx:base_idx+4] = [c.r / 255.0, c.g / 255.0, c.b / 255.0, c.a / 255.0] + rl.set_shader_value_v(state.shader, state.locations['gradientColors'], state.gradient_colors_ptr, UNIFORM_VEC4, color_count) + + # Set gradient stops + stops = gradient.get('stops', [i / (color_count - 1) for i in range(color_count)]) + state.gradient_stops_ptr[0:color_count] = stops[:color_count] + rl.set_shader_value_v(state.shader, state.locations['gradientStops'], state.gradient_stops_ptr, UNIFORM_FLOAT, color_count) + + # Set color count + state.color_count_ptr[0] = color_count + rl.set_shader_value(state.shader, state.locations['gradientColorCount'], state.color_count_ptr, UNIFORM_INT) + else: + color = color or rl.WHITE # Default to white if no color provided + state.fill_color_ptr[0:4] = [color.r / 255.0, color.g / 255.0, color.b / 255.0, color.a / 255.0] + rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4) + + +def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=None): + """ + Draw a complex polygon using shader-based even-odd fill rule + + Args: + rect: Rectangle defining the drawing area + points: numpy array of (x,y) points defining the polygon + color: Solid fill color (rl.Color) + gradient: Dict with gradient parameters: + { + 'start': (x1, y1), # Start point (normalized 0-1) + 'end': (x2, y2), # End point (normalized 0-1) + 'colors': [rl.Color], # List of colors at stops + 'stops': [float] # List of positions (0-1) + } + """ + if len(points) < 3: + return + + state = ShaderState.get_instance() + if not state.initialized: + state.initialize() + + # Find bounding box + min_xy = np.min(points, axis=0) + max_xy = np.max(points, axis=0) + + # Clip coordinates to rectangle + clip_x = max(rect.x, min_xy[0]) + clip_y = max(rect.y, min_xy[1]) + clip_right = min(rect.x + rect.width, max_xy[0]) + clip_bottom = min(rect.y + rect.height, max_xy[1]) + + # Check if polygon is completely off-screen + if clip_x >= clip_right or clip_y >= clip_bottom: + return + + clipped_width = clip_right - clip_x + clipped_height = clip_bottom - clip_y + + clip_rect = rl.Rectangle(clip_x, clip_y, clipped_width, clipped_height) + + # Transform points relative to the CLIPPED area + transformed_points = points - np.array([clip_x, clip_y]) + + # Set shader values + state.point_count_ptr[0] = len(transformed_points) + rl.set_shader_value(state.shader, state.locations['pointCount'], state.point_count_ptr, UNIFORM_INT) + + state.resolution_ptr[0:2] = [clipped_width, clipped_height] + rl.set_shader_value(state.shader, state.locations['resolution'], state.resolution_ptr, UNIFORM_VEC2) + + flat_points = np.ascontiguousarray(transformed_points.flatten().astype(np.float32)) + points_ptr = rl.ffi.cast("float *", flat_points.ctypes.data) + rl.set_shader_value_v(state.shader, state.locations['points'], points_ptr, UNIFORM_VEC2, len(transformed_points)) + + _configure_shader_color(state, color, gradient, clip_rect, min_xy, max_xy) + + # Render + rl.begin_shader_mode(state.shader) + rl.draw_texture_pro( + state.white_texture, + rl.Rectangle(0, 0, 2, 2), + clip_rect, + rl.Vector2(0, 0), + 0.0, + rl.WHITE, + ) + rl.end_shader_mode() + + +def cleanup_shader_resources(): + state = ShaderState.get_instance() + state.cleanup() diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py index e72faef11c..5ae2500406 100644 --- a/system/ui/lib/toggle.py +++ b/system/ui/lib/toggle.py @@ -1,45 +1,49 @@ import pyray as rl -ON_COLOR = rl.GREEN +ON_COLOR = rl.Color(0, 255, 0, 255) OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) KNOB_COLOR = rl.WHITE +WIDTH, HEIGHT = 160, 80 BG_HEIGHT = 60 -KNOB_HEIGHT = 80 -WIDTH = 160 +ANIMATION_SPEED = 8.0 class Toggle: def __init__(self, x, y, initial_state=False): self._state = initial_state - self._rect = rl.Rectangle(x, y, WIDTH, KNOB_HEIGHT) + self._rect = rl.Rectangle(x, y, WIDTH, HEIGHT) + self._progress = 1.0 if initial_state else 0.0 + self._target = self._progress def handle_input(self): if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON): - mouse_pos = rl.get_mouse_position() - if rl.check_collision_point_rec(mouse_pos, self._rect): + if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect): self._state = not self._state + self._target = 1.0 if self._state else 0.0 def get_state(self): return self._state + def update(self): + if abs(self._progress - self._target) > 0.01: + delta = rl.get_frame_time() * ANIMATION_SPEED + self._progress += delta if self._progress < self._target else -delta + self._progress = max(0.0, min(1.0, self._progress)) + def render(self): - self._draw_background() - self._draw_knob() + self. update() + # Draw background + bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT) + bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress) + rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color) - def _draw_background(self): - bg_rect = rl.Rectangle( - self._rect.x + 5, - self._rect.y + (KNOB_HEIGHT - BG_HEIGHT) / 2, - self._rect.width - 10, - BG_HEIGHT, - ) - rl.draw_rectangle_rounded(bg_rect, 1.0, 10, ON_COLOR if self._state else OFF_COLOR) + # Draw knob + knob_x = self._rect.x + HEIGHT / 2 + (WIDTH - HEIGHT) * self._progress + knob_y = self._rect.y + HEIGHT / 2 + rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, KNOB_COLOR) - def _draw_knob(self): - knob_radius = KNOB_HEIGHT / 2 - knob_x = self._rect.x + knob_radius if not self._state else self._rect.x + self._rect.width - knob_radius - knob_y = self._rect.y + knob_radius - rl.draw_circle(int(knob_x), int(knob_y), knob_radius, KNOB_COLOR) + def _blend_color(self, c1, c2, t): + return rl.Color(int(c1.r + (c2.r - c1.r) * t), int(c1.g + (c2.g - c1.g) * t), int(c1.b + (c2.b - c1.b) * t), 255) if __name__ == "__main__": @@ -50,4 +54,3 @@ if __name__ == "__main__": for _ in gui_app.render(): toggle.handle_input() toggle.render() - diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 96726bd999..d8a8144fb0 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -69,8 +69,9 @@ class NetworkInfo: class WifiManagerCallbacks: need_auth: Callable[[str], None] | None = None activated: Callable[[], None] | None = None - forgotten: Callable[[], None] | None = None + forgotten: Callable[[str], None] | None = None networks_updated: Callable[[list[NetworkInfo]], None] | None = None + connection_failed: Callable[[str, str], None] | None = None # Added for error feedback class WifiManager: @@ -98,8 +99,8 @@ class WifiManager: self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect() if not await self._find_wifi_device(): raise ValueError("No Wi-Fi device found") - await self._setup_signals(self.device_path) + await self._setup_signals(self.device_path) self.active_ap_path = await self.get_active_access_point() await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD) self.saved_connections = await self._get_saved_connections() @@ -122,7 +123,7 @@ class WifiManager: if self.bus: self.bus.disconnect() - async def request_scan(self) -> None: + async def _request_scan(self) -> None: try: interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) await interface.call_request_scan({}) @@ -146,12 +147,23 @@ class WifiManager: try: nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) await nm_iface.call_delete() + if self._current_connection_ssid == ssid: self._current_connection_ssid = None if ssid in self.saved_connections: del self.saved_connections[ssid] + for network in self.networks: + if network.ssid == ssid: + network.is_saved = False + network.is_connected = False + break + + # Notify UI of forgotten connection + if self.callbacks.networks_updated: + self.callbacks.networks_updated(copy.deepcopy(self.networks)) + return True except DBusError as e: cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") @@ -212,10 +224,12 @@ class WifiManager: nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/") - await self._update_connection_status() - except DBusError as e: + except Exception as e: self._current_connection_ssid = None cloudlog.error(f"Error connecting to network: {e}") + # Notify UI of failure + if self.callbacks.connection_failed: + self.callbacks.connection_failed(ssid, str(e)) def is_saved(self, ssid: str) -> bool: return ssid in self.saved_connections @@ -393,8 +407,7 @@ class WifiManager: async def _periodic_scan(self): while self.running: try: - await self.request_scan() - await self._get_available_networks() + await self._request_scan() await asyncio.sleep(30) except asyncio.CancelledError: break @@ -423,21 +436,24 @@ class WifiManager: def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): # print("property changed", interface, changed, invalidated) if 'LastScan' in changed: - asyncio.create_task(self._get_available_networks()) + asyncio.create_task(self._refresh_networks()) elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: - self.active_ap_path = changed["ActiveAccessPoint"].value - asyncio.create_task(self._get_available_networks()) + new_ap_path = changed["ActiveAccessPoint"].value + if self.active_ap_path != new_ap_path: + self.active_ap_path = new_ap_path + asyncio.create_task(self._refresh_networks()) def _on_state_changed(self, new_state: int, old_state: int, reason: int): - print(f"State changed: {old_state} -> {new_state}, reason: {reason}") + print("State changed", new_state, old_state, reason) if new_state == NMDeviceState.ACTIVATED: if self.callbacks.activated: self.callbacks.activated() - asyncio.create_task(self._update_connection_status()) + asyncio.create_task(self._refresh_networks()) self._current_connection_ssid = None elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): for network in self.networks: network.is_connected = False + if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: if self._current_connection_ssid: self.callbacks.need_auth(self._current_connection_ssid) @@ -453,19 +469,19 @@ class WifiManager: def _on_new_connection(self, path: str) -> None: """Callback for NewConnection signal.""" - print(f"New connection added: {path}") asyncio.create_task(self._add_saved_connection(path)) def _on_connection_removed(self, path: str) -> None: """Callback for ConnectionRemoved signal.""" - print(f"Connection removed: {path}") for ssid, p in list(self.saved_connections.items()): if path == p: del self.saved_connections[ssid] + if self.callbacks.forgotten: - self.callbacks.forgotten() + self.callbacks.forgotten(ssid) + # Update network list to reflect the removed saved connection - asyncio.create_task(self._update_connection_status()) + asyncio.create_task(self._refresh_networks()) break async def _add_saved_connection(self, path: str) -> None: @@ -474,7 +490,7 @@ class WifiManager: settings = await self._get_connection_settings(path) if ssid := self._extract_ssid(settings): self.saved_connections[ssid] = path - await self._update_connection_status() + await self._refresh_networks() except DBusError as e: cloudlog.error(f"Failed to add connection {path}: {e}") @@ -483,10 +499,6 @@ class WifiManager: ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None - async def _update_connection_status(self): - self.active_ap_path = await self.get_active_access_point() - await self._get_available_networks() - async def _add_match_rule(self, rule): """Add a match rule on the bus.""" reply = await self.bus.call( @@ -504,10 +516,11 @@ class WifiManager: assert reply.message_type == MessageType.METHOD_RETURN return reply - async def _get_available_networks(self): + async def _refresh_networks(self): """Get a list of available networks via NetworkManager.""" wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) access_points = await wifi_iface.get_access_points() + self.active_ap_path = await self.get_active_access_point() network_dict = {} for ap_path in access_points: try: @@ -531,7 +544,7 @@ class WifiManager: security_type=self._get_security_type(flags, wpa_flags, rsn_flags), path=ap_path, bssid=bssid, - is_connected=self.active_ap_path == ap_path, + is_connected=self.active_ap_path == ap_path and self._current_connection_ssid != ssid, is_saved=ssid in self.saved_connections ) @@ -555,9 +568,7 @@ class WifiManager: async def _get_connection_settings(self, path): """Fetch connection settings for a specific connection path.""" try: - connection_proxy = await self.bus.introspect(NM, path) - connection = self.bus.get_proxy_object(NM, path, connection_proxy) - settings = connection.get_interface(NM_CONNECTION_IFACE) + settings = await self._get_interface(NM, path, NM_CONNECTION_IFACE) return await settings.call_get_settings() except DBusError as e: cloudlog.error(f"Failed to get settings for {path}: {str(e)}") @@ -660,12 +671,6 @@ class WifiManagerWrapper: return self._run_coroutine(self._manager.connect()) - def request_scan(self): - """Request a scan for Wi-Fi networks.""" - if not self._manager: - return - self._run_coroutine(self._manager.request_scan()) - def forget_connection(self, ssid: str): """Forget a saved Wi-Fi connection.""" if not self._manager: diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py new file mode 100644 index 0000000000..600c721680 --- /dev/null +++ b/system/ui/onroad/alert_renderer.py @@ -0,0 +1,234 @@ +import numpy as np +import pyray as rl +from dataclasses import dataclass +from cereal import messaging, log +from openpilot.system.ui.lib.application import gui_app, FontWeight + +# Constants +ALERT_COLORS = { + log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 150), # Black + log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 100), # Orange + log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 150), # Red +} + +ALERT_HEIGHTS = { + log.SelfdriveState.AlertSize.small: 271, + log.SelfdriveState.AlertSize.mid: 420, +} + +SELFDRIVE_STATE_TIMEOUT = 5 # Seconds +SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds + + +@dataclass +class Alert: + text1: str = "" + text2: str = "" + alert_type: str = "" + size: log.SelfdriveState.AlertSize = log.SelfdriveState.AlertSize.none + status: log.SelfdriveState.AlertStatus = log.SelfdriveState.AlertStatus.normal + + def is_equal(self, other: 'Alert') -> bool: + """Check if two alerts are equal.""" + return ( + self.text1 == other.text1 + and self.text2 == other.text2 + and self.alert_type == other.alert_type + and self.size == other.size + and self.status == other.status + ) + + +class AlertRenderer: + def __init__(self): + """Initialize the alert renderer.""" + self.alert: Alert = Alert() + self.started_frame: int = 0 + self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL) + self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD) + self.font_metrics_cache: dict[tuple[str, int, str], rl.Vector2] = {} + + def clear(self) -> None: + """Reset the alert to its default state.""" + self.alert = Alert() + + def update_state(self, sm: messaging.SubMaster, started_frame: int) -> None: + """Update alert state based on SubMaster data.""" + self.started_frame = started_frame + new_alert = self.get_alert(sm) + if not self.alert.is_equal(new_alert): + self.alert = new_alert + + def get_alert(self, sm: messaging.SubMaster) -> Alert: + """Generate the current alert based on selfdrive state.""" + if not sm.valid['selfdriveState']: + return Alert() + + ss = sm['selfdriveState'] + selfdrive_frame = sm.recv_frame['selfdriveState'] + alert_status = self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus) + + # Return current alert if selfdrive state is recent + if selfdrive_frame >= self.started_frame: + return Alert( + text1=ss.alertText1, + text2=ss.alertText2, + alert_type=ss.alertType, + size=self._get_enum_value(ss.alertSize, log.SelfdriveState.AlertSize), + status=alert_status, + ) + + # Handle selfdrive timeout + ss_missing = (np.uint64(rl.get_time() * 1e9) - sm.recv_time['selfdriveState']) / 1e9 + if selfdrive_frame < self.started_frame: + return Alert( + text1="openpilot Unavailable", + text2="Waiting to start", + alert_type="selfdriveWaiting", + size=log.SelfdriveState.AlertSize.mid, + status=log.SelfdriveState.AlertStatus.normal, + ) + elif ss_missing > SELFDRIVE_STATE_TIMEOUT: + if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: + return Alert( + text1="TAKE CONTROL IMMEDIATELY", + text2="System Unresponsive", + alert_type="selfdriveUnresponsive", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, + ) + return Alert( + text1="System Unresponsive", + text2="Reboot Device", + alert_type="selfdriveUnresponsivePermanent", + size=log.SelfdriveState.AlertSize.mid, + status=log.SelfdriveState.AlertStatus.normal, + ) + + return Alert() + + def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None: + """Render the alert within the specified rectangle.""" + self.update_state(sm, sm.recv_frame['selfdriveState']) + alert_size = self._get_enum_value(self.alert.size, log.SelfdriveState.AlertSize) + if alert_size == log.SelfdriveState.AlertSize.none: + return + + # Calculate alert rectangle + margin = 0 if alert_size == log.SelfdriveState.AlertSize.full else 40 + radius = 0 if alert_size == log.SelfdriveState.AlertSize.full else 30 + height = ALERT_HEIGHTS.get(alert_size, rect.height) + alert_rect = rl.Rectangle( + rect.x + margin, + rect.y + rect.height - height + margin, + rect.width - margin * 2, + height - margin * 2, + ) + + # Draw background + alert_status = self._get_enum_value(self.alert.status, log.SelfdriveState.AlertStatus) + color = ALERT_COLORS.get(alert_status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal]) + if alert_size != log.SelfdriveState.AlertSize.full: + roundness = radius / (min(alert_rect.width, alert_rect.height) / 2) + rl.draw_rectangle_rounded(alert_rect, roundness, 10, color) + else: + rl.draw_rectangle_rec(alert_rect, color) + + # Draw text + center_x = rect.x + rect.width / 2 + center_y = alert_rect.y + alert_rect.height / 2 + self._draw_text(alert_size, alert_rect, center_x, center_y) + + def _draw_text( + self, alert_size: log.SelfdriveState.AlertSize, alert_rect: rl.Rectangle, center_x: float, center_y: float + ) -> None: + """Draw text based on alert size.""" + if alert_size == log.SelfdriveState.AlertSize.small: + font_size = 74 + text_width = self._measure_text(self.font_bold, self.alert.text1, font_size, 'bold').x + rl.draw_text_ex( + self.font_bold, + self.alert.text1, + rl.Vector2(center_x - text_width / 2, center_y - font_size / 2), + font_size, + 0, + rl.WHITE, + ) + elif alert_size == log.SelfdriveState.AlertSize.mid: + font_size1 = 88 + text1_width = self._measure_text(self.font_bold, self.alert.text1, font_size1, 'bold').x + rl.draw_text_ex( + self.font_bold, + self.alert.text1, + rl.Vector2(center_x - text1_width / 2, center_y - 125), + font_size1, + 0, + rl.WHITE, + ) + font_size2 = 66 + text2_width = self._measure_text(self.font_regular, self.alert.text2, font_size2, 'regular').x + rl.draw_text_ex( + self.font_regular, + self.alert.text2, + rl.Vector2(center_x - text2_width / 2, center_y + 21), + font_size2, + 0, + rl.WHITE, + ) + elif alert_size == log.SelfdriveState.AlertSize.full: + is_long = len(self.alert.text1) > 15 + font_size1 = 132 if is_long else 177 + text1_y = alert_rect.y + (240 if is_long else 270) + wrapped_text1 = self._wrap_text(self.alert.text1, alert_rect.width - 100, font_size1, self.font_bold) + for i, line in enumerate(wrapped_text1): + line_width = self._measure_text(self.font_bold, line, font_size1, 'bold').x + rl.draw_text_ex( + self.font_bold, + line, + rl.Vector2(center_x - line_width / 2, text1_y + i * font_size1), + font_size1, + 0, + rl.WHITE, + ) + font_size2 = 88 + text2_y = alert_rect.y + alert_rect.height - (361 if is_long else 420) + wrapped_text2 = self._wrap_text(self.alert.text2, alert_rect.width - 100, font_size2, self.font_regular) + for i, line in enumerate(wrapped_text2): + line_width = self._measure_text(self.font_regular, line, font_size2, 'regular').x + rl.draw_text_ex( + self.font_regular, + line, + rl.Vector2(center_x - line_width / 2, text2_y + i * font_size2), + font_size2, + 0, + rl.WHITE, + ) + + def _wrap_text(self, text: str, max_width: float, font_size: int, font: rl.Font) -> list[str]: + """Wrap text to fit within max width.""" + words = text.split() + lines = [] + current_line = "" + for word in words: + test_line = f"{current_line} {word}" if current_line else word + if self._measure_text(font, test_line, font_size, 'bold' if font == self.font_bold else 'regular').x <= max_width: + current_line = test_line + else: + if current_line: + lines.append(current_line) + current_line = word + if current_line: + lines.append(current_line) + return lines + + def _measure_text(self, font: rl.Font, text: str, font_size: int, font_type: str) -> rl.Vector2: + """Measure text dimensions with caching.""" + key = (text, font_size, font_type) + if key not in self.font_metrics_cache: + self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0) + return self.font_metrics_cache[key] + + @staticmethod + def _get_enum_value(enum_value, enum_type: type): + """Safely convert capnp enum to Python enum value.""" + return enum_value.raw if hasattr(enum_value, 'raw') else enum_value diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py new file mode 100644 index 0000000000..18f94325f4 --- /dev/null +++ b/system/ui/onroad/augmented_road_view.py @@ -0,0 +1,192 @@ +import numpy as np +import pyray as rl +from enum import Enum + +from cereal import messaging, log +from msgq.visionipc import VisionStreamType +from openpilot.system.ui.onroad.alert_renderer import AlertRenderer +from openpilot.system.ui.onroad.driver_state import DriverStateRenderer +from openpilot.system.ui.onroad.hud_renderer import HudRenderer +from openpilot.system.ui.onroad.model_renderer import ModelRenderer +from openpilot.system.ui.widgets.cameraview import CameraView +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 + + +OpState = log.SelfdriveState.OpenpilotState +CALIBRATED = log.LiveCalibrationData.Status.calibrated +DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"] +UI_BORDER_SIZE = 30 + +class BorderStatus(Enum): + DISENGAGED = rl.Color(0x17, 0x33, 0x49, 0xc8) # Blue for disengaged state + OVERRIDE = rl.Color(0x91, 0x9b, 0x95, 0xf1) # Gray for override state + ENGAGED = rl.Color(0x17, 0x86, 0x44, 0xf1) # Green for engaged state + + +class AugmentedRoadView(CameraView): + def __init__(self, sm: messaging.SubMaster, stream_type: VisionStreamType): + super().__init__("camerad", stream_type) + + self.sm = sm + self.stream_type = stream_type + self.is_wide_camera = stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD + + self.device_camera: DeviceCameraConfig | None = None + self.view_from_calib = view_frame_from_device_frame.copy() + self.view_from_wide_calib = view_frame_from_device_frame.copy() + + self._last_calib_time: float = 0 + self._last_rect_dims = (0.0, 0.0) + self._cached_matrix: np.ndarray | None = None + self._content_rect = rl.Rectangle() + + self.model_renderer = ModelRenderer() + self._hud_renderer = HudRenderer() + self.alert_renderer = AlertRenderer() + self.driver_state_renderer = DriverStateRenderer() + + def render(self, rect): + # Update calibration before rendering + self._update_calibration() + + # Create inner content area with border padding + self._content_rect = rl.Rectangle( + rect.x + UI_BORDER_SIZE, + rect.y + UI_BORDER_SIZE, + rect.width - 2 * UI_BORDER_SIZE, + rect.height - 2 * UI_BORDER_SIZE, + ) + + # Draw colored border based on driving state + self._draw_border(rect) + + # Enable scissor mode to clip all rendering within content rectangle boundaries + # This creates a rendering viewport that prevents graphics from drawing outside the border + rl.begin_scissor_mode( + int(self._content_rect.x), + int(self._content_rect.y), + int(self._content_rect.width), + int(self._content_rect.height) + ) + + # Render the base camera view + super().render(rect) + + # Draw all UI overlays + self.model_renderer.draw(self._content_rect, self.sm) + self._hud_renderer.draw(self._content_rect, self.sm) + self.alert_renderer.draw(self._content_rect, self.sm) + self.driver_state_renderer.draw(self._content_rect, self.sm) + + # Custom UI extension point - add custom overlays here + # Use self._content_rect for positioning within camera bounds + + # End clipping region + rl.end_scissor_mode() + + def _draw_border(self, rect: rl.Rectangle): + state = self.sm["selfdriveState"] + if state.state in (OpState.preEnabled, OpState.overriding): + status = BorderStatus.OVERRIDE + elif state.enabled: + status = BorderStatus.ENGAGED + else: + status = BorderStatus.DISENGAGED + + rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, status.value) + + def _update_calibration(self): + # Update device camera if not already set + if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']: + self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] + + # Check if live calibration data is available and valid + if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']): + return + + calib = self.sm['liveCalibration'] + if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED: + return + + # Update view_from_calib matrix + device_from_calib = rot_from_euler(calib.rpyCalib) + self.view_from_calib = view_frame_from_device_frame @ device_from_calib + + # Update wide calibration if available + if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3: + wide_from_device = rot_from_euler(calib.wideFromDeviceEuler) + self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib + + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: + # Check if we can use cached matrix + calib_time = self.sm.recv_frame['liveCalibration'] + current_dims = (self._content_rect.width, self._content_rect.height) + if (self._last_calib_time == calib_time and + self._last_rect_dims == current_dims and + self._cached_matrix is not None): + return self._cached_matrix + + # Get camera configuration + device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA + intrinsic = device_camera.ecam.intrinsics if self.is_wide_camera else device_camera.fcam.intrinsics + calibration = self.view_from_wide_calib if self.is_wide_camera else self.view_from_calib + zoom = 2.0 if self.is_wide_camera else 1.1 + + # Calculate transforms for vanishing point + inf_point = np.array([1000.0, 0.0, 0.0]) + calib_transform = intrinsic @ calibration + kep = calib_transform @ inf_point + + # Calculate center points and dimensions + x, y = self._content_rect.x, self._content_rect.y + w, h = self._content_rect.width, self._content_rect.height + cx, cy = intrinsic[0, 2], intrinsic[1, 2] + + # Calculate max allowed offsets with margins + margin = 5 + max_x_offset = cx * zoom - w / 2 - margin + max_y_offset = cy * zoom - h / 2 - margin + + # Calculate and clamp offsets to prevent out-of-bounds issues + try: + if abs(kep[2]) > 1e-6: + x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset) + y_offset = np.clip((kep[1] / kep[2] - cy) * zoom, -max_y_offset, max_y_offset) + else: + x_offset, y_offset = 0, 0 + except (ZeroDivisionError, OverflowError): + x_offset, y_offset = 0, 0 + + # Update cache values + self._last_calib_time = calib_time + self._last_rect_dims = current_dims + self._cached_matrix = np.array([ + [zoom * 2 * cx / w, 0, -x_offset / w * 2], + [0, zoom * 2 * cy / h, -y_offset / h * 2], + [0, 0, 1.0] + ]) + + video_transform = np.array([ + [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)], + [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)], + [0.0, 0.0, 1.0] + ]) + self.model_renderer.set_transform(video_transform @ calib_transform) + + return self._cached_matrix + + +if __name__ == "__main__": + gui_app.init_window("OnRoad Camera View") + sm = messaging.SubMaster(["modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", + "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", + "roadCameraState", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan"]) + road_camera_view = AugmentedRoadView(sm, VisionStreamType.VISION_STREAM_ROAD) + try: + for _ in gui_app.render(): + sm.update(0) + road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + finally: + road_camera_view.close() diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py new file mode 100644 index 0000000000..b998936903 --- /dev/null +++ b/system/ui/onroad/driver_state.py @@ -0,0 +1,238 @@ +import numpy as np +import pyray as rl +from dataclasses import dataclass +from openpilot.system.ui.lib.application import gui_app + +# Default 3D coordinates for face keypoints as a NumPy array +DEFAULT_FACE_KPTS_3D = np.array([ + [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00], + [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00], + [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00], + [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00], + [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00], + [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00], + [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00], + [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00], + [-5.98, -51.20, 8.00], +], dtype=np.float32) + +# UI constants +UI_BORDER_SIZE = 30 +BTN_SIZE = 192 +IMG_SIZE = 144 +ARC_LENGTH = 133 +ARC_THICKNESS_DEFAULT = 6.7 +ARC_THICKNESS_EXTEND = 12.0 + +SCALES_POS = np.array([0.9, 0.4, 0.4], dtype=np.float32) +SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32) + +@dataclass +class ArcData: + """Data structure for arc rendering parameters.""" + x: float + y: float + width: float + height: float + thickness: float + +class DriverStateRenderer: + def __init__(self): + # Initial state with NumPy arrays + self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy() + self.is_active = False + self.is_rhd = False + self.dm_fade_state = 0.0 + self.state_updated = False + self.last_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) + self.driver_pose_vals = np.zeros(3, dtype=np.float32) + self.driver_pose_diff = np.zeros(3, dtype=np.float32) + self.driver_pose_sins = np.zeros(3, dtype=np.float32) + self.driver_pose_coss = np.zeros(3, dtype=np.float32) + self.face_keypoints_transformed = np.zeros((DEFAULT_FACE_KPTS_3D.shape[0], 2), dtype=np.float32) + self.position_x: float = 0.0 + self.position_y: float = 0.0 + self.h_arc_data = None + self.v_arc_data = None + + # Pre-allocate drawing arrays + self.face_lines = [rl.Vector2(0, 0) for _ in range(len(DEFAULT_FACE_KPTS_3D))] + self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(37)] # 37 points for horizontal arc + self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(37)] # 37 points for vertical arc + + # Load the driver face icon + self.dm_img = gui_app.texture("icons/driver_face.png", IMG_SIZE, IMG_SIZE) + + # Colors + self.white_color = rl.Color(255, 255, 255, 255) + self.arc_color = rl.Color(26, 242, 66, 255) + self.engaged_color = rl.Color(26, 242, 66, 255) + self.disengaged_color = rl.Color(139, 139, 139, 255) + + def draw(self, rect, sm): + if not self._is_visible(sm): + return + + self._update_state(sm, rect) + if not self.state_updated: + return + + # Set opacity based on active state + opacity = 0.65 if self.is_active else 0.2 + + # Draw background circle + rl.draw_circle(int(self.position_x), int(self.position_y), BTN_SIZE // 2, rl.Color(0, 0, 0, 70)) + + # Draw face icon + icon_pos = rl.Vector2(self.position_x - self.dm_img.width // 2, self.position_y - self.dm_img.height // 2) + rl.draw_texture_v(self.dm_img, icon_pos, rl.Color(255, 255, 255, int(255 * opacity))) + + # Draw face outline + self.white_color.a = int(255 * opacity) + rl.draw_spline_linear(self.face_lines, len(self.face_lines), 5.2, self.white_color) + + # Set arc color based on engaged state + engaged = True + self.arc_color = self.engaged_color if engaged else self.disengaged_color + self.arc_color.a = int(0.4 * 255 * (1.0 - self.dm_fade_state)) # Fade out when inactive + + # Draw arcs + if self.h_arc_data: + rl.draw_spline_linear(self.h_arc_lines, len(self.h_arc_lines), self.h_arc_data.thickness, self.arc_color) + if self.v_arc_data: + rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color) + + def _is_visible(self, sm): + """Check if the visualization should be rendered.""" + return (sm.seen['driverStateV2'] and + sm.seen['driverMonitoringState'] and + sm['selfdriveState'].alertSize == 0) + + def _update_state(self, sm, rect): + """Update the driver monitoring state based on model data""" + if not sm.updated["driverMonitoringState"]: + if self.state_updated and (rect.x != self.last_rect.x or rect.y != self.last_rect.y or \ + rect.width != self.last_rect.width or rect.height != self.last_rect.height): + self._pre_calculate_drawing_elements(rect) + return + + # Get monitoring state + dm_state = sm["driverMonitoringState"] + self.is_active = dm_state.isActiveMode + self.is_rhd = dm_state.isRHD + + # Update fade state (smoother transition between active/inactive) + fade_target = 0.0 if self.is_active else 0.5 + self.dm_fade_state = np.clip(self.dm_fade_state + 0.2 * (fade_target - self.dm_fade_state), 0.0, 1.0) + + # Get driver orientation data from appropriate camera + driverstate = sm["driverStateV2"] + driver_data = driverstate.rightDriverData if self.is_rhd else driverstate.leftDriverData + driver_orient = driver_data.faceOrientation + + # Update pose values with scaling and smoothing + driver_orient = np.array(driver_orient) + scales = np.where(driver_orient < 0, SCALES_NEG, SCALES_POS) + v_this = driver_orient * scales + self.driver_pose_diff = np.abs(self.driver_pose_vals - v_this) + self.driver_pose_vals = 0.8 * v_this + 0.2 * self.driver_pose_vals # Smooth changes + + # Apply fade to rotation and compute sin/cos + rotation_amount = self.driver_pose_vals * (1.0 - self.dm_fade_state) + self.driver_pose_sins = np.sin(rotation_amount) + self.driver_pose_coss = np.cos(rotation_amount) + + # Create rotation matrix for 3D face model + sin_y, sin_x, sin_z = self.driver_pose_sins + cos_y, cos_x, cos_z = self.driver_pose_coss + r_xyz = np.array( + [ + [cos_x * cos_z, cos_x * sin_z, -sin_x], + [-sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x], + [cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x], + ] + ) + + # Transform face keypoints using vectorized matrix multiplication + self.face_kpts_draw = DEFAULT_FACE_KPTS_3D @ r_xyz.T + self.face_kpts_draw[:, 2] = self.face_kpts_draw[:, 2] * (1.0 - self.dm_fade_state) + 8 * self.dm_fade_state + + # Pre-calculate the transformed keypoints + kp_depth = (self.face_kpts_draw[:, 2] - 8) / 120.0 + 1.0 + self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None] + + # Pre-calculate all drawing elements + self._pre_calculate_drawing_elements(rect) + self.state_updated = True + + def _pre_calculate_drawing_elements(self, rect): + """Pre-calculate all drawing elements based on the current rectangle""" + # Calculate icon position (bottom-left or bottom-right) + width, height = rect.width, rect.height + offset = UI_BORDER_SIZE + BTN_SIZE // 2 + self.position_x = rect.x + (width - offset if self.is_rhd else offset) + self.position_y = rect.y + height - offset + + # Pre-calculate the face lines positions + positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y]) + for i in range(len(positioned_keypoints)): + self.face_lines[i].x = positioned_keypoints[i][0] + self.face_lines[i].y = positioned_keypoints[i][1] + + # Calculate arc dimensions based on head rotation + delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0 # Horizontal movement + delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0 # Vertical movement + + # Horizontal arc + h_width = abs(delta_x) + self.h_arc_data = self._calculate_arc_data( + delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2, + self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True + ) + + # Vertical arc + v_height = abs(delta_y) + self.v_arc_data = self._calculate_arc_data( + delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y, + self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False + ) + + def _calculate_arc_data( + self, delta: float, size: float, x: float, y: float, sin_val: float, diff_val: float, is_horizontal: bool + ): + """Calculate arc data and pre-compute arc points.""" + if size <= 0: + return None + + thickness = ARC_THICKNESS_DEFAULT + ARC_THICKNESS_EXTEND * min(1.0, diff_val * 5.0) + start_angle = (90 if sin_val > 0 else -90) if is_horizontal else (0 if sin_val > 0 else 180) + x = min(x + delta, x) if is_horizontal else x + y = y if is_horizontal else min(y + delta, y) + + arc_data = ArcData( + x=x, + y=y, + width=size if is_horizontal else ARC_LENGTH, + height=ARC_LENGTH if is_horizontal else size, + thickness=thickness, + ) + + # Pre-calculate arc points + start_rad = np.deg2rad(start_angle) + end_rad = np.deg2rad(start_angle + 180) + angles = np.linspace(start_rad, end_rad, 37) + + center_x = x + arc_data.width / 2 + center_y = y + arc_data.height / 2 + radius_x = arc_data.width / 2 + radius_y = arc_data.height / 2 + + x_coords = center_x + np.cos(angles) * radius_x + y_coords = center_y + np.sin(angles) * radius_y + + arc_lines = self.h_arc_lines if is_horizontal else self.v_arc_lines + for i, (x_coord, y_coord) in enumerate(zip(x_coords, y_coords, strict=True)): + arc_lines[i].x = x_coord + arc_lines[i].y = y_coord + + return arc_data diff --git a/system/ui/onroad/hud_renderer.py b/system/ui/onroad/hud_renderer.py new file mode 100644 index 0000000000..b63b50f26d --- /dev/null +++ b/system/ui/onroad/hud_renderer.py @@ -0,0 +1,194 @@ +import pyray as rl +from dataclasses import dataclass +from cereal.messaging import SubMaster +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.common.conversions import Conversions as CV +from enum import IntEnum + +# Constants +SET_SPEED_NA = 255 +KM_TO_MILE = 0.621371 + + +@dataclass(frozen=True) +class UIConfig: + header_height: int = 300 + border_size: int = 30 + button_size: int = 192 + set_speed_width_metric: int = 200 + set_speed_width_imperial: int = 172 + set_speed_height: int = 204 + wheel_icon_size: int = 144 + + +@dataclass(frozen=True) +class FontSizes: + current_speed: int = 176 + speed_unit: int = 66 + max_speed: int = 40 + set_speed: int = 90 + + +@dataclass(frozen=True) +class Colors: + white: rl.Color = rl.Color(255, 255, 255, 255) + 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.Color(0, 0, 0, 0) + + +UI_CONFIG = UIConfig() +FONT_SIZES = FontSizes() +COLORS = Colors() + + +class HudStatus(IntEnum): + DISENGAGED = 0 + OVERRIDE = 1 + ENGAGED = 2 + + +class HudRenderer: + def __init__(self): + """Initialize the HUD renderer.""" + self.is_metric: bool = False + self.status: HudStatus = HudStatus.DISENGAGED + self.is_cruise_set: bool = False + self.is_cruise_available: bool = False + self.set_speed: float = SET_SPEED_NA + self.speed: float = 0.0 + self.v_ego_cluster_seen: bool = False + self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} + self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD) + self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD) + self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM) + + def _update_state(self, sm: SubMaster) -> None: + """Update HUD state based on car state and controls state.""" + self.is_metric = True + self.status = HudStatus.DISENGAGED + + if not sm.valid['carState']: + self.is_cruise_set = False + self.set_speed = SET_SPEED_NA + self.speed = 0.0 + return + + controls_state = sm['controlsState'] + car_state = sm['carState'] + + v_cruise_cluster = car_state.vCruiseCluster + self.set_speed = ( + controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster + ) + self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA + self.is_cruise_available = self.set_speed != -1 + + if self.is_cruise_set and not self.is_metric: + self.set_speed *= KM_TO_MILE + + v_ego_cluster = car_state.vEgoCluster + self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0 + v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo + speed_conversion = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH + self.speed = max(0.0, v_ego * speed_conversion) + + def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None: + """Render HUD elements to the screen.""" + self._update_state(sm) + rl.draw_rectangle_gradient_v( + int(rect.x), + int(rect.y), + int(rect.width), + UI_CONFIG.header_height, + COLORS.header_gradient_start, + COLORS.header_gradient_end, + ) + + if self.is_cruise_available: + self._draw_set_speed(rect) + + self._draw_current_speed(rect) + self._draw_wheel_icon(rect) + + def _draw_set_speed(self, rect: rl.Rectangle) -> None: + """Draw the MAX speed indicator box.""" + set_speed_width = UI_CONFIG.set_speed_width_metric if self.is_metric else UI_CONFIG.set_speed_width_imperial + x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2 + 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, 0.2, 30, COLORS.black_translucent) + rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.2, 30, 6, COLORS.border_translucent) + + max_color = COLORS.grey + set_speed_color = COLORS.dark_grey + if self.is_cruise_set: + set_speed_color = COLORS.white + max_color = { + HudStatus.DISENGAGED: COLORS.disengaged, + HudStatus.OVERRIDE: COLORS.override, + HudStatus.ENGAGED: COLORS.engaged, + }.get(self.status, COLORS.grey) + + max_text = "MAX" + max_text_width = self._measure_text(max_text, self._font_semi_bold, FONT_SIZES.max_speed, 'semi_bold').x + rl.draw_text_ex( + self._font_semi_bold, + max_text, + rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + 27), + FONT_SIZES.max_speed, + 0, + max_color, + ) + + set_speed_text = "–" if not self.is_cruise_set else str(round(self.set_speed)) + speed_text_width = self._measure_text(set_speed_text, self._font_bold, FONT_SIZES.set_speed, 'bold').x + rl.draw_text_ex( + self._font_bold, + set_speed_text, + rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77), + FONT_SIZES.set_speed, + 0, + set_speed_color, + ) + + 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 = self._measure_text(speed_text, self._font_bold, FONT_SIZES.current_speed, 'bold') + 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) + + unit_text = "km/h" if self.is_metric else "mph" + unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium') + 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) + + def _draw_wheel_icon(self, rect: rl.Rectangle) -> None: + """Draw the steering wheel icon with status-based opacity.""" + center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2) + center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2) + rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) + + opacity = 0.7 if self.status == HudStatus.DISENGAGED else 1.0 + img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2) + rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity))) + + def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2: + """Measure text dimensions with caching.""" + key = (text, font_size, font_type) + if key not in self.font_metrics_cache: + self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0) + return self.font_metrics_cache[key] diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py new file mode 100644 index 0000000000..ef7e567cda --- /dev/null +++ b/system/ui/onroad/model_renderer.py @@ -0,0 +1,414 @@ +import colorsys +import numpy as np +import pyray as rl +from cereal import messaging, car +from dataclasses import dataclass, field +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import DEFAULT_FPS +from openpilot.system.ui.lib.shader_polygon import draw_polygon + + +CLIP_MARGIN = 500 +MIN_DRAW_DISTANCE = 10.0 +MAX_DRAW_DISTANCE = 100.0 +PATH_COLOR_TRANSITION_DURATION = 0.5 # Seconds for color transition animation +PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS) + +THROTTLE_COLORS = [ + rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4) + rl.Color(114, 255, 92, 89), # HSLF(112/360, 1.0, 0.68, 0.35) + rl.Color(114, 255, 92, 0), # HSLF(112/360, 1.0, 0.68, 0.0) +] + +NO_THROTTLE_COLORS = [ + rl.Color(242, 242, 242, 102), # HSLF(148/360, 0.0, 0.95, 0.4) + rl.Color(242, 242, 242, 89), # HSLF(112/360, 0.0, 0.95, 0.35) + rl.Color(242, 242, 242, 0), # HSLF(112/360, 0.0, 0.95, 0.0) +] + + +@dataclass +class ModelPoints: + raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32)) + projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32)) + +@dataclass +class LeadVehicle: + glow: list[float] = field(default_factory=list) + chevron: list[float] = field(default_factory=list) + fill_alpha: int = 0 + + +class ModelRenderer: + def __init__(self): + self._longitudinal_control = False + self._experimental_mode = False + self._blend_factor = 1.0 + self._prev_allow_throttle = True + self._lane_line_probs = np.zeros(4, dtype=np.float32) + self._road_edge_stds = np.zeros(2, dtype=np.float32) + self._lead_vehicles = [LeadVehicle(), LeadVehicle()] + self._path_offset_z = 1.22 + + # Initialize ModelPoints objects + self._path = ModelPoints() + self._lane_lines = [ModelPoints() for _ in range(4)] + self._road_edges = [ModelPoints() for _ in range(2)] + self._acceleration_x = np.empty((0,), dtype=np.float32) + + # Transform matrix (3x3 for car space to screen space) + self._car_space_transform = np.zeros((3, 3), dtype=np.float32) + self._transform_dirty = True + self._clip_region = None + self._rect = None + self._exp_gradient = { + 'start': (0.0, 1.0), # Bottom of path + 'end': (0.0, 0.0), # Top of path + 'colors': [], + 'stops': [], + } + + # Get longitudinal control setting from car parameters + if car_params := Params().get("CarParams"): + cp = messaging.log_from_bytes(car_params, car.CarParams) + self._longitudinal_control = cp.openpilotLongitudinalControl + + def set_transform(self, transform: np.ndarray): + self._car_space_transform = transform.astype(np.float32) + self._transform_dirty = True + + def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster): + # Check if data is up-to-date + if not sm.valid['modelV2'] or not sm.valid['liveCalibration']: + return + + # Set up clipping region + self._rect = rect + self._clip_region = rl.Rectangle( + rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN + ) + + # Update state + self._experimental_mode = sm['selfdriveState'].experimentalMode + self._path_offset_z = sm['liveCalibration'].height[0] + if sm.updated['carParams']: + self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl + + model = sm['modelV2'] + radar_state = sm['radarState'] if sm.valid['radarState'] else None + lead_one = radar_state.leadOne if radar_state else None + render_lead_indicator = self._longitudinal_control and radar_state is not None + + # Update model data when needed + model_updated = sm.updated['modelV2'] + if model_updated or sm.updated['radarState'] or self._transform_dirty: + if model_updated: + self._update_raw_points(model) + + pos_x_array = self._path.raw_points[:, 0] + if pos_x_array.size == 0: + return + + self._update_model(lead_one, pos_x_array) + if render_lead_indicator: + self._update_leads(radar_state, pos_x_array) + self._transform_dirty = False + + + # Draw elements + self._draw_lane_lines() + self._draw_path(sm) + + if render_lead_indicator and radar_state: + self._draw_lead_indicator() + + def _update_raw_points(self, model): + """Update raw 3D points from model data""" + self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T + + for i, lane_line in enumerate(model.laneLines): + self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T + + for i, road_edge in enumerate(model.roadEdges): + self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T + + self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32) + self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32) + self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32) + + def _update_leads(self, radar_state, pos_x_array): + """Update positions of lead vehicles""" + self._lead_vehicles = [LeadVehicle(), LeadVehicle()] + leads = [radar_state.leadOne, radar_state.leadTwo] + for i, lead_data in enumerate(leads): + if lead_data and lead_data.status: + d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel + idx = self._get_path_length_idx(pos_x_array, d_rel) + z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0 + point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z) + if point: + self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect) + + def _update_model(self, lead, pos_x_array): + """Update model visualization data based on model message""" + max_distance = np.clip(pos_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE) + max_idx = self._get_path_length_idx(pos_x_array, max_distance) + + # Update lane lines using raw points + for i, lane_line in enumerate(self._lane_lines): + lane_line.projected_points = self._map_line_to_polygon( + lane_line.raw_points, 0.025 * self._lane_line_probs[i], 0.0, max_idx + ) + + # Update road edges using raw points + for road_edge in self._road_edges: + road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx) + + # Update path using raw points + if lead and lead.status: + lead_d = lead.dRel * 2.0 + max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance) + max_idx = self._get_path_length_idx(pos_x_array, max_distance) + + self._path.projected_points = self._map_line_to_polygon( + self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False + ) + + self._update_experimental_gradient(self._rect.height) + + def _update_experimental_gradient(self, height): + """Pre-calculate experimental mode gradient colors""" + if not self._experimental_mode: + return + + max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x)) + + segment_colors = [] + gradient_stops = [] + + i = 0 + while i < max_len: + track_idx = max_len - i - 1 # flip idx to start from bottom right + track_y = self._path.projected_points[track_idx][1] + if track_y < 0 or track_y > height: + i += 1 + continue + + # Calculate color based on acceleration + lin_grad_point = (height - track_y) / height + + # speed up: 120, slow down: 0 + path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) + path_hue = int(path_hue * 100 + 0.5) / 100 + + saturation = min(abs(self._acceleration_x[i] * 1.5), 1) + lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62) + alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0) + + # Use HSL to RGB conversion + color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha) + + gradient_stops.append(lin_grad_point) + segment_colors.append(color) + + # Skip a point, unless next is last + i += 1 + (1 if (i + 2) < max_len else 0) + + # Store the gradient in the path object + self._exp_gradient['colors'] = segment_colors + self._exp_gradient['stops'] = gradient_stops + + def _update_lead_vehicle(self, d_rel, v_rel, point, rect): + speed_buff, lead_buff = 10.0, 40.0 + + # Calculate fill alpha + fill_alpha = 0 + if d_rel < lead_buff: + fill_alpha = 255 * (1.0 - (d_rel / lead_buff)) + if v_rel < 0: + fill_alpha += 255 * (-1 * (v_rel / speed_buff)) + fill_alpha = min(fill_alpha, 255) + + # Calculate size and position + sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35 + x = np.clip(point[0], 0.0, rect.width - sz / 2) + y = min(point[1], rect.height - sz * 0.6) + + g_xo = sz / 5 + g_yo = sz / 10 + + glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)] + chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)] + + return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha)) + + def _draw_lane_lines(self): + """Draw lane lines and road edges""" + for i, lane_line in enumerate(self._lane_lines): + if lane_line.projected_points.size == 0: + continue + + alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7) + color = rl.Color(255, 255, 255, int(alpha * 255)) + draw_polygon(self._rect, lane_line.projected_points, color) + + for i, road_edge in enumerate(self._road_edges): + if road_edge.projected_points.size == 0: + continue + + alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0) + color = rl.Color(255, 0, 0, int(alpha * 255)) + draw_polygon(self._rect, road_edge.projected_points, color) + + def _draw_path(self, sm): + """Draw path with dynamic coloring based on mode and throttle state.""" + if not self._path.projected_points.size: + return + + if self._experimental_mode: + # Draw with acceleration coloring + if len(self._exp_gradient['colors']) > 2: + draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient) + else: + draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30)) + else: + # Draw with throttle/no throttle gradient + allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control + + # Start transition if throttle state changes + if allow_throttle != self._prev_allow_throttle: + self._prev_allow_throttle = allow_throttle + self._blend_factor = max(1.0 - self._blend_factor, 0.0) + + # Update blend factor + if self._blend_factor < 1.0: + self._blend_factor = min(self._blend_factor + PATH_BLEND_INCREMENT, 1.0) + + begin_colors = NO_THROTTLE_COLORS if allow_throttle else THROTTLE_COLORS + end_colors = THROTTLE_COLORS if allow_throttle else NO_THROTTLE_COLORS + + # Blend colors based on transition + blended_colors = self._blend_colors(begin_colors, end_colors, self._blend_factor) + gradient = { + 'start': (0.0, 1.0), # Bottom of path + 'end': (0.0, 0.0), # Top of path + 'colors': blended_colors, + 'stops': [0.0, 0.5, 1.0], + } + draw_polygon(self._rect, self._path.projected_points, gradient=gradient) + + def _draw_lead_indicator(self): + # Draw lead vehicles if available + for lead in self._lead_vehicles: + if not lead.glow or not lead.chevron: + continue + + rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255)) + rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha)) + + @staticmethod + def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int: + """Get the index corresponding to the given path height""" + idx = np.searchsorted(pos_x_array, path_height, side='right') + return int(np.clip(idx - 1, 0, len(pos_x_array) - 1)) + + def _map_to_screen(self, in_x, in_y, in_z): + """Project a point in car space to screen space""" + input_pt = np.array([in_x, in_y, in_z]) + pt = self._car_space_transform @ input_pt + + if abs(pt[2]) < 1e-6: + return None + + x, y = pt[0] / pt[2], pt[1] / pt[2] + + clip = self._clip_region + if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height): + return None + + return (x, y) + + def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray: + """Convert 3D line to 2D polygon for rendering.""" + if line.shape[0] == 0: + return np.empty((0, 2), dtype=np.float32) + + # Slice points and filter non-negative x-coordinates + points = line[:max_idx + 1][line[:max_idx + 1, 0] >= 0] + if points.shape[0] == 0: + return np.empty((0, 2), dtype=np.float32) + + # Create left and right 3D points in one array + n_points = points.shape[0] + points_3d = np.empty((n_points * 2, 3), dtype=np.float32) + points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0] + points_3d[:n_points, 1] = points[:, 1] - y_off + points_3d[n_points:, 1] = points[:, 1] + y_off + points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off + + # Single matrix multiplication for projections + proj = self._car_space_transform @ points_3d.T + valid_z = np.abs(proj[2]) > 1e-6 + if not np.any(valid_z): + return np.empty((0, 2), dtype=np.float32) + + # Compute screen coordinates + screen = proj[:2, valid_z] / proj[2, valid_z][None, :] + left_screen = screen[:, :n_points].T + right_screen = screen[:, n_points:].T + + # Ensure consistent shapes by re-aligning valid points + valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0]) + if valid_points == 0: + return np.empty((0, 2), dtype=np.float32) + left_screen = left_screen[:valid_points] + right_screen = right_screen[:valid_points] + + if self._clip_region: + clip = self._clip_region + bounds_mask = ( + (left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) & + (left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) & + (right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) & + (right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height) + ) + if not np.any(bounds_mask): + return np.empty((0, 2), dtype=np.float32) + left_screen = left_screen[bounds_mask] + right_screen = right_screen[bounds_mask] + + if not allow_invert and left_screen.shape[0] > 1: + keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0)) + left_screen = left_screen[keep] + right_screen = right_screen[keep] + if left_screen.shape[0] == 0: + return np.empty((0, 2), dtype=np.float32) + + return np.vstack((left_screen, right_screen[::-1])).astype(np.float32) + + @staticmethod + def _map_val(x, x0, x1, y0, y1): + x = max(x0, min(x, x1)) + ra = x1 - x0 + rb = y1 - y0 + return (x - x0) * rb / ra + y0 if ra != 0 else y0 + + @staticmethod + def _hsla_to_color(h, s, l, a): + r, g, b = [max(0, min(255, int(v * 255))) for v in colorsys.hls_to_rgb(h, l, s)] + return rl.Color(r, g, b, max(0, min(255, int(a * 255)))) + + @staticmethod + def _blend_colors(begin_colors, end_colors, t): + if t >= 1.0: + return end_colors + if t <= 0.0: + return begin_colors + + inv_t = 1.0 - t + return [rl.Color( + int(inv_t * start.r + t * end.r), + int(inv_t * start.g + t * end.g), + int(inv_t * start.b + t * end.b), + int(inv_t * start.a + t * end.a) + ) for start, end in zip(begin_colors, end_colors, strict=True)] diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index 01aac0370b..49832444f8 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -1,10 +1,14 @@ +import numpy as np import pyray as rl + from openpilot.system.hardware import TICI from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage +CONNECTION_RETRY_INTERVAL = 0.2 # seconds between connection attempts + VERTEX_SHADER = """ #version 300 es in vec3 vertexPosition; @@ -53,7 +57,10 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): self.client = VisionIpcClient(name, stream_type, False) + self._texture_needs_update = True + self.last_connection_attempt: float = 0.0 self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) + self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1 self.frame: VisionBuf | None = None self.texture_y: rl.Texture | None = None @@ -85,6 +92,24 @@ class CameraView: if self.shader and self.shader.id: rl.unload_shader(self.shader) + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: + if not self.frame: + return np.eye(3) + + # Calculate aspect ratios + widget_aspect_ratio = rect.width / rect.height + frame_aspect_ratio = self.frame.width / self.frame.height + + # Calculate scaling factors to maintain aspect ratio + zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0) + zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0) + + return np.array([ + [zx, 0.0, 0.0], + [0.0, zy, 0.0], + [0.0, 0.0, 1.0] + ]) + def render(self, rect: rl.Rectangle): if not self._ensure_connection(): return @@ -92,17 +117,27 @@ class CameraView: # Try to get a new buffer without blocking buffer = self.client.recv(timeout_ms=0) if buffer: + self._texture_needs_update = True self.frame = buffer if not self.frame: return - # Calculate scaling to maintain aspect ratio - scale = min(rect.width / self.frame.width, rect.height / self.frame.height) - x_offset = rect.x + (rect.width - (self.frame.width * scale)) / 2 - y_offset = rect.y + (rect.height - (self.frame.height * scale)) / 2 + transform = self._calc_frame_matrix(rect) src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height)) - dst_rect = rl.Rectangle(x_offset, y_offset, self.frame.width * scale, self.frame.height * scale) + + # Calculate scale + scale_x = rect.width * transform[0, 0] # zx + scale_y = rect.height * transform[1, 1] # zy + + # Calculate base position (centered) + x_offset = rect.x + (rect.width - scale_x) / 2 + y_offset = rect.y + (rect.height - scale_y) / 2 + + x_offset += transform[0, 2] * rect.width / 2 + y_offset += transform[1, 2] * rect.height / 2 + + dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y) # Render with appropriate method if TICI: @@ -144,21 +179,31 @@ class CameraView: return # Update textures with new frame data - y_data = self.frame.data[: self.frame.uv_offset] - uv_data = self.frame.data[self.frame.uv_offset :] + if self._texture_needs_update: + y_data = self.frame.data[: self.frame.uv_offset] + uv_data = self.frame.data[self.frame.uv_offset :] - rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data)) - rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data)) + rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data)) + rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data)) + self._texture_needs_update = False # Render with shader rl.begin_shader_mode(self.shader) - rl.set_shader_value_texture(self.shader, rl.get_shader_location(self.shader, "texture1"), self.texture_uv) + rl.set_shader_value_texture(self.shader, self._texture1_loc, self.texture_uv) rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) rl.end_shader_mode() def _ensure_connection(self) -> bool: if not self.client.is_connected(): self.frame = None + + # Throttle connection attempts + current_time = rl.get_time() + if current_time - self.last_connection_attempt < CONNECTION_RETRY_INTERVAL: + return False + + self.last_connection_attempt = current_time + if not self.client.connect(False) or not self.client.num_buffers: return False diff --git a/system/ui/widgets/driver_camera_view.py b/system/ui/widgets/driver_camera_view.py new file mode 100644 index 0000000000..174fac378d --- /dev/null +++ b/system/ui/widgets/driver_camera_view.py @@ -0,0 +1,46 @@ +import numpy as np +import pyray as rl +from openpilot.system.ui.widgets.cameraview import CameraView +from msgq.visionipc import VisionStreamType +from openpilot.system.ui.lib.application import gui_app + + +class DriverCameraView(CameraView): + def __init__(self, stream_type: VisionStreamType): + super().__init__("camerad", stream_type) + + def render(self, rect): + super().render(rect) + + # TODO: Add additional rendering logic + + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: + driver_view_ratio = 2.0 + + # Get stream dimensions + if self.frame: + stream_width = self.frame.width + stream_height = self.frame.height + else: + # Default values if frame not available + stream_width = 1928 + stream_height = 1208 + + yscale = stream_height * driver_view_ratio / stream_width + xscale = yscale * rect.height / rect.width * stream_width / stream_height + + return np.array([ + [xscale, 0.0, 0.0], + [0.0, yscale, 0.0], + [0.0, 0.0, 1.0] + ]) + + +if __name__ == "__main__": + gui_app.init_window("Driver Camera View") + driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER) + try: + for _ in gui_app.render(): + driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + finally: + driver_camera_view.close() diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 5877b3ff7a..46274dbf7e 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,4 +1,5 @@ from dataclasses import dataclass +from threading import Lock from typing import Literal import pyray as rl @@ -53,48 +54,59 @@ UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm class WifiManagerUI: def __init__(self, wifi_manager: WifiManagerWrapper): self.state: UIState = StateIdle() - self.btn_width = 200 + self.btn_width: int = 200 self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) self._networks: list[NetworkInfo] = [] - + self._lock = Lock() self.wifi_manager = wifi_manager - self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten, self._on_network_updated)) + + self.wifi_manager.set_callbacks( + WifiManagerCallbacks( + need_auth = self._on_need_auth, + activated = self._on_activated, + forgotten = self._on_forgotten, + networks_updated = self._on_network_updated, + connection_failed = self._on_connection_failed + ) + ) self.wifi_manager.start() self.wifi_manager.connect() def render(self, rect: rl.Rectangle): - if not self._networks: - gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) - return + with self._lock: + if not self._networks: + gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + return - match self.state: - case StateNeedsAuth(network): - result = self.keyboard.render("Enter password", f"for {network.ssid}") - if result == 1: - password = self.keyboard.text - self.keyboard.clear() + match self.state: + case StateNeedsAuth(network): + result = self.keyboard.render("Enter password", f"for {network.ssid}") + if result == 1: + password = self.keyboard.text + self.keyboard.clear() - if len(password) >= MIN_PASSWORD_LENGTH: - self.connect_to_network(network, password) - elif result == 0: - self.state = StateIdle() + if len(password) >= MIN_PASSWORD_LENGTH: + self.connect_to_network(network, password) + elif result == 0: + self.state = StateIdle() - case StateShowForgetConfirm(network): - result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") - if result == 1: - self.forget_network(network) - elif result == 0: - self.state = StateIdle() + case StateShowForgetConfirm(network): + result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") + if result == 1: + self.forget_network(network) + elif result == 0: + self.state = StateIdle() - case _: - self._draw_network_list(rect) + case _: + self._draw_network_list(rect) @property def require_full_screen(self) -> bool: """Check if the WiFi UI requires exclusive full-screen rendering.""" - return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm)) + with self._lock: + return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm)) def _draw_network_list(self, rect: rl.Rectangle): content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) @@ -190,25 +202,30 @@ class WifiManagerUI: self.wifi_manager.forget_connection(network.ssid) def _on_network_updated(self, networks: list[NetworkInfo]): - self._networks = networks + with self._lock: + self._networks = networks def _on_need_auth(self, ssid): - match self.state: - case StateConnecting(ssid): - self.state = StateNeedsAuth(ssid) - case _: - # Find network by SSID - network = next((n for n in self.wifi_manager.networks if n.ssid == ssid), None) - if network: - self.state = StateNeedsAuth(network) + with self._lock: + network = next((n for n in self._networks if n.ssid == ssid), None) + if network: + self.state = StateNeedsAuth(network) def _on_activated(self): - if isinstance(self.state, StateConnecting): - self.state = StateIdle() + with self._lock: + if isinstance(self.state, StateConnecting): + self.state = StateIdle() + + def _on_forgotten(self, ssid): + with self._lock: + if isinstance(self.state, StateForgetting): + self.state = StateIdle() + + def _on_connection_failed(self, ssid: str, error: str): + with self._lock: + if isinstance(self.state, StateConnecting): + self.state = StateIdle() - def _on_forgotten(self): - if isinstance(self.state, StateForgetting): - self.state = StateIdle() def main():