From fc65a8ea8f9f374343cd3eb8c59fc955b75b013a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 7 Apr 2025 19:23:11 -0700 Subject: [PATCH 001/477] paramsd: cache backwards compatibility (#34991) * LiveParametersV2 key * Param key * Fix tests * Remove old params if error * Update exception message * Update the test * Add test for corrupted byte format in v1 * Rename params_reader => params --- common/params_keys.h | 1 + selfdrive/locationd/paramsd.py | 32 +++++++++++++----------- selfdrive/locationd/test/test_paramsd.py | 13 +++++++++- 3 files changed, 30 insertions(+), 16 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 2b540b744c..fd701cda18 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -72,6 +72,7 @@ inline static std::unordered_map keys = { {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, + {"LiveParametersV2", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 243abc5c08..a7712ba1d9 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa # TODO: Remove this function after few releases (added in 0.9.9) -def migrate_cached_vehicle_params_if_needed(params_reader: Params): - last_parameters_data = params_reader.get("LiveParameters") - if last_parameters_data is None: +def migrate_cached_vehicle_params_if_needed(params: Params): + last_parameters_data_old = params.get("LiveParameters") + last_parameters_data = params.get("LiveParametersV2") + if last_parameters_data_old is None or last_parameters_data is not None: return try: - last_parameters_dict = json.loads(last_parameters_data) + last_parameters_dict = json.loads(last_parameters_data_old) last_parameters_msg = messaging.new_message('liveParameters') last_parameters_msg.liveParameters.valid = True last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio'] last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor'] last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg'] - params_reader.put("LiveParameters", last_parameters_msg.to_bytes()) - except Exception: - pass + params.put("LiveParametersV2", last_parameters_msg.to_bytes()) + except Exception as e: + cloudlog.error(f"Failed to perform parameter migration: {e}") + params.remove("LiveParameters") -def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool): - last_parameters_data = params_reader.get("LiveParameters") - last_carparams_data = params_reader.get("CarParamsPrevRoute") +def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool): + last_parameters_data = params.get("LiveParametersV2") + last_carparams_data = params.get("CarParamsPrevRoute") steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None @@ -267,12 +269,12 @@ def main(): pm = messaging.PubMaster(['liveParameters']) sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') - params_reader = Params() - CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) + params = Params() + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) - migrate_cached_vehicle_params_if_needed(params_reader) + migrate_cached_vehicle_params_if_needed(params) - steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG) learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) while True: @@ -288,7 +290,7 @@ def main(): msg_dat = msg.to_bytes() if sm.frame % 1200 == 0: # once a minute - params_reader.put_nonblocking("LiveParameters", msg_dat) + params.put_nonblocking("LiveParametersV2", msg_dat) pm.send('liveParameters', msg_dat) diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py index 3c2bf9249a..2129bf4386 100644 --- a/selfdrive/locationd/test/test_paramsd.py +++ b/selfdrive/locationd/test/test_paramsd.py @@ -28,7 +28,7 @@ class TestParamsd: CP = next(m for m in lr if m.which() == "carParams").carParams msg = get_random_live_parameters(CP) - params.put("LiveParameters", msg.to_bytes()) + params.put("LiveParametersV2", msg.to_bytes()) params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error @@ -49,9 +49,20 @@ class TestParamsd: msg = get_random_live_parameters(CP) params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict())) params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + params.remove("LiveParametersV2") migrate_cached_vehicle_params_if_needed(params) sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True) np.testing.assert_allclose(sr, msg.liveParameters.steerRatio) np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor) np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg) + assert params.get("LiveParametersV2") is not None + + def test_read_saved_params_corrupted_old_format(self): + params = Params() + params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;') + params.remove("LiveParametersV2") + + migrate_cached_vehicle_params_if_needed(params) + assert params.get("LiveParameters") is None + assert params.get("LiveParametersV2") is None From e4aa346259d9be4713c0d6b7bcd49ac88c277c1f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Apr 2025 10:57:29 -0700 Subject: [PATCH 002/477] hardwared: give stuck LTE connections a kick This reverts commit e3e694096a3a79e663712797e559e729e6818c7c. --- system/hardware/hardwared.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index b6de91818e..7429091336 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -99,6 +99,7 @@ def touch_thread(end_event): def hw_state_thread(end_event, hw_queue): """Handles non critical hardware state, and sends over queue""" count = 0 + registered_count = 0 prev_hw_state = None modem_version = None @@ -149,6 +150,16 @@ def hw_state_thread(end_event, hw_queue): except queue.Full: pass + if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): + registered_count += 1 + else: + registered_count = 0 + + if registered_count > 10: + cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}, bringing connection back up") + os.system("nmcli conn up esim") + registered_count = 0 + if not modem_configured and HARDWARE.get_modem_version() is not None: cloudlog.warning("configuring modem") HARDWARE.configure_modem() From 84b0baf68b1fc65924c705cd9c3fc301b3030629 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Apr 2025 11:04:00 -0700 Subject: [PATCH 003/477] Revert "hardwared: give stuck LTE connections a kick" This reverts commit e4aa346259d9be4713c0d6b7bcd49ac88c277c1f. --- system/hardware/hardwared.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 7429091336..b6de91818e 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -99,7 +99,6 @@ def touch_thread(end_event): def hw_state_thread(end_event, hw_queue): """Handles non critical hardware state, and sends over queue""" count = 0 - registered_count = 0 prev_hw_state = None modem_version = None @@ -150,16 +149,6 @@ def hw_state_thread(end_event, hw_queue): except queue.Full: pass - if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): - registered_count += 1 - else: - registered_count = 0 - - if registered_count > 10: - cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}, bringing connection back up") - os.system("nmcli conn up esim") - registered_count = 0 - if not modem_configured and HARDWARE.get_modem_version() is not None: cloudlog.warning("configuring modem") HARDWARE.configure_modem() From 0b72ae3bc2e11290d95e6f2d9e8fac683e9b0a85 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 8 Apr 2025 20:12:52 -0700 Subject: [PATCH 004/477] process_replay: fix GM and replace TOYOTA3 (#34996) * Add volt and bolt param migration * Remove mazda due to invalid sensor timings * Fix the import * Add mazda to excluded * Bring back mazda, but add todo * New segment for TOYOTA3 * Fix * Update ref commit --- selfdrive/test/process_replay/migration.py | 3 +++ selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 7 ++++--- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index e1d0352262..39d5452b6b 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -9,6 +9,7 @@ from opendbc.car.fingerprints import MIGRATION from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags from opendbc.car.hyundai.values import HyundaiSafetyFlags +from opendbc.car.gm.values import GMSafetyFlags from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index @@ -274,6 +275,8 @@ def migrate_pandaStates(msgs): "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL, "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE, "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING, + "CHEVROLET_VOLT": GMSafetyFlags.EV, + "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM, } # TODO: get new Ford route safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 58ff170e74..d4b02296d6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file +37fd7afb99bf188c1e5375d01f011ae35821f640 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 927f54c0c3..dfa7eb65a8 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -22,7 +22,7 @@ source_segments = [ ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS) ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.TOYOTA_RAV4 - ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.TOYOTA_COROLLA_TSS2 + ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), # TOYOTA.TOYOTA_COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.HONDA_CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.HONDA_ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID @@ -32,6 +32,7 @@ source_segments = [ ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF + # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021 ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1 ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1 @@ -46,7 +47,7 @@ segments = [ ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"), ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"), ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"), - ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"), + ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"), ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"), ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"), @@ -62,7 +63,7 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "tesla", "rivian"] +excluded_interfaces = ["mock", "tesla"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") From 4c7d29b907b215a7d50c2be209047726ea0ae4e9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Apr 2025 21:08:04 -0700 Subject: [PATCH 005/477] bump opendbc --- docs/CARS.md | 242 ++++++++++++++++++++++++++------------------------- opendbc_repo | 2 +- 2 files changed, 123 insertions(+), 121 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 648c2cb9d8..1af8974f30 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -54,20 +54,20 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (Australia Only) 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV80 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Performance Trim) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (Australia Only) 2022[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 Electrified (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -96,10 +96,10 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 5 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 6 (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -110,11 +110,11 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Cruz 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Cruz 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -122,36 +122,36 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Plug-in Hybrid 2024[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -162,11 +162,11 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Hybrid 2021-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage 2023-24[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage 2023-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -193,42 +193,42 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan[7](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Forester 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Legacy 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Karoq 2019-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW4) 2024[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Legacy 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Outback 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Škoda|Fabia 2022-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Škoda|Kamiq 2021-23[12,14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Škoda|Karoq 2019-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Škoda|Superb 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -241,8 +241,8 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -274,58 +274,60 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
-42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
-6In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
-7Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
-8Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
-9openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-10Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-11Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-12Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
-13Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-14Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+4See more setup details for GM.
+52019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+6Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
+7See more setup details for Nissan.
+8In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
+9Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
+10Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
+11openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+12Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+13Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+14Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+15Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+16Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/opendbc_repo b/opendbc_repo index 4179672dae..81820502a0 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4179672dae72e29b8ff9072d9be154515312e350 +Subproject commit 81820502a038b64e97caae81377ac65a3b86703e From 2cd0079abef0f654541dfc894e97b02829163577 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Apr 2025 21:11:24 -0700 Subject: [PATCH 006/477] test_models: update relay malfunction check (#34999) relay is checked in fwd hook --- opendbc_repo | 2 +- selfdrive/car/tests/test_models.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 81820502a0..5a24ffee45 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 81820502a038b64e97caae81377ac65a3b86703e +Subproject commit 5a24ffee4549b857837df03a7faaf5f31236f787 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 906fa99320..fa266328f6 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -240,6 +240,7 @@ class TestCarModelBase(unittest.TestCase): continue to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) + self.safety.safety_fwd_hook(msg.src, msg.address) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 From dec42839e38db9f09372a3ee4999d791beded1c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 8 Apr 2025 21:13:02 -0700 Subject: [PATCH 007/477] process_replay: remove GM (volt) (#35000) Remove volt segment --- selfdrive/test/process_replay/test_processes.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index dfa7eb65a8..bb30ab2acd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -28,8 +28,7 @@ source_segments = [ ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK - ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.CHEVROLET_VOLT - ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV + ("GM", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced @@ -53,8 +52,7 @@ segments = [ ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"), ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"), ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"), - ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"), - ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"), + ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"), ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"), ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"), ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), From 5d1816e2b8e783405458b2368770138030ef1baf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Apr 2025 21:27:05 -0700 Subject: [PATCH 008/477] Revert "test_models: update relay malfunction check" (#35002) Revert "test_models: update relay malfunction check (#34999)" This reverts commit 2cd0079abef0f654541dfc894e97b02829163577. --- opendbc_repo | 2 +- selfdrive/car/tests/test_models.py | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 5a24ffee45..81820502a0 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5a24ffee4549b857837df03a7faaf5f31236f787 +Subproject commit 81820502a038b64e97caae81377ac65a3b86703e diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index fa266328f6..906fa99320 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -240,7 +240,6 @@ class TestCarModelBase(unittest.TestCase): continue to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - self.safety.safety_fwd_hook(msg.src, msg.address) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 From f237649a7a281da851187eb3471a2c91f98974fd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 9 Apr 2025 15:31:07 -0700 Subject: [PATCH 009/477] Reapply "Online lateral lag learning" (#34975) * Online lateral lag learning (#34974) This reverts commit b4cc9e68d126c2219a7ddf33519e222fe8bfe00d. * pad to the best size for fft * Fix static analysis * Add typing * Fix typing * MAX_LAG * Calculate cross correlation regardless if the points are valid * Back to lagd * Add lagd to process_config * Lagd in test onroad * Move lag estimator for lagd * Remove duplicate entry from test_onroad * Update process replay * pre-fill the data * Update cpu usage * 25sec window * Change the meaning of lateralDelayEstimate * No newline * Fix typing * Prefill * Update ref commit * Add a unit test * Fix static issues * Time limit * Or timeout * Use mocker * Update estimate every time * empty test * DT const * enable RIVIAN again * Update ref commit * Update that again * Improve the tests * Fix static * Add masking test * Increase timeout * Add liveDelay to selfdrived * Add liveDelay to selfdrived in process_replay * Fix block_avg restore after num_blocks * regen most * Update bolt * Update ref commit * Change the key name * Add assert * True weighted average --- cereal/services.py | 1 + common/params_keys.h | 1 + selfdrive/locationd/helpers.py | 38 ++ selfdrive/locationd/lagd.py | 333 ++++++++++++++++++ selfdrive/locationd/test/test_lagd.py | 137 +++++++ selfdrive/selfdrived/selfdrived.py | 2 +- .../test/process_replay/process_replay.py | 11 +- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 34 +- selfdrive/test/test_onroad.py | 3 +- system/manager/process_config.py | 1 + 11 files changed, 542 insertions(+), 21 deletions(-) create mode 100755 selfdrive/locationd/lagd.py create mode 100644 selfdrive/locationd/test/test_lagd.py diff --git a/cereal/services.py b/cereal/services.py index aad83177bb..82fc04bd00 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -36,6 +36,7 @@ _services: dict[str, tuple] = { "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), + "liveDelay": (True, 4., 1), "androidLog": (True, 0.), "carState": (True, 100., 10), "carControl": (True, 100., 10), diff --git a/common/params_keys.h b/common/params_keys.h index fd701cda18..e630792357 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,6 +71,7 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, + {"LiveDelay", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveParametersV2", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index af307b0336..a3e3ae4a8c 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -1,10 +1,48 @@ import numpy as np from typing import Any +from functools import cache from cereal import log from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot +@cache +def fft_next_good_size(n: int) -> int: + """ + smallest composite of 2, 3, 5, 7, 11 that is >= n + inspired by pocketfft + """ + if n <= 6: + return n + best, f2 = 2 * n, 1 + while f2 < best: + f23 = f2 + while f23 < best: + f235 = f23 + while f235 < best: + f2357 = f235 + while f2357 < best: + f235711 = f2357 + while f235711 < best: + best = f235711 if f235711 >= n else best + f235711 *= 11 + f2357 *= 7 + f235 *= 5 + f23 *= 3 + f2 *= 2 + return best + + +def parabolic_peak_interp(R, max_index): + if max_index == 0 or max_index == len(R) - 1: + return max_index + + y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1] + offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1) + + return max_index + offset + + def rotate_cov(rot_matrix, cov_in): return rot_matrix @ cov_in @ rot_matrix.T diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py new file mode 100755 index 0000000000..5ce82309ea --- /dev/null +++ b/selfdrive/locationd/lagd.py @@ -0,0 +1,333 @@ +#!/usr/bin/env python3 +import os +import numpy as np +import capnp +from collections import deque +from functools import partial + +import cereal.messaging as messaging +from cereal import car, log +from cereal.services import SERVICE_LIST +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp + +BLOCK_SIZE = 100 +BLOCK_NUM = 50 +BLOCK_NUM_NEEDED = 5 +MOVING_WINDOW_SEC = 300.0 +MIN_OKAY_WINDOW_SEC = 25.0 +MIN_RECOVERY_BUFFER_SEC = 2.0 +MIN_VEGO = 15.0 +MIN_ABS_YAW_RATE = np.radians(1.0) +MIN_NCC = 0.95 +MAX_LAG = 1.0 + + +def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int): + """ + References: + D. Padfield. "Masked FFT registration". In Proc. Computer Vision and + Pattern Recognition, pp. 2918-2925 (2010). + :DOI:`10.1109/CVPR.2010.5540032` + """ + + eps = np.finfo(np.float64).eps + expected_sig = np.asarray(expected_sig, dtype=np.float64) + actual_sig = np.asarray(actual_sig, dtype=np.float64) + + expected_sig[~mask] = 0.0 + actual_sig[~mask] = 0.0 + + rotated_expected_sig = expected_sig[::-1] + rotated_mask = mask[::-1] + + fft = partial(np.fft.fft, n=n) + + actual_sig_fft = fft(actual_sig) + rotated_expected_sig_fft = fft(rotated_expected_sig) + actual_mask_fft = fft(mask.astype(np.float64)) + rotated_mask_fft = fft(rotated_mask.astype(np.float64)) + + number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real + number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples) + number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps) + masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real + masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real + + numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real + numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples + + actual_squared_fft = fft(actual_sig ** 2) + actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real + actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples + actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0) + + rotated_expected_squared_fft = fft(rotated_expected_sig ** 2) + expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real + expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples + expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0) + + denom = np.sqrt(actual_sig_denom * expected_sig_denom) + + # zero-out samples with very small denominators + tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True) + nonzero_indices = denom > tol + + ncc = np.zeros_like(denom, dtype=np.float64) + ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices] + np.clip(ncc, -1, 1, out=ncc) + + return ncc + + +class Points: + def __init__(self, num_points: int): + self.times = deque[float]([0.0] * num_points, maxlen=num_points) + self.okay = deque[bool]([False] * num_points, maxlen=num_points) + self.desired = deque[float]([0.0] * num_points, maxlen=num_points) + self.actual = deque[float]([0.0] * num_points, maxlen=num_points) + + @property + def num_points(self): + return len(self.desired) + + @property + def num_okay(self): + return np.count_nonzero(self.okay) + + def update(self, t: float, desired: float, actual: float, okay: bool): + self.times.append(t) + self.okay.append(okay) + self.desired.append(desired) + self.actual.append(actual) + + def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay) + + +class BlockAverage: + def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float): + self.num_blocks = num_blocks + self.block_size = block_size + self.block_idx = valid_blocks % num_blocks + self.idx = 0 + + self.values = np.tile(initial_value, (num_blocks, 1)) + self.valid_blocks = valid_blocks + + def update(self, value: float): + self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1) + self.idx = (self.idx + 1) % self.block_size + if self.idx == 0: + self.block_idx = (self.block_idx + 1) % self.num_blocks + self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) + + def get(self) -> tuple[float, float]: + valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] + valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else []) + + valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan') + current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan') + return valid_mean, current_mean + + +class LateralLagEstimator: + inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"} + + def __init__(self, CP: car.CarParams, dt: float, + block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, + window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, + min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC): + self.dt = dt + self.window_sec = window_sec + self.okay_window_sec = okay_window_sec + self.min_recovery_buffer_sec = min_recovery_buffer_sec + self.initial_lag = CP.steerActuatorDelay + 0.2 + self.block_size = block_size + self.block_count = block_count + self.min_valid_block_count = min_valid_block_count + self.min_vego = min_vego + self.min_yr = min_yr + self.min_ncc = min_ncc + + self.t = 0.0 + self.lat_active = False + self.steering_pressed = False + self.steering_saturated = False + self.desired_curvature = 0.0 + self.v_ego = 0.0 + self.yaw_rate = 0.0 + + self.last_lat_inactive_t = 0.0 + self.last_steering_pressed_t = 0.0 + self.last_steering_saturated_t = 0.0 + self.last_estimate_t = 0.0 + + self.calibrator = PoseCalibrator() + + self.reset(self.initial_lag, 0) + + def reset(self, initial_lag: float, valid_blocks: int): + window_len = int(self.window_sec / self.dt) + self.points = Points(window_len) + self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + msg = messaging.new_message('liveDelay') + + msg.valid = valid + + liveDelay = msg.liveDelay + + valid_mean_lag, current_mean_lag = self.block_avg.get() + if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag): + liveDelay.status = log.LiveDelayData.Status.estimated + liveDelay.lateralDelay = valid_mean_lag + else: + liveDelay.status = log.LiveDelayData.Status.unestimated + liveDelay.lateralDelay = self.initial_lag + if not np.isnan(current_mean_lag): + liveDelay.lateralDelayEstimate = current_mean_lag + else: + liveDelay.lateralDelayEstimate = self.initial_lag + liveDelay.validBlocks = self.block_avg.valid_blocks + if debug: + liveDelay.points = self.block_avg.values.flatten().tolist() + + return msg + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): + if which == "carControl": + self.lat_active = msg.latActive + elif which == "carState": + self.steering_pressed = msg.steeringPressed + self.v_ego = msg.vEgo + elif which == "controlsState": + self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated + self.desired_curvature = msg.desiredCurvature + elif which == "liveCalibration": + self.calibrator.feed_live_calib(msg) + elif which == "livePose": + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + self.yaw_rate = calibrated_pose.angular_velocity.z + self.t = t + + def points_enough(self): + return self.points.num_points >= int(self.okay_window_sec / self.dt) + + def points_valid(self): + return self.points.num_okay >= int(self.okay_window_sec / self.dt) + + def update_points(self): + if not self.lat_active: + self.last_lat_inactive_t = self.t + if self.steering_pressed: + self.last_steering_pressed_t = self.t + if self.steering_saturated: + self.last_steering_saturated_t = self.t + + la_desired = self.desired_curvature * self.v_ego * self.v_ego + la_actual_pose = self.yaw_rate * self.v_ego + + fast = self.v_ego > self.min_vego + turning = np.abs(self.yaw_rate) >= self.min_yr + has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated + self.t - last_t >= self.min_recovery_buffer_sec + for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] + ) + okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered + + self.points.update(self.t, la_desired, la_actual_pose, okay) + + def update_estimate(self): + if not self.points_enough(): + return + + times, desired, actual, okay = self.points.get() + # check if there are any new valid data points since the last update + is_valid = self.points_valid() + if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t: + new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) + is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])) + + delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG) + if corr < self.min_ncc or not is_valid: + return + + self.block_avg.update(delay) + self.last_estimate_t = self.t + + def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]: + assert len(expected_sig) == len(actual_sig) + max_lag_samples = int(max_lag / dt) + padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples) + + ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size) + + # only consider lags from 0 to max_lag + roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] + + max_corr_index = np.argmax(roi_ncc) + corr = roi_ncc[max_corr_index] + lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + + return lag, corr + + +def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): + last_lag_data = params_reader.get("LiveDelay") + last_carparams_data = params_reader.get("CarParamsPrevRoute") + + if last_lag_data is not None: + try: + with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: + ld = last_lag_msg.liveDelay + if last_CP.carFingerprint != CP.carFingerprint: + raise Exception("Car model mismatch") + + lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks + assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks" + return lag, valid_blocks + except Exception as e: + cloudlog.error(f"Failed to retrieve initial lag: {e}") + + return None + + +def main(): + config_realtime_process([0, 1, 2, 3], 5) + + DEBUG = bool(int(os.getenv("DEBUG", "0"))) + + pm = messaging.PubMaster(['liveDelay']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') + + params_reader = Params() + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) + + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) + if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: + lag, valid_blocks = initial_lag_params + lag_learner.reset(lag, valid_blocks) + + while True: + sm.update() + if sm.all_checks(): + for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): + if sm.updated[which]: + t = sm.logMonoTime[which] * 1e-9 + lag_learner.handle_log(t, which, sm[which]) + lag_learner.update_points() + + # 4Hz driven by livePose + if sm.frame % 5 == 0: + lag_learner.update_estimate() + lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG) + lag_msg_dat = lag_msg.to_bytes() + pm.send('liveDelay', lag_msg_dat) + + if sm.frame % 1200 == 0: # cache every 60 seconds + params_reader.put_nonblocking("LiveDelay", lag_msg_dat) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py new file mode 100644 index 0000000000..53af2d2573 --- /dev/null +++ b/selfdrive/locationd/test/test_lagd.py @@ -0,0 +1,137 @@ +import random +import numpy as np +import time +import pytest + +from cereal import messaging +from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \ + BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC +from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams +from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader +from openpilot.system.hardware import PC + +MAX_ERR_FRAMES = 1 +DT = 0.05 + + +def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0): + class ZeroMock(mocker.Mock): + def __getattr__(self, *args): + return 0 + + for i in range(n_frames): + t = i * estimator.dt + desired_la = np.cos(t) + actual_la = np.cos(t - lag_frames * estimator.dt) + + # if sample is masked out, set it to desired value (no lag) + rejected = random.uniform(0, 1) < rejection_threshold + if rejected: + actual_la = desired_la + + desired_cuvature = desired_la / (vego ** 2) + actual_yr = actual_la / vego + msgs = [ + (t, "carControl", mocker.Mock(latActive=not rejected)), + (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)), + (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature, + lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))), + (t, "livePose", mocker.Mock(orientationNED=ZeroMock(), + velocityDevice=ZeroMock(), + accelerationDevice=ZeroMock(), + angularVelocityDevice=ZeroMock(z=actual_yr))), + ] + for t, w, m in msgs: + estimator.handle_log(t, w, m) + estimator.update_points() + estimator.update_estimate() + + +class TestLagd: + def test_read_saved_params(self): + params = Params() + + lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams]) + CP = next(m for m in lr if m.which() == "carParams").carParams + + msg = messaging.new_message('liveDelay') + msg.liveDelay.lateralDelayEstimate = random.random() + msg.liveDelay.validBlocks = random.randint(1, 10) + params.put("LiveDelay", msg.to_bytes()) + params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + + saved_lag_params = retrieve_initial_lag(params, CP) + assert saved_lag_params is not None + + lag, valid_blocks = saved_lag_params + assert lag == msg.liveDelay.lateralDelayEstimate + assert valid_blocks == msg.liveDelay.validBlocks + + def test_ncc(self): + lag_frames = random.randint(1, 19) + + desired_sig = np.sin(np.arange(0.0, 10.0, 0.1)) + actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1) + mask = np.ones(len(desired_sig), dtype=bool) + + corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] + assert np.argmax(corr) == lag_frames + + # add some noise + desired_sig += np.random.normal(0, 0.05, len(desired_sig)) + actual_sig += np.random.normal(0, 0.05, len(actual_sig)) + corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] + assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1) + + # mask out 40% of the values, and make them noise + mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4]) + desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask)) + actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask)) + corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] + assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1) + + def test_empty_estimator(self, mocker): + mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT) + msg = estimator.get_msg(True) + assert msg.liveDelay.status == 'unestimated' + assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag) + assert msg.liveDelay.validBlocks == 0 + + def test_estimator_basics(self, mocker, subtests): + for lag_frames in range(5): + with subtests.test(msg=f"lag_frames={lag_frames}"): + mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0) + process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) + msg = estimator.get_msg(True) + assert msg.liveDelay.status == 'estimated' + assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + + def test_estimator_masking(self, mocker): + mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19) + estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1) + process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) + msg = estimator.get_msg(True) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + + @pytest.mark.skipif(PC, reason="only on device") + @pytest.mark.timeout(60) + def test_estimator_performance(self, mocker): + mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT) + + ds = [] + for _ in range(1000): + st = time.perf_counter() + estimator.update_points() + estimator.update_estimate() + d = time.perf_counter() - st + ds.append(d) + + assert np.mean(ds) < DT diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index b1399ab43b..c2e8259135 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -75,7 +75,7 @@ class SelfdriveD: # no vipc in replay will make them ignored anyways ignore += ['roadCameraState', 'wideRoadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', + 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3ee761ee44..9715e48615 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -462,7 +462,7 @@ CONFIGS = [ proc_name="selfdrived", pubs=[ "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "livePose", "liveParameters", "radarState", + "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug", @@ -551,6 +551,15 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, processing_time=0.004, ), + ProcessConfig( + proc_name="lagd", + pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"], + subs=["liveDelay"], + ignore=["logMonoTime"], + init_callback=get_car_params_callback, + should_recv_callback=MessageBasedRcvCallback("livePose"), + tolerance=NUMPY_TOLERANCE, + ), ProcessConfig( proc_name="ubloxd", pubs=["ubloxRaw"], diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d4b02296d6..d7eb3686db 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -37fd7afb99bf188c1e5375d01f011ae35821f640 \ No newline at end of file +4576c437dc14bc830956dd272dade4d7f027dab5 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index bb30ab2acd..d479369693 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -41,23 +41,23 @@ source_segments = [ ] segments = [ - ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"), - ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"), - ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"), - ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"), - ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"), - ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), - ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"), - ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"), - ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"), - ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"), - ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"), - ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"), - ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"), - ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"), + ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"), + ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"), + ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"), + ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"), + ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"), + ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"), + ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"), + ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"), + ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"), + ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"), + ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"), + ("GM", "regen1271097D038|2025-04-09--03-26-00--0"), + ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"), + ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"), ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), - ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"), - ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), + ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"), + ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -195,7 +195,7 @@ if __name__ == "__main__": continue # to speed things up, we only test all segments on card - if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'): + if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'): continue cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index ebc87800b7..4cd952219c 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -44,7 +44,6 @@ PROCS = { "./camerad": 10.0, "selfdrive.controls.plannerd": 9.0, "./ui": 18.0, - "selfdrive.locationd.paramsd": 9.0, "./sensord": 7.0, "selfdrive.controls.radard": 2.0, "selfdrive.modeld.modeld": 22.0, @@ -53,6 +52,8 @@ PROCS = { "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.locationd.locationd": 25.0, + "selfdrive.locationd.paramsd": 9.0, + "selfdrive.locationd.lagd": 11.0, "selfdrive.ui.soundd": 3.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 2.0, diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 6e048c339e..e25d556037 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -94,6 +94,7 @@ procs = [ PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), + PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver), From 3e6267967b21f2339c98df996644db82765be8d5 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Thu, 10 Apr 2025 16:33:36 +0200 Subject: [PATCH 010/477] Raise thermal setpoint (#35008) We don't need to control all the way down to 70C --- system/hardware/fan_controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py index be93d5922a..7d5bec0509 100755 --- a/system/hardware/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -27,7 +27,7 @@ class TiciFanController(BaseFanController): if ignition != self.last_ignition: self.controller.reset() - error = 70 - cur_temp + error = 75 - cur_temp fan_pwr_out = -int(self.controller.update( error=error, feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100]) From 24c2d9a68a03f3282519c7ffd82241e38df305f5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 10 Apr 2025 15:57:15 -0700 Subject: [PATCH 011/477] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 8a583aaa8c..0dc95a89dd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81 +Subproject commit 0dc95a89dd7df1e27c36d7560c39666151af81df From b0915db50a464c55803b6bb7695a6fb45129540e Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 11 Apr 2025 14:55:12 -0700 Subject: [PATCH 012/477] [bot] Update Python packages (#35012) * Update Python packages * update refs --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 +- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- uv.lock | 138 ++++++++++++----------- 4 files changed, 76 insertions(+), 70 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1af8974f30..a1b027c51b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 302 Supported Cars +# 304 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -71,6 +71,8 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 81820502a0..00e7a69382 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 81820502a038b64e97caae81377ac65a3b86703e +Subproject commit 00e7a69382d37694ab585466c187c814f7de4c56 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d7eb3686db..632922a8a4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4576c437dc14bc830956dd272dade4d7f027dab5 \ No newline at end of file +3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9 \ No newline at end of file diff --git a/uv.lock b/uv.lock index aa49b605a5..7141fa5195 100644 --- a/uv.lock +++ b/uv.lock @@ -70,15 +70,15 @@ wheels = [ [[package]] name = "aioice" -version = "0.9.0" +version = "0.10.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "dnspython" }, { name = "ifaddr" }, ] -sdist = { url = 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| 2 +- selfdrive/selfdrived/selfdrived.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/ui/qt/offroad/developer_panel.cc | 8 ++++---- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/util.cc | 4 ++-- selfdrive/ui/tests/test_ui/run.py | 2 +- tools/sim/bridge/common.py | 2 +- 13 files changed, 24 insertions(+), 24 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index e630792357..ca779a5b5c 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -34,7 +34,7 @@ inline static std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, + {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, diff --git a/opendbc_repo b/opendbc_repo index d65fa99e2a..3b33a71a2b 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d65fa99e2aa60a6d98cdfb5acb912665e9e6447e +Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 607f5590c4..378543164c 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -89,7 +89,7 @@ class Car: if len(can.can) > 0: break - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") + alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled") num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) cached_params = None @@ -98,7 +98,7 @@ class Car: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params) + self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params) self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP) self.CP = self.CI.CP diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index e0cd5a1e91..92c7ff8f1c 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -39,7 +39,7 @@ class TestCarInterfaces: args = get_fuzzy_car_interface_args(data.draw) car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], - experimental_long=args['experimental_long'], docs=False) + alpha_long=args['alpha_long'], docs=False) car_params = car_params.as_reader() car_interface = CarInterface(car_params) assert car_params diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 906fa99320..53f2bb586d 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -78,7 +78,7 @@ class TestCarModelBase(unittest.TestCase): cls.elm_frame = None cls.car_safety_mode_frame = None cls.fingerprint = gen_empty_fingerprint() - experimental_long = False + alpha_long = False for msg in lr: if msg.which() == "can": can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0] @@ -91,7 +91,7 @@ class TestCarModelBase(unittest.TestCase): elif msg.which() == "carParams": car_fw = msg.carParams.carFw if msg.carParams.openpilotLongitudinalControl: - experimental_long = True + alpha_long = True if cls.platform is None: live_fingerprint = msg.carParams.carFingerprint cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint) @@ -113,7 +113,7 @@ class TestCarModelBase(unittest.TestCase): cls.car_safety_mode_frame = len(can_msgs) assert len(can_msgs) > int(50 / DT_CTRL), "no can data found" - return car_fw, can_msgs, experimental_long + return car_fw, can_msgs, alpha_long @classmethod def get_testing_data(cls): @@ -146,13 +146,13 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.platform}") - car_fw, cls.can_msgs, experimental_long = cls.get_testing_data() + car_fw, cls.can_msgs, alpha_long = cls.get_testing_data() # if relay is expected to be open in the route 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, experimental_long, docs=False) + cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.platform diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index 6060dfbc36..aec30b4d74 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -15,7 +15,7 @@ if __name__ == "__main__": else: CP = car.CarParams.new_message() CP.openpilotLongitudinalControl = True - CP.experimentalLongitudinalAvailable = False + CP.alphaLongitudinalAvailable = False cp_bytes = CP.to_bytes() for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"): diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index c2e8259135..face7dab29 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -89,8 +89,8 @@ class SelfdriveD: car_recognized = self.CP.brand != 'mock' # cleanup old params - if not self.CP.experimentalLongitudinalAvailable: - self.params.remove("ExperimentalLongitudinalEnabled") + if not self.CP.alphaLongitudinalAvailable: + self.params.remove("AlphaLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9715e48615..6139846322 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 - CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP + CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP if not params.get_bool("DisengageOnAccelerator"): CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS @@ -777,7 +777,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non params_dict["CarParamsCache"] = CP.as_builder().to_bytes() if CP.openpilotLongitudinalControl: - params_dict["ExperimentalLongitudinalEnabled"] = True + params_dict["AlphaLongitudinalEnabled"] = True if CP.notCar: params_dict["JoystickDebugMode"] = True diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc index 365aec09c4..a095228da2 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.cc +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -26,7 +26,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) { addItem(longManeuverToggle); experimentalLongitudinalToggle = new ParamControl( - "ExperimentalLongitudinalEnabled", + "AlphaLongitudinalEnabled", tr("openpilot Longitudinal Control (Alpha)"), QString("%1

%2") .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).")) @@ -68,8 +68,8 @@ void DeveloperPanel::updateToggles(bool _offroad) { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); - if (!CP.getExperimentalLongitudinalAvailable() || is_release) { - params.remove("ExperimentalLongitudinalEnabled"); + if (!CP.getAlphaLongitudinalAvailable() || is_release) { + params.remove("AlphaLongitudinalEnabled"); experimentalLongitudinalToggle->setEnabled(false); } @@ -78,7 +78,7 @@ void DeveloperPanel::updateToggles(bool _offroad) { * - is not a release branch, and * - the car supports experimental longitudinal control (alpha) */ - experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release); + experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release); longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad); } else { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 4d0516bda1..7a79413e2d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -152,7 +152,7 @@ void TogglesPanel::updateToggles() { QString long_desc = unavailable + " " + \ tr("openpilot longitudinal control may come in a future update."); - if (CP.getExperimentalLongitudinalAvailable()) { + if (CP.getAlphaLongitudinalAvailable()) { if (is_release) { long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); } else { diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 399a1a98d7..ff381fe39c 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) { bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) { // Using the experimental longitudinal toggle, returns whether longitudinal control // will be active without needing a restart of openpilot - return car_params.getExperimentalLongitudinalAvailable() - ? Params().getBool("ExperimentalLongitudinalEnabled") + return car_params.getAlphaLongitudinalAvailable() + ? Params().getBool("AlphaLongitudinalEnabled") : car_params.getOpenpilotLongitudinalControl(); } diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 35323cf000..c830680aa6 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -56,7 +56,7 @@ def setup_settings_firehose(click, pm: PubMaster): def setup_settings_developer(click, pm: PubMaster): CP = car.CarParams() - CP.experimentalLongitudinalAvailable = True + CP.alphaLongitudinalAvailable = True Params().put("CarParamsPersistent", CP.to_bytes()) setup_settings_device(click, pm) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index bf3be5193d..69dec173ca 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -40,7 +40,7 @@ class SimulatorBridge(ABC): def __init__(self, dual_camera, high_quality): set_params_enabled() self.params = Params() - self.params.put_bool("ExperimentalLongitudinalEnabled", True) + self.params.put_bool("AlphaLongitudinalEnabled", True) self.rk = Ratekeeper(100, None) From 0a401620393798753afb6068b41e9faf630141d4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 14 Apr 2025 18:36:55 -0700 Subject: [PATCH 015/477] Temporary disable UI preview from CI (#35018) disable --- .github/workflows/selfdrive_tests.yaml | 1 + .github/workflows/ui_preview.yaml | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b42dc7da26..25fc258634 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -331,6 +331,7 @@ jobs: runs-on: - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + if: false # FIXME: FrameReader is broken on CI runners steps: - uses: actions/checkout@v4 with: diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 4e8338c483..9ec7a59223 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -19,7 +19,8 @@ env: jobs: preview: - if: github.repository == 'commaai/openpilot' + #if: github.repository == 'commaai/openpilot' + if: false # FIXME: FrameReader is broken on CI runners name: preview runs-on: ubuntu-latest timeout-minutes: 20 From d7a5661ffe214f9f018e2cb889dae2292c1dd7d8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Apr 2025 21:08:45 -0700 Subject: [PATCH 016/477] Fix possible CAN ignition overlap due to incorrect counter tracking (#35019) * fix-rivian-ign * bump --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 0dc95a89dd..d319ea2bba 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0dc95a89dd7df1e27c36d7560c39666151af81df +Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55 From 60da5dd39a767e1f6515c1adc0ebbe146867acd3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 17 Apr 2025 00:35:30 -0700 Subject: [PATCH 017/477] lagd: check sensors valid (#35027) * Check if sensors valid * Fix test * Fix static * Constants * time buffer for pose valid * Fix static --- selfdrive/locationd/lagd.py | 38 ++++++++++++++++++++------- selfdrive/locationd/test/test_lagd.py | 10 ++++--- 2 files changed, 34 insertions(+), 14 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 5ce82309ea..b52a658d01 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -21,8 +21,11 @@ MIN_OKAY_WINDOW_SEC = 25.0 MIN_RECOVERY_BUFFER_SEC = 2.0 MIN_VEGO = 15.0 MIN_ABS_YAW_RATE = np.radians(1.0) +MAX_YAW_RATE_SANITY_CHECK = 1.0 MIN_NCC = 0.95 MAX_LAG = 1.0 +MAX_LAT_ACCEL = 2.0 +MAX_LAT_ACCEL_DIFF = 0.6 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int): @@ -139,7 +142,8 @@ class LateralLagEstimator: def __init__(self, CP: car.CarParams, dt: float, block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, - min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC): + min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC, + max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -151,6 +155,8 @@ class LateralLagEstimator: self.min_vego = min_vego self.min_yr = min_yr self.min_ncc = min_ncc + self.max_lat_accel = max_lat_accel + self.max_lat_accel_diff = max_lat_accel_diff self.t = 0.0 self.lat_active = False @@ -159,10 +165,13 @@ class LateralLagEstimator: self.desired_curvature = 0.0 self.v_ego = 0.0 self.yaw_rate = 0.0 + self.yaw_rate_std = 0.0 + self.pose_valid = False self.last_lat_inactive_t = 0.0 self.last_steering_pressed_t = 0.0 self.last_steering_saturated_t = 0.0 + self.last_pose_invalid_t = 0.0 self.last_estimate_t = 0.0 self.calibrator = PoseCalibrator() @@ -212,7 +221,9 @@ class LateralLagEstimator: elif which == "livePose": device_pose = Pose.from_live_pose(msg) calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - self.yaw_rate = calibrated_pose.angular_velocity.z + self.yaw_rate = calibrated_pose.angular_velocity.yaw + self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std + self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK self.t = t def points_enough(self): @@ -222,23 +233,30 @@ class LateralLagEstimator: return self.points.num_okay >= int(self.okay_window_sec / self.dt) def update_points(self): + la_desired = self.desired_curvature * self.v_ego * self.v_ego + la_actual_pose = self.yaw_rate * self.v_ego + + fast = self.v_ego > self.min_vego + turning = np.abs(self.yaw_rate) >= self.min_yr + sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK + la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff + calib_valid = self.calibrator.calib_valid + if not self.lat_active: self.last_lat_inactive_t = self.t if self.steering_pressed: self.last_steering_pressed_t = self.t if self.steering_saturated: self.last_steering_saturated_t = self.t + if not sensors_valid or not la_valid: + self.last_pose_invalid_t = self.t - la_desired = self.desired_curvature * self.v_ego * self.v_ego - la_actual_pose = self.yaw_rate * self.v_ego - - fast = self.v_ego > self.min_vego - turning = np.abs(self.yaw_rate) >= self.min_yr - has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated + has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid self.t - last_t >= self.min_recovery_buffer_sec - for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] + for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t] ) - okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered + okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \ + fast and turning and has_recovered and calib_valid and sensors_valid and la_valid self.points.update(self.t, la_desired, la_actual_pose, okay) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index 53af2d2573..bd5cfd6201 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -3,7 +3,7 @@ import numpy as np import time import pytest -from cereal import messaging +from cereal import messaging, log from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \ BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams @@ -23,8 +23,8 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti for i in range(n_frames): t = i * estimator.dt - desired_la = np.cos(t) - actual_la = np.cos(t - lag_frames * estimator.dt) + desired_la = np.cos(t) * 0.1 + actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1 # if sample is masked out, set it to desired value (no lag) rejected = random.uniform(0, 1) < rejection_threshold @@ -41,7 +41,9 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti (t, "livePose", mocker.Mock(orientationNED=ZeroMock(), velocityDevice=ZeroMock(), accelerationDevice=ZeroMock(), - angularVelocityDevice=ZeroMock(z=actual_yr))), + angularVelocityDevice=ZeroMock(z=actual_yr, valid=True), + posenetOK=True, inputsOK=True)), + (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)), ] for t, w, m in msgs: estimator.handle_log(t, w, m) From c933914f8679836f2b7a5b733a90086b266d5bc7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 17 Apr 2025 23:11:19 +0100 Subject: [PATCH 018/477] ui(raylib): update spinner progress bar to match Qt (#35028) --- system/ui/spinner.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 9809307474..951c6f697e 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -13,6 +13,7 @@ ROTATION_TIME_SECONDS = 1.0 # Time for one full circle MARGIN = 200 TEXTURE_SIZE = 360 FONT_SIZE = 80 +DARKGRAY = (55, 55, 55, 255) def clamp(value, min_value, max_value): @@ -57,10 +58,10 @@ class Spinner: if text.isdigit(): progress = clamp(int(text), 0, 100) bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) - rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY) + rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) bar.width *= progress / 100.0 - rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE) + rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) else: text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) rl.draw_text_ex(gui_app.font(), text, From 06a9483a24d9d5e9fa2b32222d77c89e9ea16148 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 17 Apr 2025 16:49:30 -0700 Subject: [PATCH 019/477] lagd: estimate std (#35009) * Std * Fix static * Refactor * Assert std zero --- cereal/log.capnp | 1 + selfdrive/locationd/lagd.py | 39 ++++++++++++++++++++------- selfdrive/locationd/test/test_lagd.py | 2 ++ 3 files changed, 33 insertions(+), 9 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 797c2cd8ac..c624eb0052 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2284,6 +2284,7 @@ struct LiveDelayData { status @2 :Status; lateralDelayEstimate @3 :Float32; + lateralDelayEstimateStd @5 :Float32; points @4 :List(Float32); enum Status { diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index b52a658d01..0a7c71a7ea 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -24,6 +24,7 @@ MIN_ABS_YAW_RATE = np.radians(1.0) MAX_YAW_RATE_SANITY_CHECK = 1.0 MIN_NCC = 0.95 MAX_LAG = 1.0 +MAX_LAG_STD = 0.1 MAX_LAT_ACCEL = 2.0 MAX_LAT_ACCEL_DIFF = 0.6 @@ -127,13 +128,23 @@ class BlockAverage: self.block_idx = (self.block_idx + 1) % self.num_blocks self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) - def get(self) -> tuple[float, float]: + def get(self) -> tuple[float, float, float, float]: valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else []) - valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan') - current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan') - return valid_mean, current_mean + if len(valid_block_idx) > 0: + valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) + valid_std = float(np.std(self.values[valid_block_idx], axis=0).item()) + else: + valid_mean, valid_std = float('nan'), float('nan') + + if len(valid_and_current_idx) > 0: + current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) + current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item()) + else: + current_mean, current_std = float('nan'), float('nan') + + return valid_mean, valid_std, current_mean, current_std class LateralLagEstimator: @@ -190,17 +201,27 @@ class LateralLagEstimator: liveDelay = msg.liveDelay - valid_mean_lag, current_mean_lag = self.block_avg.get() - if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag): - liveDelay.status = log.LiveDelayData.Status.estimated - liveDelay.lateralDelay = valid_mean_lag + valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get() + if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): + if valid_std > MAX_LAG_STD: + liveDelay.status = log.LiveDelayData.Status.invalid + else: + liveDelay.status = log.LiveDelayData.Status.estimated else: liveDelay.status = log.LiveDelayData.Status.unestimated + + if liveDelay.status == log.LiveDelayData.Status.estimated: + liveDelay.lateralDelay = valid_mean_lag + else: liveDelay.lateralDelay = self.initial_lag - if not np.isnan(current_mean_lag): + + if not np.isnan(current_mean_lag) and not np.isnan(current_std): liveDelay.lateralDelayEstimate = current_mean_lag + liveDelay.lateralDelayEstimateStd = current_std else: liveDelay.lateralDelayEstimate = self.initial_lag + liveDelay.lateralDelayEstimateStd = 0.0 + liveDelay.validBlocks = self.block_avg.valid_blocks if debug: liveDelay.points = self.block_avg.values.flatten().tolist() diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index bd5cfd6201..13aea60a26 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -113,6 +113,7 @@ class TestLagd: assert msg.liveDelay.status == 'estimated' assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED def test_estimator_masking(self, mocker): @@ -121,6 +122,7 @@ class TestLagd: process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) msg = estimator.get_msg(True) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) @pytest.mark.skipif(PC, reason="only on device") @pytest.mark.timeout(60) From a4cdc96a99be6a2da574d3327f7e76fbd6f63dd3 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Thu, 17 Apr 2025 16:58:00 -0700 Subject: [PATCH 020/477] update --- cereal/log.capnp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index c624eb0052..a5828d61cb 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1174,6 +1174,8 @@ struct ModelDataV2 { struct Action { desiredCurvature @0 :Float32; + desiredAcceleration @1 :Float32; + shouldStop @2 :Bool; } } From 4f913f0cfba188f95bc565e225c41f842168a982 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 18 Apr 2025 01:11:22 +0100 Subject: [PATCH 021/477] ui(raylib): fix typos (#35030) --- system/ui/lib/application.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index fd1ad52068..470396bbc7 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -73,7 +73,7 @@ class GuiApplication: for font in self._fonts.values(): rl.unload_font(font) - self._fonts = [] + self._fonts = {} rl.close_window() @@ -90,8 +90,8 @@ class GuiApplication: rl.end_drawing() self._monitor_fps() - def font(self, font_wight: FontWeight=FontWeight.NORMAL): - return self._fonts[font_wight] + def font(self, font_weight: FontWeight=FontWeight.NORMAL): + return self._fonts[font_weight] @property def width(self): From b42ec33a6375e831f11ca88f5d92c1f0d14efa64 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 17 Apr 2025 17:59:15 -0700 Subject: [PATCH 022/477] Update modeld action logic (#35032) * add action logic * magic numbers * unused * plot accel * more changes --- selfdrive/controls/lib/drive_helpers.py | 18 +++++++- .../controls/lib/longitudinal_planner.py | 21 +--------- selfdrive/modeld/fill_model_msg.py | 9 ++-- selfdrive/modeld/modeld.py | 42 ++++++++++++++++--- selfdrive/test/process_replay/model_replay.py | 1 + 5 files changed, 62 insertions(+), 29 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 41384abae8..9958755577 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,7 +1,7 @@ import numpy as np from cereal import log from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from openpilot.common.realtime import DT_CTRL +from openpilot.common.realtime import DT_CTRL, DT_MDL MIN_SPEED = 1.0 CONTROL_N = 17 @@ -43,3 +43,19 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) return float(vel_err) return 0.0 + + +def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05): + if len(speeds) == len(t_idxs): + v_now = speeds[0] + a_now = accels[0] + v_target = np.interp(action_t, t_idxs, speeds) + a_target = 2 * (v_target - v_now) / (action_t) - a_now + v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < vEgoStopping and + v_target_1sec < vEgoStopping) + return a_target, should_stop diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c7a2295a5f..8cbf0beee9 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET from openpilot.common.swaglog import cloudlog @@ -48,23 +48,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return [a_target[0], min(a_target[1], a_x_allowed)] -def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05): - if len(speeds) == CONTROL_N: - v_now = speeds[0] - a_now = accels[0] - - v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds) - a_target = 2 * (v_target - v_now) / (action_t) - a_now - v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds) - else: - v_target = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - should_stop = (v_target < vEgoStopping and - v_target_1sec < vEgoStopping) - return a_target, should_stop - - class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP @@ -176,7 +159,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) for idx in range(2): diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 9dc2641c9b..a91c6395c7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs): builder.rightProb = lane_line_probs[2] def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, - net_output_data: dict[str, np.ndarray], v_ego: float, delay: float, + net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float, valid: bool) -> None: @@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D driving_model_data.frameIdExtra = vipc_frame_id_extra driving_model_data.frameDropPerc = frame_drop_perc driving_model_data.modelExecutionTime = model_execution_time - driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + driving_model_data.action = action modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id @@ -98,8 +99,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) - # lateral planning - modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + # action + modelV2.action = action # times at X_IDXS of edges and lines aren't used LINE_T_IDXS: list[float] = [] diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1e557942fe..f5007273ec 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -21,17 +21,20 @@ from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.common.realtime import config_realtime_process +from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.modeld.constants import ModelConstants, Plan from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext + + PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -40,6 +43,30 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' +LAT_SMOOTH_SECONDS = 0.0 +LONG_SMOOTH_SECONDS = 0.0 + +def smooth_value(val, prev_val, tau): + alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 + return alpha * val + (1 - alpha) * prev_val + + +def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, + lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: + plan = model_output['plan'][0] + desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0], + plan[:,Plan.ACCELERATION][:,0], + ModelConstants.T_IDXS, + action_t=long_action_t) + desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) + + desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) + + return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), + desiredAcceleration=float(desired_accel), + shouldStop=bool(should_stop)) + class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -221,7 +248,10 @@ def main(demo=False): cloudlog.info("modeld got CarParams: %s", CP.brand) # TODO this needs more thought, use .2s extra for now to estimate other delays - steer_delay = CP.steerActuatorDelay + .2 + # TODO Move smooth seconds to action function + lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS + long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS + prev_action = log.ModelDataV2.Action() DH = DesireHelper() @@ -263,7 +293,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) - lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) + lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -306,7 +336,9 @@ def main(demo=False): modelv2_send = messaging.new_message('modelV2') drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay, + + action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL) + fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 36398af8ca..af626e2da9 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit): ModelV2_Plots = zl([ (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"), (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"), + (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"), (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"), (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"), (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"), From 15326c2d301427ce525bce464d8d1ca84fd3c4af Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 17 Apr 2025 18:37:48 -0700 Subject: [PATCH 023/477] lagd: check for validity of the estimate when restoring state (#35034) Do not restore if invalid --- selfdrive/locationd/lagd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 0a7c71a7ea..f4f46b7469 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -327,8 +327,9 @@ def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): if last_CP.carFingerprint != CP.carFingerprint: raise Exception("Car model mismatch") - lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks + lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks" + assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid" return lag, valid_blocks except Exception as e: cloudlog.error(f"Failed to retrieve initial lag: {e}") From 65c210265b23ac6ca16a0f5532c880465aa41ab1 Mon Sep 17 00:00:00 2001 From: niko001 Date: Fri, 18 Apr 2025 05:55:32 +0200 Subject: [PATCH 024/477] Multilang: Update de translation (#35025) added missing German translations --- selfdrive/ui/translations/main_de.ts | 598 ++++++++++++++------------- 1 file changed, 301 insertions(+), 297 deletions(-) diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 560e1df2cc..f279a8d9f1 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -3,14 +3,14 @@ AbstractAlert - + Close Schließen - - + + Snooze Update Update pausieren - + Reboot and Update Aktualisieren und neu starten @@ -66,26 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden - - Hidden Network - - - - CONNECT - CONNECT - - - Enter SSID - SSID eingeben - - - Enter password - Passwort eingeben - - - for "%1" - für "%1" - + + Hidden Network + Verborgenes Netzwerk + + + CONNECT + VERBINDEN + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + ConfirmationDialog @@ -115,34 +115,34 @@ DeveloperPanel - - Joystick Debug Mode - - - - Longitudinal Maneuver Mode - - - - openpilot Longitudinal Control (Alpha) - - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - - - Enable ADB - - - - 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. - - + + Joystick Debug Mode + Joystick Debug-Modus + + + Longitudinal Maneuver Mode + Längsmanöver-Modus + + + openpilot Longitudinal Control (Alpha) + openpilot Längsregelung (Alpha) + + + 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 + + + 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. + DevicePanel @@ -278,14 +278,14 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. - - Pair Device - - - - PAIR - - + + Pair Device + Gerät koppeln + + + PAIR + KOPPELN + DriverViewWindow @@ -307,39 +307,41 @@ FirehosePanel - - 🔥 Firehose Mode 🔥 - - - - openpilot learns to drive by watching humans, like you, drive. + + 🔥 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. - - - - Firehose Mode: ACTIVE - - - - ACTIVE - - - - 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. - - - - <b>%n segment(s)</b> of your driving is in the training dataset so far. - - - - - - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - - + 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 + + + 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. + + <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. + <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. + + + + <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 + HudRenderer @@ -411,49 +413,50 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 + + Unable to download updates %1 - - - - Taking camera snapshots. System won't start until finished. - - - - An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - - - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - - - - NVMe drive not mounted. - - - - Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - - - - 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 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. - - - - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - - + Updates konnten nicht heruntergeladen werden +%1 + + + Taking camera snapshots. System won't start until finished. + Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. + + + NVMe drive not mounted. + NVMe-Laufwerk nicht gemounted. + + + 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 + OffroadHome @@ -472,26 +475,26 @@ Firehose Mode allows you to maximize your training data uploads to improve openp OnroadAlerts - - openpilot Unavailable - - - - TAKE CONTROL IMMEDIATELY - - - - Reboot Device - - - - Waiting to start - - - - System Unresponsive - - + + openpilot Unavailable + openpilot nicht verfügbar + + + TAKE CONTROL IMMEDIATELY + ÜBERNIMM SOFORT DIE KONTROLLE + + + Reboot Device + Gerät neu starten + + + Waiting to start + Warten auf Start + + + System Unresponsive + System reagiert nicht + PairingPopup @@ -511,10 +514,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Bookmark connect.comma.ai to your home screen to use it like an app Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden - - Please connect to Wi-Fi to complete initial pairing - - + + Please connect to Wi-Fi to complete initial pairing + Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. + ParamControl @@ -545,18 +548,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remote access Fernzugriff - - 24/7 LTE connectivity - - - - 1 year of drive storage - - - - Remote snapshots - - + + 24/7 LTE connectivity + 24/7 LTE-Verbindung + + + 1 year of drive storage + Fahrdaten-Speicherung für 1 Jahr + + + Remote snapshots + Remote-Snapshots + PrimeUserWidget @@ -604,10 +607,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp vor %n Tagen - - now - - + + now + jetzt + Reset @@ -635,19 +638,20 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Confirm Bestätigen - - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - - - - Resetting device... + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. + + + Resetting device... This may take up to a minute. - - - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - - + Gerät wird zurückgesetzt... +Dies kann bis zu einer Minute dauern. + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. + SettingsWindow @@ -671,14 +675,14 @@ This may take up to a minute. Software Software - - Developer - - - - Firehose - - + + Developer + Entwickler + + + Firehose + Firehose + Setup @@ -750,30 +754,30 @@ This may take up to a minute. Start over Von neuem beginnen - - No custom software found at this URL. - - - - Something went wrong. Reboot the device. - - + + No custom software found at this URL. + Keine benutzerdefinierte Software unter dieser URL gefunden. + + + Something went wrong. Reboot the device. + Etwas ist schiefgelaufen. Starte das Gerät neu. + Select a language Sprache wählen - - Choose Software to Install - - - - openpilot - openpilot - - - Custom Software - - + + Choose Software to Install + Wähle die zu installierende Software + + + openpilot + openpilot + + + Custom Software + Benutzerdefinierte Software + SetupWidget @@ -921,26 +925,26 @@ This may take up to a minute. Uninstall Deinstallieren - - failed to check for update - - - - up to date, last checked %1 - - - - DOWNLOAD - - - - update available - - - - never - - + + failed to check for update + Update-Prüfung fehlgeschlagen + + + up to date, last checked %1 + Auf dem neuesten Stand, zuletzt geprüft am %1 + + + DOWNLOAD + HERUNTERLADEN + + + update available + Update verfügbar + + + never + nie + SshControl @@ -998,14 +1002,14 @@ This may take up to a minute. Agree Zustimmen - - Welcome to openpilot - - - - 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. - - + + Welcome to openpilot + Willkommen bei openpilot + + + 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. + TogglesPanel @@ -1069,54 +1073,54 @@ 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. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - Aggressive - - - - Standard - - - - Relaxed - - - - Driving Personality - - - - End-to-End Longitudinal Control - - - - openpilot longitudinal control may come in a future update. - - - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - - - - 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. - - - - 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. - - - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - + + Aggressive + Aggressiv + + + Standard + Standard + + + Relaxed + Entspannt + + + Driving Personality + Fahrstil + + + End-to-End Longitudinal Control + Ende-zu-Ende Längsregelung + + + 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. + + + Always-On Driver Monitoring + Dauerhaft aktive Fahrerüberwachung + + + Enable driver monitoring even when openpilot is not engaged. + Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + Updater @@ -1155,18 +1159,18 @@ This may take up to a minute. WiFiPromptWidget - - Open - - - - Maximize your training data uploads to improve openpilot's driving models. - - - - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - - + + Open + Öffnen + + + Maximize your training data uploads to improve openpilot's driving models. + Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. + + + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> + WifiUI From 2c162d9b75ae4e77bdf5bc3225e880d352ec0f5c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 17 Apr 2025 23:21:25 -0700 Subject: [PATCH 025/477] Tomb raider 2 (#35029) * db56b8fb-9135-4ab6-af18-99b7df7b2245/400 * fixes * linter unhappy * 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400 * This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400 * Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400 * Actually end-to-end * typo * smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360 * Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360" This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f. * 11632ef7-f555-489c-8480-e3bf97d9285e/400 * 08712d27-f6bd-4536-a30e-c729e5f62356/400 * 0a92a35e-1f72-476a-8cb6-c9f103f36822/400 * ee6d2394-2072-420c-a664-b4c0d4ed0b61/400 * no prev curv * No double work * fix bug * smooth * update prev action * whitespace * add little accel * new ref * Update plant.py --- .../controls/lib/longitudinal_planner.py | 20 ++++++++++++++----- selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 7 ++++--- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 ++++++------ .../test/longitudinal_maneuvers/plant.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 8 files changed, 36 insertions(+), 25 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 8cbf0beee9..104c7c9d49 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -89,14 +89,15 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mpc.mode = 'acc' + self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) else: accel_coast = ACCEL_MAX - v_ego = sm['carState'].vEgo + v_ego = sm['modelV2'].velocity.x[0] v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET @@ -112,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mpc.mode == 'acc': + if self.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -128,7 +129,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error self.v_model_error = get_speed_error(sm['modelV2'], v_ego) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED @@ -159,8 +160,17 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) + output_a_target_e2e = sm['modelV2'].action.desiredAcceleration + output_should_stop_e2e = sm['modelV2'].action.shouldStop + + if self.mode == 'acc': + output_a_target = output_a_target_mpc + self.output_should_stop = output_should_stop_mpc + else: + output_a_target = min(output_a_target_mpc, output_a_target_e2e) + self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a91c6395c7..36bd724d01 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose = modelV2.temporalPose + #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index f5007273ec..0ad629f519 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -43,8 +43,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.0 -LONG_SMOOTH_SECONDS = 0.0 +LAT_SMOOTH_SECONDS = 0.3 +LONG_SMOOTH_SECONDS = 0.3 def smooth_value(val, prev_val, tau): alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 @@ -174,7 +174,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: @@ -338,6 +338,7 @@ def main(demo=False): posenet_send = messaging.new_message('cameraOdometry') action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL) + prev_action = action fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3601bbb5da..3bf2e01b5e 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 sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 -size 15966721 +oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342 +size 15578328 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index aee6d8f1bf..5e08b78472 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 sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 -size 34882971 +oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 +size 46265585 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 810c44ccb9..783572d436 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,6 +88,12 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -95,17 +101,10 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 989b84dee3..b8c6adb436 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -107,6 +107,7 @@ class Plant: position = log.XYZTData.new_message() position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)] model.modelV2.position = position + model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1) velocity = log.XYZTData.new_message() velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)] velocity.x[0] = float(self.speed) # always start at current speed diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 632922a8a4..5f89d7802d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9 \ No newline at end of file +0800e73b5d9c801f161b9559557c0559b0682fec \ No newline at end of file From 65431f4e2f0a6835fa2f4a2a9d2dc5a0ce227e74 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 18 Apr 2025 11:02:50 -0700 Subject: [PATCH 026/477] DEC: adjust dynamic speed adaptation parameters (#813) * early and better * Update sunnypilot/selfdrive/controls/lib/dec/constants.py --------- Co-authored-by: Jason Wen Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> --- sunnypilot/selfdrive/controls/lib/dec/constants.py | 5 ++--- sunnypilot/selfdrive/controls/lib/dec/dec.py | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py index c1e3726606..48f4203e93 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/constants.py +++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py @@ -2,12 +2,11 @@ class WMACConstants: LEAD_WINDOW_SIZE = 5 LEAD_PROB = 0.5 - SLOW_DOWN_WINDOW_SIZE = 4 + SLOW_DOWN_WINDOW_SIZE = 5 SLOW_DOWN_PROB = 0.6 SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.] - #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.] - SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.] + SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.] SLOWNESS_WINDOW_SIZE = 12 SLOWNESS_PROB = 0.5 diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py index 0c33da500a..812e5cc15f 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/dec.py +++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py @@ -164,7 +164,7 @@ class DynamicExperimentalController: """ Adapts the slow-down threshold based on vehicle speed and recent behavior. """ - slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data))) + slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data))) adaptive_threshold: float = float( interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor ) From 3b60b22ceeb090812e5fa948ac6e56442d681dc4 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 18 Apr 2025 14:29:37 -0700 Subject: [PATCH 027/477] OS04C10: use IFE downscaler for road cameras (#35023) * squashh * wrong * clean up * rename --- system/camerad/cameras/camera_common.cc | 3 -- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 ++-- system/camerad/cameras/ife.h | 18 ++++---- system/camerad/cameras/spectra.cc | 40 +++++++++------- system/camerad/sensors/os04c10.cc | 11 +++++ system/camerad/sensors/os04c10_registers.h | 54 ++++++++++++++-------- system/camerad/sensors/sensor.h | 2 + 8 files changed, 87 insertions(+), 53 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index f6c2681dea..1f6ad9b4be 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } - out_img_width = sensor->frame_width; - out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; - // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c0426678b6..c26859cbc4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - int out_img_width, out_img_height; + uint32_t out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 18a42f05d8..8c4602bb31 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 49737f2db7..fd87d2baa4 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((s->frame_width - 1) << 16) | (s->frame_width - 1), + ((out_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height - 1) << 16) | (s->frame_height - 1), + ((out_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), + ((out_width / 2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), + ((out_height / 2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - s->frame_height - 1, - s->frame_width - 1, + out_height - 1, + out_width - 1, }); dst += write_cont(dst, 0xe30, { - s->frame_height/2 - 1, - s->frame_width - 1, + out_height / 2 - 1, + out_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 4535078771..47ae9061f4 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; + buf.out_img_width = sensor->frame_width / sensor->out_scale; + buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; + // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); assert(y_height/2 == uv_height); open = true; @@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { + if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { + ((OS04C10*)s)->ife_downscale_configure(); + } sensor.reset(s); return (sensors_init() == 0); }; @@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = sensor->frame_width, - .height = sensor->frame_height + sensor->extra_height, + .width = buf.out_img_width, + .height = buf.out_img_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index d008e1d07b..38be4ecca4 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace +void OS04C10::ife_downscale_configure() { + out_scale = 2; + + pixel_size_mm = 0.002; + frame_width = 2688; + frame_height = 1520; + exposure_time_max = 2352; + + init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); +} + OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index 8b1c78c69d..b501656090 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, - // {0x3829, 0x03}, - // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -199,7 +197,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x370b, 0x48}, {0x370c, 0x01}, {0x370f, 0x00}, - {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, {0x371a, 0x1e}, @@ -231,7 +228,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37bd, 0x01}, {0x37bf, 0x26}, {0x37c0, 0x11}, - {0x37c2, 0x14}, {0x37cd, 0x19}, {0x37e0, 0x08}, {0x37e6, 0x04}, @@ -241,14 +237,9 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37d8, 0x02}, {0x37e2, 0x10}, {0x3739, 0x10}, - {0x3662, 0x08}, {0x37e4, 0x20}, {0x37e3, 0x08}, - {0x37d9, 0x04}, {0x4040, 0x00}, - {0x4041, 0x03}, - {0x4008, 0x01}, - {0x4009, 0x06}, // FSIN {0x3002, 0x22}, @@ -269,20 +260,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3802, 0x00}, {0x3803, 0x00}, {0x3804, 0x0a}, {0x3805, 0x8f}, {0x3806, 0x05}, {0x3807, 0xff}, - {0x3808, 0x05}, {0x3809, 0x40}, - {0x380a, 0x02}, {0x380b, 0xf8}, {0x3811, 0x08}, {0x3813, 0x08}, - {0x3814, 0x03}, {0x3815, 0x01}, - {0x3816, 0x03}, {0x3817, 0x01}, - {0x380c, 0x0b}, {0x380d, 0xac}, // HTS - {0x380e, 0x06}, {0x380f, 0x9c}, // VTS - - {0x3820, 0xb3}, - {0x3821, 0x01}, {0x3880, 0x00}, {0x3882, 0x20}, {0x3c91, 0x0b}, @@ -331,4 +313,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // r {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, + + {0x3714, 0x28}, + {0x37c2, 0x14}, + {0x3662, 0x08}, + {0x37d9, 0x04}, + {0x4041, 0x03}, + {0x4008, 0x01}, + {0x4009, 0x06}, + {0x3808, 0x05}, {0x3809, 0x40}, + {0x380a, 0x02}, {0x380b, 0xf8}, + {0x3814, 0x03}, + {0x3816, 0x03}, + {0x380c, 0x0b}, {0x380d, 0xac}, // HTS + {0x380e, 0x06}, {0x380f, 0x9c}, // VTS + {0x3820, 0xb3}, + {0x3821, 0x01}, +}; + +const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x3829, 0x03}, + {0x3714, 0x24}, + {0x37c2, 0x04}, + {0x3662, 0x10}, + {0x37d9, 0x08}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3808, 0x0a}, {0x3809, 0x80}, + {0x380a, 0x05}, {0x380b, 0xf0}, + {0x3814, 0x01}, + {0x3816, 0x01}, + {0x380c, 0x08}, {0x380d, 0x5c}, // HTS + {0x380e, 0x09}, {0x380f, 0x38}, // VTS + {0x3820, 0xb0}, + {0x3821, 0x00}, }; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index c1131aafdf..d4be3cf036 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,6 +29,7 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; + int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -109,6 +110,7 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); + void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 7ceb284d6d3557713ec58f4726f864a0e5f1ebaa Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 18 Apr 2025 19:21:52 -0700 Subject: [PATCH 028/477] process replay migration: fix longitudinalPlan (#35035) --- selfdrive/test/process_replay/migration.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 39d5452b6b..02cd9b6d71 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -13,7 +13,7 @@ from opendbc.car.gm.values import GMSafetyFlags from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index -from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan +from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX from openpilot.system.manager.process_config import managed_processes from openpilot.tools.lib.logreader import LogIterable @@ -109,7 +109,7 @@ def migrate_longitudinalPlan(msgs): if msg.which() != 'longitudinalPlan': continue new_msg = msg.as_builder() - a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels) + a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX) new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop) ops.append((index, new_msg.as_reader())) return ops, [], [] From 1db91d6257a21c428eb1851458a5bff02194ab45 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 19 Apr 2025 07:53:20 +0200 Subject: [PATCH 029/477] ci: ui preview add unicode characters and emojis (#835) Add unicode characters and emojis! --- Dockerfile.openpilot_base | 1 + 1 file changed, 1 insertion(+) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 44d8d95e95..04fb589bf6 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QTWEBENGINE_DISABLE_SANDBOX=1 RUN dbus-uuidgen > /etc/machine-id +RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji ARG USER=batman ARG USER_UID=1001 From fb5fa70e78c18566ce79ebdb554d02ceec07d176 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 19 Apr 2025 16:17:18 +0100 Subject: [PATCH 030/477] ui(raylib): update text window font, new lines and indentation (#35031) --- system/ui/text.py | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 97d0ebcce9..4ea886ba1e 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import re import pyray as rl from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle @@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app MARGIN = 50 SPACING = 50 -FONT_SIZE = 60 -LINE_HEIGHT = 64 +FONT_SIZE = 72 +LINE_HEIGHT = 80 BUTTON_SIZE = rl.Vector2(310, 160) DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary. @@ -16,18 +17,24 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess def wrap_text(text, font_size, max_width): lines = [] - current_line = "" font = gui_app.font() - for word in text.split(): - test_line = current_line + word + " " - if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: - current_line = test_line - else: + for paragraph in text.split("\n"): + if not paragraph.strip(): + lines.append("") + continue + indent = re.match(r"^\s*", paragraph).group() + current_line = indent + for word in paragraph.split(): + test_line = current_line + word + " " + if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: + current_line = test_line + else: + lines.append(current_line) + current_line = word + " " + current_line = current_line.rstrip() + if current_line: lines.append(current_line) - current_line = word + " " - if current_line: - lines.append(current_line) return lines @@ -45,7 +52,7 @@ class TextWindow: position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT) if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height: continue - rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) + rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) From bcdb5466380e9e789afaa9b03620607c11d6719c Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Sat, 19 Apr 2025 09:47:47 -0600 Subject: [PATCH 031/477] NNLC: decreased low-speed factor (#822) * NNLC: decreased low-speed factor * np.float to float * format * add tests for sanity check --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen --- selfdrive/controls/lib/latcontrol_torque.py | 3 +- .../controls/lib/latcontrol_torque_ext.py | 5 +- .../lib/latcontrol_torque_ext_base.py | 2 + .../selfdrive/controls/lib/nnlc/nnlc.py | 7 +++ .../controls/lib/nnlc/tests/test_nnlc.py | 56 +++++++++++++++++++ 5 files changed, 71 insertions(+), 2 deletions(-) create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 613824a4ed..5edf4cf91b 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -80,7 +80,8 @@ class LatControlTorque(LatControl): # Lateral acceleration torque controller extension updates # Overrides stock ff and pid_log.error ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation, - desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel) + desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel, + desired_curvature, actual_curvature) freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py index ee8d64dcd0..fe54f46ca7 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py @@ -13,7 +13,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl): super().__init__(lac_torque, CP, CP_SP) def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation, - desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel): + desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel, + desired_curvature, actual_curvature): self._ff = ff self._pid_log = pid_log self._setpoint = setpoint @@ -21,6 +22,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl): self._lateral_accel_deadzone = lateral_accel_deadzone self._desired_lateral_accel = desired_lateral_accel self._actual_lateral_accel = actual_lateral_accel + self._desired_curvature = desired_curvature + self._actual_curvature = actual_curvature self.update_calculations(CS, VM, desired_lateral_accel) self.update_neural_network_feedforward(CS, params, calibrated_pose) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 48d98501b2..800bbac67a 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -62,6 +62,8 @@ class LatControlTorqueExtBase: self._lateral_accel_deadzone = 0.0 self._desired_lateral_accel = 0.0 self._actual_lateral_accel = 0.0 + self._desired_curvature = 0.0 + self._actual_curvature = 0.0 # twilsonco's Lateral Neural Network Feedforward # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py index aee359574b..ba4285ba2b 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py @@ -16,6 +16,9 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base impo from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel +LOW_SPEED_X = [0, 10, 20, 30] +LOW_SPEED_Y = [12, 3, 1, 0] + # At a given roll, if pitch magnitude increases, the # gravitational acceleration component starts pointing @@ -59,6 +62,10 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase): if not self.enabled or not self.model_valid or not self.has_nn_model: return + low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2 + self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature + self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature + # update past data roll = params.roll if calibrated_pose is not None: diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py new file mode 100644 index 0000000000..c7227c2d51 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py @@ -0,0 +1,56 @@ +from parameterized import parameterized + +from cereal import car, log +from opendbc.car.car_helpers import interfaces +from opendbc.car.honda.values import CAR as HONDA +from opendbc.car.hyundai.values import CAR as HYUNDAI +from opendbc.car.toyota.values import CAR as TOYOTA +from opendbc.car.vehicle_model import VehicleModel +from openpilot.common.params import Params +from openpilot.selfdrive.car.helpers import convert_to_capnp +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.locationd.helpers import Pose +from openpilot.common.mock.generators import generate_livePose +from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces + + +class TestNeuralNetworkLateralControl: + + @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN]) + def test_saturation(self, car_name): + params = Params() + params.put_bool("NeuralNetworkLateralControl", True) + + CarInterface = interfaces[car_name] + CP = CarInterface.get_non_essential_params(car_name) + CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name) + CI = CarInterface(CP, CP_SP) + + sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params) + + CP_SP = convert_to_capnp(CP_SP) + VM = VehicleModel(CP) + + controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI) + + CS = car.CarState.new_message() + CS.vEgo = 30 + CS.steeringPressed = False + + params = log.LiveParametersData.new_message() + + lp = generate_livePose() + pose = Pose.from_live_pose(lp.livePose) + + # Saturate for curvature limited and controller limited + for _ in range(1000): + _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True) + assert lac_log.saturated + + for _ in range(1000): + _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False) + assert not lac_log.saturated + + for _ in range(1000): + _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False) + assert lac_log.saturated From 618b7ccf230d4048f85924c7b1bbd0f9f1b6533a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 19 Apr 2025 17:08:33 +0100 Subject: [PATCH 032/477] ui(raylib): calculate spinner progress in set_text (#35036) --- system/ui/spinner.py | 32 ++++++++++++++++++-------------- 1 file changed, 18 insertions(+), 14 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 951c6f697e..edf1fe5ca9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -26,11 +26,17 @@ class Spinner: self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) self._rotation = 0.0 self._text: str = "" + self._progress: int | None = None self._lock = threading.Lock() def set_text(self, text: str) -> None: with self._lock: - self._text = text + if text.isdigit(): + self._progress = clamp(int(text), 0, 100) + self._text = "" + else: + self._progress = None + self._text = text def render(self): center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) @@ -49,23 +55,21 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - text = None + y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT with self._lock: + progress = self._progress text = self._text - if text: - y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT - if text.isdigit(): - progress = clamp(int(text), 0, 100) - bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) - rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) + if progress is not None: + bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) - bar.width *= progress / 100.0 - rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - else: - text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), text, - rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + bar.width *= progress / 100.0 + rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) + elif text: + text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) + rl.draw_text_ex(gui_app.font(), text, + rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) if __name__ == "__main__": From 1bf752fc79611a9a73876ad5d5dfb50adce4e26f Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sat, 19 Apr 2025 12:15:28 -0700 Subject: [PATCH 033/477] bugfix: Auto lane change - Add mode to disable lane changes (#826) * off is off * sugg * line * Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py --------- Co-authored-by: Jason Wen Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: DevTekVE --- selfdrive/controls/lib/desire_helper.py | 4 ++-- .../controls/lib/tests/test_auto_lane_change.py | 15 +++++++++++++++ 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 34ea4ff1bb..23386e2ad7 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,7 +1,7 @@ from cereal import log from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_MDL -from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController +from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection @@ -48,7 +48,7 @@ class DesireHelper: one_blinker = carstate.leftBlinker != carstate.rightBlinker below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN - if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: + if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none else: diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py index c1b3053207..5d1fa360ed 100644 --- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py +++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py @@ -51,6 +51,7 @@ class TestAutoLaneChangeController: assert not self.alc.prev_brake_pressed @parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )]) + def test_off_and_nudge_mode(self, timer_state): """Test the default OFF and NUDGE mode behavior.""" self._reset_states() @@ -196,3 +197,17 @@ class TestAutoLaneChangeController: self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False) assert not self.alc.auto_lane_change_allowed + + def test_auto_lane_change_mode_off_disallows_lane_change(self): + """Test that OFF mode never allows auto lane change.""" + self._reset_states() + self.alc.lane_change_bsm_delay = False + self.alc.lane_change_set_timer = AutoLaneChangeMode.OFF + + # Simulate updates for a long period of time (e.g., 10 seconds) + num_updates = int(10.0 / DT_MDL) + for _ in range(num_updates): + self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False) + + # Lane change should never be allowed + assert not self.alc.auto_lane_change_allowed From 2fe3c2748edfa862184227bc21554508daf03b85 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 19 Apr 2025 21:41:11 -0400 Subject: [PATCH 034/477] NNLC: use `safe_exp` to prevent overflow in `sigmoid` (#836) * test * prevent overflowing * unused --- .../selfdrive/controls/lib/nnlc/model.py | 4 ++- .../controls/lib/nnlc/tests/test_nnlc.py | 35 ++++++++++++++++++- 2 files changed, 37 insertions(+), 2 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py index 1e527c7370..ab6706bf36 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/model.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/model.py @@ -7,6 +7,8 @@ See the LICENSE.md file in the root directory for more details. from json import load import numpy as np +from openpilot.selfdrive.modeld.parse_model_outputs import safe_exp + # dict used to rename activation functions whose names aren't valid python identifiers ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'} @@ -40,7 +42,7 @@ class NNTorqueModel: # These are called by name using the keys in the model json file @staticmethod def sigmoid(x): - return 1 / (1 + np.exp(-x)) + return 1 / (1 + safe_exp(-x)) @staticmethod def identity(x): diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py index c7227c2d51..4e2649f2ff 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py @@ -1,6 +1,7 @@ +import numpy as np from parameterized import parameterized -from cereal import car, log +from cereal import car, log, messaging from opendbc.car.car_helpers import interfaces from opendbc.car.honda.values import CAR as HONDA from opendbc.car.hyundai.values import CAR as HYUNDAI @@ -12,6 +13,30 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.locationd.helpers import Pose from openpilot.common.mock.generators import generate_livePose from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces +from openpilot.selfdrive.modeld.constants import ModelConstants + + +def generate_modelV2(): + model = messaging.new_message('modelV2') + position = log.XYZTData.new_message() + speed = 30 + position.x = [float(x) for x in (speed + 0.5) * np.array(ModelConstants.T_IDXS)] + model.modelV2.position = position + orientation = log.XYZTData.new_message() + curvature = 0.05 + orientation.x = [float(curvature) for _ in ModelConstants.T_IDXS] + orientation.y = [0.0 for _ in ModelConstants.T_IDXS] + model.modelV2.orientation = orientation + velocity = log.XYZTData.new_message() + velocity.x = [float(x) for x in (speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)] + velocity.x[0] = float(speed) # always start at current speed + model.modelV2.velocity = velocity + acceleration = log.XYZTData.new_message() + acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)] + acceleration.y = [float(y) for y in np.zeros_like(ModelConstants.T_IDXS)] + model.modelV2.acceleration = acceleration + + return model class TestNeuralNetworkLateralControl: @@ -42,15 +67,23 @@ class TestNeuralNetworkLateralControl: lp = generate_livePose() pose = Pose.from_live_pose(lp.livePose) + mdl = generate_modelV2() + sm = {'modelV2': mdl.modelV2} + model_v2 = sm['modelV2'] + controller.extension.model_v2 = model_v2 + # Saturate for curvature limited and controller limited for _ in range(1000): + controller.extension.update_model_v2(model_v2) _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True) assert lac_log.saturated for _ in range(1000): + controller.extension.update_model_v2(model_v2) _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False) assert not lac_log.saturated for _ in range(1000): + controller.extension.update_model_v2(model_v2) _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False) assert lac_log.saturated From a87986dd825b62a19b195c5459321b35ad512a7c Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Sat, 19 Apr 2025 19:53:57 -0600 Subject: [PATCH 035/477] NNLC: fix weak torque in high lat-accel turns (#823) * NNLC: fix weak torque in high lat-accel turns * np.float to float --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen --- sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py index ba4285ba2b..218bbb9f6a 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py @@ -12,7 +12,7 @@ from opendbc.car.interfaces import LatControlInputs from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.selfdrive.modeld.constants import ModelConstants -from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase +from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel @@ -99,6 +99,22 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase): torque_from_measurement = self.model.evaluate(nnff_measurement_input) self._pid_log.error = torque_from_setpoint - torque_from_measurement + # The "pure" NNLC error response can be too weak for cars whose models were trained + # with a lack of high-magnitude lateral acceleration data, for which the NNLC model + # torque response flattens out at high lateral accelerations. + # This workaround blends in a guaranteed stronger error response only when the + # desired lateral acceleration is high enough to warrant it, by using the lateral acceleration + # error as the input to the NNLC model. This is not ideal, and potentially degrades the NNLC + # accuracy for cars that don't have this issue, but it's necessary until a better NNLC model + # structure is used that doesn't create this issue when high-magnitude data is missing. + error_blend_factor = float(np.interp(abs(self._desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])) + if error_blend_factor > 0.0: # blend in stronger error response when in high lat accel + # NNFF inputs 5+ are optional, and if left out are replaced with 0.0 inside the NNFF class + nnff_error_input = [CS.vEgo, self._setpoint - self._measurement, self.lateral_jerk_setpoint - self.lateral_jerk_measurement, 0.0] + torque_from_error = self.model.evaluate(nnff_error_input) + if sign(self._pid_log.error) == sign(torque_from_error) and abs(self._pid_log.error) < abs(torque_from_error): + self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor + # compute feedforward (same as nn setpoint output) friction_input = self.update_friction_input(self._setpoint, self._measurement) nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \ From 4ea982ca37cbad859eb6d8561d7e363560b26fd2 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 20 Apr 2025 12:06:28 +0200 Subject: [PATCH 036/477] ci: trigger prebuilt builds via label from PR * ci: enhance pull request handling for prebuilt workflows * ci: add wait-for-action step to monitor selfdrive_tests workflow * ci: add validation job to monitor selfdrive_tests for prebuilt workflows * test * force negative condition to validate flow * force negative condition to validate flow * ci: add wait_for_tests input to control selfdrive_tests workflow execution * ci: update description for wait_for_tests input in workflow * Cleaning * Remove PR label when triggered by the label * Rename * Changing to target and only caring about labeled for the time being * gh action needs cancelled not canceled * Line ending --- .codespellignore | 1 + .../workflows/sunnypilot-build-prebuilt.yaml | 51 ++++++++++++++++--- 2 files changed, 46 insertions(+), 6 deletions(-) diff --git a/.codespellignore b/.codespellignore index 6af9bb0f35..c7beb6f04f 100644 --- a/.codespellignore +++ b/.codespellignore @@ -1,3 +1,4 @@ Wen REGIST PullRequest +cancelled diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml index c7c72919c5..241228598d 100644 --- a/.github/workflows/sunnypilot-build-prebuilt.yaml +++ b/.github/workflows/sunnypilot-build-prebuilt.yaml @@ -21,15 +21,30 @@ on: push: branches: [ master, master-new, master-dev-c3-new ] tags: [ '*' ] + pull_request_target: + types: [ labeled ] workflow_dispatch: inputs: - extra_version: - description: 'Extra version identifier' + wait_for_tests: + description: 'Wait for selfdrive_tests to finish' required: false - default: '' + type: boolean + default: false jobs: + validate_tests: + runs-on: ubuntu-24.04 + if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) + steps: + - uses: actions/checkout@v4 + - name: Wait for Tests + uses: ./.github/workflows/wait-for-action # Path to where you place the action + with: + workflow: selfdrive_tests.yaml # The workflow file to monitor + github-token: ${{ secrets.GITHUB_TOKEN }} + build: + needs: [ validate_tests ] concurrency: group: build-${{ github.head_ref || github.ref_name }} cancel-in-progress: false @@ -39,6 +54,7 @@ jobs: version: ${{ steps.set-env.outputs.version }} extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }} commit_sha: ${{ steps.set-env.outputs.commit_sha }} + if: always() && !failure() && !cancelled() steps: - uses: actions/checkout@v4 with: @@ -194,10 +210,10 @@ jobs: concurrency: group: publish-${{ github.head_ref || github.ref_name }} cancel-in-progress: true - if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} + if: ${{ !contains('pull_request', github.event_name) || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }} needs: build runs-on: ubuntu-24.04 - environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }} + environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }} steps: - uses: actions/checkout@v4 @@ -268,4 +284,27 @@ jobs: echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES" echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}" echo "3. Update as needed (JSON array with no spaces)" - shell: alpine.sh {0} \ No newline at end of file + shell: alpine.sh {0} + + manage-pr-labels: + name: Remove prebuilt label + runs-on: ubuntu-latest + if: (always() && contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) + env: + LABEL: prebuilt + steps: + - name: Remove trust-fork-pr label if present + uses: actions/github-script@v7 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + script: | + const prNumber = context.payload.pull_request.number; + + await github.rest.issues.removeLabel({ + owner: context.repo.owner, + repo: context.repo.repo, + issue_number: prNumber, + name: process.env.LABEL + }); + + console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`); From 898f30744f17a3abcb129921b48c7ab622bb431c Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 20 Apr 2025 13:04:35 +0200 Subject: [PATCH 037/477] ci: avoid deadlock on dev-c3 branch build when PR labeled dev-c3 (#839) * ci: enhance PR checks to validate individual check runs before merging and ignore reset-and-squash as candidate for fail * reset and squash script shouldn't will be cancelled only if a push to master has been made which always should take priority. The rest will be put on hold to avoid parallel squash scripts running * Set concurrencty at workflow level? * Set concurrencty at workflow level? * change trigger to pull_request to validate * Reducing the types of "pull request" events * Keep it as target * Playing eith run name a little * Change to pull request not target * simplifying * set to just pull request without target * maintain as pull request target --- .../sunnypilot-master-dev-c3-prep.yaml | 14 +++++--- release/ci/squash_and_merge_prs.py | 32 ++++++++++++++++--- 2 files changed, 38 insertions(+), 8 deletions(-) diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml index 1246b96780..7fdcb368ec 100644 --- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml +++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml @@ -14,7 +14,7 @@ on: - master - master-new pull_request_target: - types: [ synchronize, opened, labeled ] + types: [ synchronize, labeled ] branches: - 'master' - 'master-new' @@ -31,11 +31,17 @@ on: default: 'master-dev-c3-new' type: string +concurrency: + group: ${{ github.workflow }} + cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }} + +run-name: ${{ github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize') && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }} + jobs: manage-pr-labels: name: Remove trust-fork-pr label if present runs-on: ubuntu-latest - if: (github.event.pull_request.head.repo.fork && (github.event_name == 'pull_request_target' && github.event.action == 'synchronize')) + if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize')) steps: - name: Check if PR has dev-c3 label id: check-labels @@ -89,7 +95,7 @@ jobs: if: ( (github.event_name == 'workflow_dispatch') || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch)) - || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) + || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) ) steps: - uses: actions/checkout@v4 @@ -101,7 +107,7 @@ jobs: uses: ./.github/workflows/wait-for-action # Path to where you place the action if: ( (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch)) - || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) + || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) ) with: workflow: selfdrive_tests.yaml # The workflow file to monitor diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py index 64fa325512..b26b08d500 100755 --- a/release/ci/squash_and_merge_prs.py +++ b/release/ci/squash_and_merge_prs.py @@ -76,9 +76,36 @@ def validate_pr(pr): if not commits: return False, "no commit data found" + # First check if we have the rollup status status = commits[0].get('commit', {}).get('statusCheckRollup', {}) + + # If status is not SUCCESS, we need to check individual check runs if not status or status.get('state') != 'SUCCESS': - return False, "not all checks have passed" + # Get detailed check runs for this PR + checks_output = subprocess.run( + ['gh', 'pr', 'checks', str(pr_number), '--json', 'name,state'], + capture_output=True, text=True + ) + + try: + checks_data = json.loads(checks_output.stdout) + + # Check if all checks are successful except for our reset-and-squash check + for check in checks_data: + check_name = check.get('name', '') + check_state = check.get('state', '') + + # Skip our own check and any skipped checks + if check_name == 'reset-and-squash' or check_state == 'SKIPPED': + continue + + # If any other check is not successful, the PR is not valid + if check_state != 'SUCCESS': + return False, f"check '{check_name}' has state '{check_state}'" + + except json.JSONDecodeError: + # If we can't parse the JSON, fall back to the original check + return False, "unable to verify check status" # Check for merge conflicts merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], @@ -87,9 +114,6 @@ def validate_pr(pr): if not merge_data.get('mergeable'): return False, "merge conflicts detected" - # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND": - # return False, f"branch is `{mergeStateStatus}`" - return True, None From 511e4c59198b08384e46619c94d066ee95204ac4 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 20 Apr 2025 13:34:24 +0200 Subject: [PATCH 038/477] ci: update auto pr review config and split turst fork pr (#842) * Updating auto pr labeler * auto pr review revamp * Leaving event as pull request :) * Check permission * add chore * Bringing back as original --- .github/labeler.yaml | 6 +- .github/workflows/auto_pr_review.yaml | 77 ++++++++++++++----- .../sunnypilot-master-dev-c3-prep.yaml | 55 +------------ 3 files changed, 64 insertions(+), 74 deletions(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 0b1fcac0ec..01b6ae9343 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -1,7 +1,11 @@ -CI / testing: +ci: - changed-files: - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}" +chore: + - changed-files: + - any-glob-to-all-files: "{.github/**}" + car: - changed-files: - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}' diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 33940b6d4b..b7bc015007 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -9,6 +9,7 @@ jobs: permissions: contents: read pull-requests: write + issues: write runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 @@ -28,25 +29,63 @@ jobs: env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} with: - target: /^(?!master$).*/ - exclude: /commaai:.*/ + target: /^(?!master-new$).*/ + exclude: /sunnypilot:.*/ change-to: ${{ github.base_ref }} already-exists-action: close_this - already-exists-comment: "Your PR should be made against the `master` branch" + already-exists-comment: "Your PR should be made against the `master-new` branch" - # Welcome comment - - name: "First timers PR" - uses: actions/first-interaction@v1 - if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot' - with: - repo-token: ${{ secrets.GITHUB_TOKEN }} - pr-message: | - - Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: - * Convert your PR to a draft unless it's ready to review - * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md) - * Before marking as "ready for review", ensure: - * the goal is clearly stated in the description - * all the tests are passing - * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) - * include a route or your device' dongle ID if relevant + update-pr-labels: + name: Update fork's PR Labels + runs-on: ubuntu-latest + if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize')) + env: + PR_LABEL: 'dev-c3' + TRUST_FORK_PR_LABEL: 'trust-fork-pr' + steps: + - name: Check if PR has dev-c3 label + id: check-labels + uses: actions/github-script@v7 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + script: | + const prNumber = context.payload.pull_request.number; + const { data: labels } = await github.rest.issues.listLabelsOnIssue({ + owner: context.repo.owner, + repo: context.repo.repo, + issue_number: prNumber + }); + + const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL); + const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL); + + console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`); + console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`); + + core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false'); + core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false'); + + - name: Remove trust-fork-pr label if present + if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true' + uses: actions/github-script@v7 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + script: | + const prNumber = context.payload.pull_request.number; + + await github.rest.issues.removeLabel({ + owner: context.repo.owner, + repo: context.repo.repo, + issue_number: prNumber, + name: process.env.TRUST_FORK_PR_LABEL + }); + + console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`); + + // Add a comment to the PR + await github.rest.issues.createComment({ + owner: context.repo.owner, + repo: context.repo.repo, + issue_number: prNumber, + body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.` + }); diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml index 7fdcb368ec..2d6924d204 100644 --- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml +++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml @@ -4,7 +4,6 @@ env: DEFAULT_SOURCE_BRANCH: "master-new" DEFAULT_TARGET_BRANCH: "master-dev-c3-new" PR_LABEL: "dev-c3" - TRUST_FORK_PR_LABEL: "trust-fork-pr" LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs' LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git' @@ -35,61 +34,9 @@ concurrency: group: ${{ github.workflow }} cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }} -run-name: ${{ github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize') && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }} +run-name: ${{ contains('pull_request', github.event_name) && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }} jobs: - manage-pr-labels: - name: Remove trust-fork-pr label if present - runs-on: ubuntu-latest - if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize')) - steps: - - name: Check if PR has dev-c3 label - id: check-labels - uses: actions/github-script@v7 - with: - github-token: ${{ secrets.GITHUB_TOKEN }} - script: | - const prNumber = context.payload.pull_request.number; - const { data: labels } = await github.rest.issues.listLabelsOnIssue({ - owner: context.repo.owner, - repo: context.repo.repo, - issue_number: prNumber - }); - - const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL); - const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL); - - console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`); - console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`); - - core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false'); - core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false'); - - - name: Remove trust-fork-pr label if present - if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true' - uses: actions/github-script@v7 - with: - github-token: ${{ secrets.GITHUB_TOKEN }} - script: | - const prNumber = context.payload.pull_request.number; - - await github.rest.issues.removeLabel({ - owner: context.repo.owner, - repo: context.repo.repo, - issue_number: prNumber, - name: process.env.TRUST_FORK_PR_LABEL - }); - - console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`); - - // Add a comment to the PR - await github.rest.issues.createComment({ - owner: context.repo.owner, - repo: context.repo.repo, - issue_number: prNumber, - body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.` - }); - reset-and-squash: runs-on: ubuntu-latest if: ( From d0c209575e5419674de94e364077d508b53b0f7c Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 20 Apr 2025 14:06:24 +0200 Subject: [PATCH 039/477] ci: bugfix flipped contains check for pull requests --- .github/workflows/auto_pr_review.yaml | 2 +- .github/workflows/sunnypilot-build-prebuilt.yaml | 6 +++--- .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index b7bc015007..d3cfa60d92 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -38,7 +38,7 @@ jobs: update-pr-labels: name: Update fork's PR Labels runs-on: ubuntu-latest - if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize')) + if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize')) env: PR_LABEL: 'dev-c3' TRUST_FORK_PR_LABEL: 'trust-fork-pr' diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml index 241228598d..50c47c510e 100644 --- a/.github/workflows/sunnypilot-build-prebuilt.yaml +++ b/.github/workflows/sunnypilot-build-prebuilt.yaml @@ -34,7 +34,7 @@ on: jobs: validate_tests: runs-on: ubuntu-24.04 - if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) + if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) steps: - uses: actions/checkout@v4 - name: Wait for Tests @@ -210,7 +210,7 @@ jobs: concurrency: group: publish-${{ github.head_ref || github.ref_name }} cancel-in-progress: true - if: ${{ !contains('pull_request', github.event_name) || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }} + if: ${{ !contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }} needs: build runs-on: ubuntu-24.04 environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }} @@ -289,7 +289,7 @@ jobs: manage-pr-labels: name: Remove prebuilt label runs-on: ubuntu-latest - if: (always() && contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) + if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) env: LABEL: prebuilt steps: diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml index 2d6924d204..1385a32aa5 100644 --- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml +++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml @@ -34,7 +34,7 @@ concurrency: group: ${{ github.workflow }} cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }} -run-name: ${{ contains('pull_request', github.event_name) && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }} +run-name: ${{ contains(github.event_name, 'pull_request') && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }} jobs: reset-and-squash: @@ -42,7 +42,7 @@ jobs: if: ( (github.event_name == 'workflow_dispatch') || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch)) - || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) + || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) ) steps: - uses: actions/checkout@v4 @@ -54,7 +54,7 @@ jobs: uses: ./.github/workflows/wait-for-action # Path to where you place the action if: ( (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch)) - || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) + || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3')))) ) with: workflow: selfdrive_tests.yaml # The workflow file to monitor From 9a1e420fa781ca059337b8b665e38ff53027e4e8 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 20 Apr 2025 14:19:31 +0200 Subject: [PATCH 040/477] ci: bugfix cancelling only when push to master or workflow dispatch. Otherwise don't let it cancel as it seems that when running with pull_request_target we are with ref pointing to target and thus the cancel condition was being met --- .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml index 1385a32aa5..031be6a50d 100644 --- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml +++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml @@ -13,7 +13,7 @@ on: - master - master-new pull_request_target: - types: [ synchronize, labeled ] + types: [ labeled ] branches: - 'master' - 'master-new' @@ -29,12 +29,15 @@ on: required: true default: 'master-dev-c3-new' type: string + cancel_in_progress: + description: 'Cancel any in-progress runs of this workflow' + required: false + default: true + type: boolean concurrency: group: ${{ github.workflow }} - cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }} - -run-name: ${{ contains(github.event_name, 'pull_request') && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }} + cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }} jobs: reset-and-squash: From d56baa0fbb8f99f3ee6dc6ad3f9fbc5aee2b01e2 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 20 Apr 2025 15:03:49 +0100 Subject: [PATCH 041/477] ui(raylib): constant spinner rotation speed (#35037) --- system/ui/spinner.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index edf1fe5ca9..adfb604de9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -9,7 +9,7 @@ from openpilot.system.ui.lib.application import gui_app # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 -ROTATION_TIME_SECONDS = 1.0 # Time for one full circle +DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN = 200 TEXTURE_SIZE = 360 FONT_SIZE = 80 @@ -43,10 +43,8 @@ class Spinner: spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - fps = rl.get_fps() - if fps > 0: - degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps) - self._rotation = (self._rotation + degrees_per_frame) % 360.0 + delta_time = rl.get_frame_time() + self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0 # Draw rotating spinner and static comma logo rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), From b64ceb41ed903703138db323936f09835032fd2a Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 20 Apr 2025 21:18:11 +0200 Subject: [PATCH 042/477] ci: improve conditions for publish and notify steps in workflow (#844) --- .github/workflows/sunnypilot-build-prebuilt.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml index 50c47c510e..156e10515b 100644 --- a/.github/workflows/sunnypilot-build-prebuilt.yaml +++ b/.github/workflows/sunnypilot-build-prebuilt.yaml @@ -206,12 +206,13 @@ jobs: run: | PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable + publish: concurrency: group: publish-${{ github.head_ref || github.ref_name }} cancel-in-progress: true - if: ${{ !contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }} - needs: build + if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }} + needs: [ build ] runs-on: ubuntu-24.04 environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }} steps: @@ -257,7 +258,7 @@ jobs: notify: needs: [ build, publish ] runs-on: ubuntu-24.04 - if: success() + if: ${{ (always() && !failure() && !cancelled()) }} steps: - uses: actions/checkout@v4 - name: Setup Alpine Linux environment From ed555cb948ffcfd8a233938a6caba7fa93d30d2d Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 21 Apr 2025 12:48:11 -0700 Subject: [PATCH 043/477] [bot] Update translations (#35040) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_de.ts | 590 +++++++++++++-------------- 1 file changed, 295 insertions(+), 295 deletions(-) diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index f279a8d9f1..986c0fa54f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -3,14 +3,14 @@ AbstractAlert - + Close Schließen - - + + Snooze Update Update pausieren - + Reboot and Update Aktualisieren und neu starten @@ -66,26 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden - - Hidden Network - Verborgenes Netzwerk - - - CONNECT - VERBINDEN - - - Enter SSID - SSID eingeben - - - Enter password - Passwort eingeben - - - for "%1" - für "%1" - + + Hidden Network + Verborgenes Netzwerk + + + CONNECT + VERBINDEN + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + ConfirmationDialog @@ -115,34 +115,34 @@ DeveloperPanel - - Joystick Debug Mode - Joystick Debug-Modus - - - Longitudinal Maneuver Mode - Längsmanöver-Modus - - - openpilot Longitudinal Control (Alpha) - openpilot Längsregelung (Alpha) - - - 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 - - - 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. - + + Joystick Debug Mode + Joystick Debug-Modus + + + Longitudinal Maneuver Mode + Längsmanöver-Modus + + + openpilot Longitudinal Control (Alpha) + openpilot Längsregelung (Alpha) + + + 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 + + + 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. + DevicePanel @@ -278,14 +278,14 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. - - Pair Device - Gerät koppeln - - - PAIR - KOPPELN - + + Pair Device + Gerät koppeln + + + PAIR + KOPPELN + DriverViewWindow @@ -307,41 +307,41 @@ FirehosePanel - - 🔥 Firehose Mode 🔥 - 🔥 Firehose-Modus 🔥 - - - openpilot learns to drive by watching humans, like you, drive. + + 🔥 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. + 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 - - - 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. - - <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. - <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. - - - - <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 - + + + Firehose Mode: ACTIVE + Firehose-Modus: AKTIV + + + 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. + + <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. + <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. + + + + <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 + HudRenderer @@ -419,44 +419,44 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere 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 + + Unable to download updates %1 - Updates konnten nicht heruntergeladen werden + Updates konnten nicht heruntergeladen werden %1 - - - Taking camera snapshots. System won't start until finished. - Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. - - - An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. - - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. - - - NVMe drive not mounted. - NVMe-Laufwerk nicht gemounted. - - - 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 - + + + Taking camera snapshots. System won't start until finished. + Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. + + + NVMe drive not mounted. + NVMe-Laufwerk nicht gemounted. + + + 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 + OffroadHome @@ -475,26 +475,26 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere OnroadAlerts - - openpilot Unavailable - openpilot nicht verfügbar - - - TAKE CONTROL IMMEDIATELY - ÜBERNIMM SOFORT DIE KONTROLLE - - - Reboot Device - Gerät neu starten - - - Waiting to start - Warten auf Start - - - System Unresponsive - System reagiert nicht - + + openpilot Unavailable + openpilot nicht verfügbar + + + TAKE CONTROL IMMEDIATELY + ÜBERNIMM SOFORT DIE KONTROLLE + + + Reboot Device + Gerät neu starten + + + Waiting to start + Warten auf Start + + + System Unresponsive + System reagiert nicht + PairingPopup @@ -514,10 +514,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Bookmark connect.comma.ai to your home screen to use it like an app Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden - - Please connect to Wi-Fi to complete initial pairing - Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. - + + Please connect to Wi-Fi to complete initial pairing + Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. + ParamControl @@ -548,18 +548,18 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Remote access Fernzugriff - - 24/7 LTE connectivity - 24/7 LTE-Verbindung - - - 1 year of drive storage - Fahrdaten-Speicherung für 1 Jahr - - - Remote snapshots - Remote-Snapshots - + + 24/7 LTE connectivity + 24/7 LTE-Verbindung + + + 1 year of drive storage + Fahrdaten-Speicherung für 1 Jahr + + + Remote snapshots + Remote-Snapshots + PrimeUserWidget @@ -607,10 +607,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere vor %n Tagen - - now - jetzt - + + now + jetzt + Reset @@ -638,20 +638,20 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Confirm Bestätigen - - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. - - - Resetting device... + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. + + + Resetting device... This may take up to a minute. - Gerät wird zurückgesetzt... + Gerät wird zurückgesetzt... Dies kann bis zu einer Minute dauern. - - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. - + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. + SettingsWindow @@ -675,14 +675,14 @@ Dies kann bis zu einer Minute dauern. Software Software - - Developer - Entwickler - - - Firehose - Firehose - + + Developer + Entwickler + + + Firehose + Firehose + Setup @@ -754,30 +754,30 @@ Dies kann bis zu einer Minute dauern. Start over Von neuem beginnen - - No custom software found at this URL. - Keine benutzerdefinierte Software unter dieser URL gefunden. - - - Something went wrong. Reboot the device. - Etwas ist schiefgelaufen. Starte das Gerät neu. - + + No custom software found at this URL. + Keine benutzerdefinierte Software unter dieser URL gefunden. + + + Something went wrong. Reboot the device. + Etwas ist schiefgelaufen. Starte das Gerät neu. + Select a language Sprache wählen - - Choose Software to Install - Wähle die zu installierende Software - - - openpilot - openpilot - - - Custom Software - Benutzerdefinierte Software - + + Choose Software to Install + Wähle die zu installierende Software + + + openpilot + openpilot + + + Custom Software + Benutzerdefinierte Software + SetupWidget @@ -925,26 +925,26 @@ Dies kann bis zu einer Minute dauern. Uninstall Deinstallieren - - failed to check for update - Update-Prüfung fehlgeschlagen - - - up to date, last checked %1 - Auf dem neuesten Stand, zuletzt geprüft am %1 - - - DOWNLOAD - HERUNTERLADEN - - - update available - Update verfügbar - - - never - nie - + + failed to check for update + Update-Prüfung fehlgeschlagen + + + up to date, last checked %1 + Auf dem neuesten Stand, zuletzt geprüft am %1 + + + DOWNLOAD + HERUNTERLADEN + + + update available + Update verfügbar + + + never + nie + SshControl @@ -1002,14 +1002,14 @@ Dies kann bis zu einer Minute dauern. Agree Zustimmen - - Welcome to openpilot - Willkommen bei openpilot - - - 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. - + + Welcome to openpilot + Willkommen bei openpilot + + + 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. + TogglesPanel @@ -1073,54 +1073,54 @@ Dies kann bis zu einer Minute dauern. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - Aggressive - Aggressiv - - - Standard - Standard - - - Relaxed - Entspannt - - - Driving Personality - Fahrstil - - - End-to-End Longitudinal Control - Ende-zu-Ende Längsregelung - - - 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. - - - Always-On Driver Monitoring - Dauerhaft aktive Fahrerüberwachung - - - Enable driver monitoring even when openpilot is not engaged. - Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. - + + Aggressive + Aggressiv + + + Standard + Standard + + + Relaxed + Entspannt + + + Driving Personality + Fahrstil + + + End-to-End Longitudinal Control + Ende-zu-Ende Längsregelung + + + 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. + + + Always-On Driver Monitoring + Dauerhaft aktive Fahrerüberwachung + + + Enable driver monitoring even when openpilot is not engaged. + Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + Updater @@ -1159,18 +1159,18 @@ Dies kann bis zu einer Minute dauern. WiFiPromptWidget - - Open - Öffnen - - - Maximize your training data uploads to improve openpilot's driving models. - Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. - - - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> - + + Open + Öffnen + + + Maximize your training data uploads to improve openpilot's driving models. + Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. + + + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> + WifiUI From 34514ef1761037127cc009e5e95b7478b5fc1ad6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 14:11:57 -0700 Subject: [PATCH 044/477] Long planner: make work with training (#35043) * revert useless * update ref --- selfdrive/controls/lib/longitudinal_planner.py | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 104c7c9d49..4219e80f33 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -52,6 +52,7 @@ class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc(dt=dt) + self.mpc.mode = 'acc' self.fcw = False self.dt = dt self.allow_throttle = True @@ -89,7 +90,6 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'acc' self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: @@ -97,7 +97,7 @@ class LongitudinalPlanner: else: accel_coast = ACCEL_MAX - v_ego = sm['modelV2'].velocity.x[0] + v_ego = sm['carState'].vEgo v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET @@ -129,7 +129,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error self.v_model_error = get_speed_error(sm['modelV2'], v_ego) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f89d7802d..4b3ef33407 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0800e73b5d9c801f161b9559557c0559b0682fec \ No newline at end of file +fcc771b9ceb487a61035885acbd84e592fb316bf \ No newline at end of file From 33a7d853f00d7f6f9d1ffc13160816b6106aec72 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 15:10:41 -0700 Subject: [PATCH 045/477] Modeld: small refactor (#35044) refactor --- selfdrive/controls/lib/drive_helpers.py | 3 +++ selfdrive/modeld/modeld.py | 8 +------- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 9958755577..038061b7e6 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,6 +19,9 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val +def smooth_value(val, prev_val, tau): + alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 + return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll): # This function respects ISO lateral jerk and acceleration limits + a max curvature diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 0ad629f519..1060b36d28 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,15 +26,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext - - PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -46,10 +44,6 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p LAT_SMOOTH_SECONDS = 0.3 LONG_SMOOTH_SECONDS = 0.3 -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 - return alpha * val + (1 - alpha) * prev_val - def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: From a029d13398c0408b4ebcf7fa916474f5e3d79129 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Mon, 21 Apr 2025 15:44:30 -0700 Subject: [PATCH 046/477] update smooth --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 038061b7e6..3f99f1bbbb 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,8 +19,8 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 +def smooth_value(val, prev_val, tau, dt=DT_MDL): + alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1 return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll): From a9b9e0bb54dda1613e8347efe146a78d6ce6bc71 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Apr 2025 16:13:55 -0700 Subject: [PATCH 047/477] raylib: init updater (#35045) * raylib: init updater * cleanup --- system/ui/updater.py | 197 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 197 insertions(+) create mode 100755 system/ui/updater.py diff --git a/system/ui/updater.py b/system/ui/updater.py new file mode 100755 index 0000000000..eb9d766a16 --- /dev/null +++ b/system/ui/updater.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python3 +import sys +import subprocess +import threading +import pyray as rl +from enum import IntEnum + +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_text_box, gui_label + +# Constants +MARGIN = 50 +BUTTON_HEIGHT = 160 +BUTTON_WIDTH = 400 +PROGRESS_BAR_HEIGHT = 72 +TITLE_FONT_SIZE = 80 +BODY_FONT_SIZE = 65 +BACKGROUND_COLOR = rl.BLACK +PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255) +PROGRESS_COLOR = rl.Color(54, 77, 239, 255) + + +class Screen(IntEnum): + PROMPT = 0 + WIFI = 1 + PROGRESS = 2 + + +class Updater: + def __init__(self, updater_path, manifest_path): + self.updater = updater_path + self.manifest = manifest_path + self.current_screen = Screen.PROMPT + + self.progress_value = 0 + self.progress_text = "Loading..." + self.show_reboot_button = False + self.process = None + self.update_thread = None + + def install_update(self): + self.current_screen = Screen.PROGRESS + self.progress_value = 0 + self.progress_text = "Downloading..." + self.show_reboot_button = False + + # Start the update process in a separate thread + self.update_thread = threading.Thread(target=self._run_update_process) + self.update_thread.daemon = True + self.update_thread.start() + + def _run_update_process(self): + # TODO: just import it and run in a thread without a subprocess + cmd = [self.updater, "--swap", self.manifest] + self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + text=True, bufsize=1, universal_newlines=True) + + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0] + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass + + exit_code = self.process.wait() + if exit_code == 0: + HARDWARE.reboot() + else: + self.progress_text = "Update failed" + self.show_reboot_button = True + + def render_prompt_screen(self): + # Title + title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE) + gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD) + + # Description + desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \ + The download size is approximately 1GB." + desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) + gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE) + + # Buttons at the bottom + button_y = gui_app.height - MARGIN - BUTTON_HEIGHT + button_width = (gui_app.width - MARGIN * 3) // 2 + + # WiFi button + wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT) + if gui_button(wifi_button_rect, "Connect to Wi-Fi"): + self.current_screen = Screen.WIFI + return # Return to avoid processing other buttons after screen change + + # Install button + install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT) + if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY): + self.install_update() + return # Return to avoid further processing after action + + def render_wifi_screen(self): + # Title and back button + title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60) + gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD) + + back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + if gui_button(back_button_rect, "Back"): + self.current_screen = Screen.PROMPT + return # Return to avoid processing other interactions after screen change + + # Draw placeholder for WiFi implementation + placeholder_rect = rl.Rectangle( + MARGIN, + title_rect.y + title_rect.height + MARGIN, + gui_app.width - MARGIN * 2, + gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT + ) + + # Draw rounded rectangle background + rl.draw_rectangle_rounded( + placeholder_rect, + 0.1, + 10, + rl.Color(41, 41, 41, 255) + ) + + # Draw placeholder text + placeholder_text = "WiFi Implementation Placeholder" + text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1) + text_pos = rl.Vector2( + placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2, + placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE) + + # Draw instructions + instructions_text = "Real WiFi functionality would be implemented here" + instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1) + instructions_pos = rl.Vector2( + placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2, + text_pos.y + text_size.y + 20 + ) + rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY) + + def render_progress_screen(self): + title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100) + gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD) + + # Progress bar + bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR) + + # Calculate the width of the progress chunk + progress_width = (bar_rect.width * self.progress_value) / 100 + if progress_width > 0: + progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height) + rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR) + + # Show reboot button if needed + if self.show_reboot_button: + reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + if gui_button(reboot_rect, "Reboot"): + # Return True to signal main loop to exit before rebooting + HARDWARE.reboot() + return + + def render(self): + if self.current_screen == Screen.PROMPT: + self.render_prompt_screen() + elif self.current_screen == Screen.WIFI: + self.render_wifi_screen() + elif self.current_screen == Screen.PROGRESS: + self.render_progress_screen() + + +def main(): + if len(sys.argv) < 3: + print("Usage: updater.py ") + sys.exit(1) + + updater_path = sys.argv[1] + manifest_path = sys.argv[2] + + try: + gui_app.init_window("System Update") + updater = Updater(updater_path, manifest_path) + for _ in gui_app.render(): + updater.render() + finally: + # Make sure we clean up even if there's an error + gui_app.close() + + +if __name__ == "__main__": + main() From aaaa2d0dd064364d647fb381cc488fe6fe4d44e2 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 21 Apr 2025 17:02:36 -0700 Subject: [PATCH 048/477] Revert "OS04C10: use IFE downscaler for road cameras" (#35046) Revert "OS04C10: use IFE downscaler for road cameras (#35023)" This reverts commit 3b60b22ceeb090812e5fa948ac6e56442d681dc4. --- system/camerad/cameras/camera_common.cc | 3 ++ system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 ++-- system/camerad/cameras/ife.h | 18 ++++---- system/camerad/cameras/spectra.cc | 40 +++++++--------- system/camerad/sensors/os04c10.cc | 11 ----- system/camerad/sensors/os04c10_registers.h | 54 ++++++++-------------- system/camerad/sensors/sensor.h | 2 - 8 files changed, 53 insertions(+), 87 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1f6ad9b4be..f6c2681dea 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,6 +26,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } + out_img_width = sensor->frame_width; + out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; + // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c26859cbc4..c0426678b6 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - uint32_t out_img_width, out_img_height; + int out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 8c4602bb31..18a42f05d8 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index fd87d2baa4..49737f2db7 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((out_width - 1) << 16) | (s->frame_width - 1), + ((s->frame_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((out_height - 1) << 16) | (s->frame_height - 1), + ((s->frame_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((out_width / 2 - 1) << 16) | (s->frame_width - 1), + ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((out_height / 2 - 1) << 16) | (s->frame_height - 1), + ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - out_height - 1, - out_width - 1, + s->frame_height - 1, + s->frame_width - 1, }); dst += write_cont(dst, 0xe30, { - out_height / 2 - 1, - out_width - 1, + s->frame_height/2 - 1, + s->frame_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 47ae9061f4..4535078771 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,21 +281,18 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; - buf.out_img_width = sensor->frame_width / sensor->out_scale; - buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); assert(y_height/2 == uv_height); open = true; @@ -648,14 +645,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height / 2, + .width = sensor->frame_width, + .height = sensor->frame_height/2, .plane_stride = stride, .slice_height = uv_height, }; @@ -740,7 +737,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -847,14 +844,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height / 2, + .width = sensor->frame_width, + .height = sensor->frame_height/2, .plane_stride = stride, .slice_height = uv_height, }; @@ -996,9 +993,6 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { - if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { - ((OS04C10*)s)->ife_downscale_configure(); - } sensor.reset(s); return (sensors_init() == 0); }; @@ -1071,8 +1065,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = buf.out_img_width, - .height = buf.out_img_height + sensor->extra_height, + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1147,8 +1141,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 38be4ecca4..d008e1d07b 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,17 +20,6 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace -void OS04C10::ife_downscale_configure() { - out_scale = 2; - - pixel_size_mm = 0.002; - frame_width = 2688; - frame_height = 1520; - exposure_time_max = 2352; - - init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); -} - OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index b501656090..8b1c78c69d 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,6 +88,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, + // {0x3829, 0x03}, + // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -197,6 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x370b, 0x48}, {0x370c, 0x01}, {0x370f, 0x00}, + {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, {0x371a, 0x1e}, @@ -228,6 +231,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37bd, 0x01}, {0x37bf, 0x26}, {0x37c0, 0x11}, + {0x37c2, 0x14}, {0x37cd, 0x19}, {0x37e0, 0x08}, {0x37e6, 0x04}, @@ -237,9 +241,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37d8, 0x02}, {0x37e2, 0x10}, {0x3739, 0x10}, + {0x3662, 0x08}, {0x37e4, 0x20}, {0x37e3, 0x08}, + {0x37d9, 0x04}, {0x4040, 0x00}, + {0x4041, 0x03}, + {0x4008, 0x01}, + {0x4009, 0x06}, // FSIN {0x3002, 0x22}, @@ -260,11 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3802, 0x00}, {0x3803, 0x00}, {0x3804, 0x0a}, {0x3805, 0x8f}, {0x3806, 0x05}, {0x3807, 0xff}, + {0x3808, 0x05}, {0x3809, 0x40}, + {0x380a, 0x02}, {0x380b, 0xf8}, {0x3811, 0x08}, {0x3813, 0x08}, + {0x3814, 0x03}, {0x3815, 0x01}, + {0x3816, 0x03}, {0x3817, 0x01}, + {0x380c, 0x0b}, {0x380d, 0xac}, // HTS + {0x380e, 0x06}, {0x380f, 0x9c}, // VTS + + {0x3820, 0xb3}, + {0x3821, 0x01}, {0x3880, 0x00}, {0x3882, 0x20}, {0x3c91, 0x0b}, @@ -313,40 +331,4 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // r {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, - - {0x3714, 0x28}, - {0x37c2, 0x14}, - {0x3662, 0x08}, - {0x37d9, 0x04}, - {0x4041, 0x03}, - {0x4008, 0x01}, - {0x4009, 0x06}, - {0x3808, 0x05}, {0x3809, 0x40}, - {0x380a, 0x02}, {0x380b, 0xf8}, - {0x3814, 0x03}, - {0x3816, 0x03}, - {0x380c, 0x0b}, {0x380d, 0xac}, // HTS - {0x380e, 0x06}, {0x380f, 0x9c}, // VTS - {0x3820, 0xb3}, - {0x3821, 0x01}, -}; - -const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { - // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz - {0x3829, 0x03}, - {0x3714, 0x24}, - {0x37c2, 0x04}, - {0x3662, 0x10}, - {0x37d9, 0x08}, - {0x4041, 0x07}, - {0x4008, 0x02}, - {0x4009, 0x0d}, - {0x3808, 0x0a}, {0x3809, 0x80}, - {0x380a, 0x05}, {0x380b, 0xf0}, - {0x3814, 0x01}, - {0x3816, 0x01}, - {0x380c, 0x08}, {0x380d, 0x5c}, // HTS - {0x380e, 0x09}, {0x380f, 0x38}, // VTS - {0x3820, 0xb0}, - {0x3821, 0x00}, }; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index d4be3cf036..c1131aafdf 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,7 +29,6 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; - int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -110,7 +109,6 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); - void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 8cefc00a6e67499eddf4fadb8eb4f1f491a50bd7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 17:06:53 -0700 Subject: [PATCH 049/477] Tomb Raider 3 (#35042) * 92b64884-4506-4a03-87ad-33e1a177fe73/400 * faster lat --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/models/driving_policy.onnx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1060b36d28..1d0facd133 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.1 LONG_SMOOTH_SECONDS = 0.3 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3bf2e01b5e..df11e590dd 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:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342 +oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891 size 15578328 From 0102a1c704dcf3b5dc00e98fa1390a993507acb2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 22 Apr 2025 00:03:06 -0400 Subject: [PATCH 050/477] DM: Use `carControl.latActive` for MADS DM monitoring (#845) --- selfdrive/monitoring/dmonitoringd.py | 2 +- selfdrive/monitoring/helpers.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index d0d28ebac1..71733f99fc 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -11,7 +11,7 @@ def dmonitoringd_thread(): params = Params() pm = messaging.PubMaster(['driverMonitoringState']) sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2', - 'selfdriveStateSP'], poll='driverStateV2') + 'carControl'], poll='driverStateV2') DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 0ff7a52a92..67776994f0 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -403,13 +403,13 @@ class DriverMonitoring: driver_state=sm['driverStateV2'], cal_rpy=sm['liveCalibration'].rpyCalib, car_speed=sm['carState'].vEgo, - op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active + op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive ) # Update distraction events self._update_events( driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed, - op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active, + op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive, standstill=sm['carState'].standstill, wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], car_speed=sm['carState'].vEgo From fd0d4a5aab7d3c34fb649f5ca330a5871390168d Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Tue, 22 Apr 2025 14:54:18 +0200 Subject: [PATCH 051/477] ci: fixes for trigger conditions on sync (#847) pull_request_target is needed for security, but at the same time it makes life a little harder because the ref is different so we need to do some work to make sure we get what we are supposed to get --- .../workflows/sunnypilot-build-prebuilt.yaml | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml index 156e10515b..c203edfa75 100644 --- a/.github/workflows/sunnypilot-build-prebuilt.yaml +++ b/.github/workflows/sunnypilot-build-prebuilt.yaml @@ -54,11 +54,13 @@ jobs: version: ${{ steps.set-env.outputs.version }} extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }} commit_sha: ${{ steps.set-env.outputs.commit_sha }} - if: always() && !failure() && !cancelled() + if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }} steps: - uses: actions/checkout@v4 with: submodules: recursive + ref: ${{ github.head_ref || github.ref_name }} + repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }} - run: git lfs pull - name: Cache SCons @@ -75,15 +77,16 @@ jobs: scons-${{ runner.os }}-${{ runner.arch }} - name: Set Configuration + if: (!github.event.pull_request.head.repo.fork) run: | - if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then + if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then # Dev configuration echo "BRANCH_TYPE=dev" >> $GITHUB_ENV echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV - elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then + elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then # Master configuration echo "BRANCH_TYPE=master" >> $GITHUB_ENV echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV @@ -103,6 +106,13 @@ jobs: echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV fi + + - name: Set Configuration (only forks) + if: (github.event.pull_request.head.repo.fork) + run: | + echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV + echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV + echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV - name: Set environment variables id: set-env @@ -258,7 +268,7 @@ jobs: notify: needs: [ build, publish ] runs-on: ubuntu-24.04 - if: ${{ (always() && !failure() && !cancelled()) }} + if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }} steps: - uses: actions/checkout@v4 - name: Setup Alpine Linux environment From 23524e203826ca944ffbff9789ec9765ba2b6c8e Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 15:28:54 +0100 Subject: [PATCH 052/477] ui(raylib): reduce spinner rotation artifact (#35048) * ui(raylib): reduce spinner rotation artifact A visual artifact (white pixels) appeared on the edge of the rotating spinner track texture, likely due to RGB color bleed during bilinear filtering in Raylib. Pre-multiplying the alpha channel of the spinner track image using `rl.image_alpha_premultiply` significantly reduces the visibility of the artifact. * lint --- system/ui/lib/application.py | 4 +++- system/ui/spinner.py | 3 ++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 470396bbc7..23f9316c3a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -50,9 +50,11 @@ class GuiApplication: self._set_styles() self._load_fonts() - def load_texture_from_image(self, file_name: str, width: int, height: int): + def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False): """Load and resize a texture, storing it for later automatic unloading.""" image = rl.load_image(file_name) + if alpha_premultiply: + rl.image_alpha_premultiply(image) rl.image_resize(image, width, height) texture = rl.load_texture_from_image(image) # Set texture filtering to smooth the result diff --git a/system/ui/spinner.py b/system/ui/spinner.py index adfb604de9..f3724cbd1e 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -23,7 +23,8 @@ def clamp(value, min_value, max_value): class Spinner: def __init__(self): self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) - self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, + alpha_premultiply=True) self._rotation = 0.0 self._text: str = "" self._progress: int | None = None From 651ff78cb051280513c297ac1ab356eb164116e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 16:07:05 +0100 Subject: [PATCH 053/477] ui(raylib): increase font size and wrap text in spinner (#35049) - Wrap text onto separate lines - Increase font size to be closer to Qt - Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text` Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered --- system/ui/spinner.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index f3724cbd1e..fd4264be6c 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -5,14 +5,17 @@ import threading from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.text import wrap_text # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second -MARGIN = 200 +MARGIN_H = 100 +MARGIN_V = 200 TEXTURE_SIZE = 360 -FONT_SIZE = 80 +FONT_SIZE = 88 +LINE_HEIGHT = 96 DARKGRAY = (55, 55, 55, 255) @@ -26,18 +29,18 @@ class Spinner: self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 - self._text: str = "" self._progress: int | None = None + self._wrapped_lines: list[str] = [] self._lock = threading.Lock() def set_text(self, text: str) -> None: with self._lock: if text.isdigit(): self._progress = clamp(int(text), 0, 100) - self._text = "" + self._wrapped_lines = [] else: self._progress = None - self._text = text + self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) def render(self): center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) @@ -54,10 +57,10 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT + y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT with self._lock: progress = self._progress - text = self._text + wrapped_lines = self._wrapped_lines if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) @@ -65,10 +68,11 @@ class Spinner: bar.width *= progress / 100.0 rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - elif text: - text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), text, - rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + elif wrapped_lines: + for i, line in enumerate(wrapped_lines): + text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0) + rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT), + FONT_SIZE, 0.0, rl.WHITE) if __name__ == "__main__": From c9259a9bcfd86f77c0d336b470c1f72cbfd073e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 20:54:36 +0100 Subject: [PATCH 054/477] ui(raylib): update spinner vertical pos (#35051) Adjust the spinner vertical position when displaying text or a progress bar - When displaying the progress bar, center the comma logo and spinner in the middle of the screen - When displaying text, center the entire content vertically Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]` --- system/ui/spinner.py | 23 ++++++++++++++++------- system/ui/text.py | 4 +++- 2 files changed, 19 insertions(+), 8 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index fd4264be6c..9c1882cf5f 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -12,7 +12,6 @@ PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN_H = 100 -MARGIN_V = 200 TEXTURE_SIZE = 360 FONT_SIZE = 88 LINE_HEIGHT = 96 @@ -43,7 +42,22 @@ class Spinner: self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) def render(self): - center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) + with self._lock: + progress = self._progress + wrapped_lines = self._wrapped_lines + + if wrapped_lines: + # Calculate total height required for spinner and text + spacing = 50 + total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT + center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0 + else: + # Center spinner vertically + spacing = 150 + center_y = gui_app.height / 2.0 + y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing + + center = rl.Vector2(gui_app.width / 2.0, center_y) spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) @@ -57,11 +71,6 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT - with self._lock: - progress = self._progress - wrapped_lines = self._wrapped_lines - if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) diff --git a/system/ui/text.py b/system/ui/text.py index 4ea886ba1e..79c20ce8dc 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -21,7 +21,9 @@ def wrap_text(text, font_size, max_width): for paragraph in text.split("\n"): if not paragraph.strip(): - lines.append("") + # Don't add empty lines first, ensuring wrap_text("") returns [] + if lines: + lines.append("") continue indent = re.match(r"^\s*", paragraph).group() current_line = indent From f9767d265010101f123dcdc261206cb7be8bb5d8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 22:07:47 +0100 Subject: [PATCH 055/477] ui(raylib): "exit" btn in text window on PC (#35052) * ui(raylib): "exit" btn in text window on PC * unused import --- system/ui/text.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 79c20ce8dc..9c7101dfe8 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,9 +58,12 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - HARDWARE.reboot() + if PC: + gui_app.close() + else: + HARDWARE.reboot() return ret From 754f5aa95590f7bc98c8f4f8fbe3f7f2a0a18e96 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 22:30:20 +0100 Subject: [PATCH 056/477] Revert "ui(raylib): "exit" btn in text window on PC (#35052)" This reverts commit f9767d265010101f123dcdc261206cb7be8bb5d8. --- system/ui/text.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 9c7101dfe8..79c20ce8dc 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,12 +58,9 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - if PC: - gui_app.close() - else: - HARDWARE.reboot() + HARDWARE.reboot() return ret From 7b5468b2e8457856acbf3213be9ef0379a10597e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 22 Apr 2025 14:50:03 -0700 Subject: [PATCH 057/477] plotjuggler: support relative paths (#35054) * Support relative paths * Abspath for rlog too --- tools/plotjuggler/juggle.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index f66782d6f3..34f33d1959 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl env["BASEDIR"] = BASEDIR env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}" if dbc: + if os.path.exists(dbc): + dbc = os.path.abspath(dbc) env["DBC_NAME"] = dbc extra_args = "" if fn is not None: - extra_args += f" -d {fn}" + extra_args += f" -d {os.path.abspath(fn)}" if layout is not None: - extra_args += f" -l {layout}" + extra_args += f" -l {os.path.abspath(layout)}" if route_or_segment_name is not None: extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\"" From 281a72780b8e8b97fb12d983a29edc1f4f242aeb Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 23 Apr 2025 14:06:09 +0100 Subject: [PATCH 058/477] Reapply "ui(raylib): "exit" btn in text window on PC" (#35053) * ui(raylib): "exit" btn in text window on PC * unused import * request close * this was missing --- system/ui/lib/application.py | 6 +++++- system/ui/text.py | 10 +++++++--- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 23f9316c3a..f5a238b81e 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -38,6 +38,10 @@ class GuiApplication: self._textures: list[rl.Texture] = [] self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() + self._window_close_requested = False + + def request_close(self): + self._window_close_requested = True def init_window(self, title: str, fps: int=DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit @@ -80,7 +84,7 @@ class GuiApplication: rl.close_window() def render(self): - while not rl.window_should_close(): + while not (self._window_close_requested or rl.window_should_close()): rl.begin_drawing() rl.clear_background(rl.BLACK) diff --git a/system/ui/text.py b/system/ui/text.py index 79c20ce8dc..1337887d9b 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,9 +58,12 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - HARDWARE.reboot() + if PC: + gui_app.request_close() + else: + HARDWARE.reboot() return ret @@ -69,6 +72,7 @@ def show_text_in_window(text: str): text_window = TextWindow(text) for _ in gui_app.render(): text_window.render() + gui_app.close() if __name__ == "__main__": From a38dcbb3fed278da25c3b8f3d538bdc43fab65d1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 23 Apr 2025 14:15:06 -0700 Subject: [PATCH 059/477] Disable low speed steer in modeld (#35056) * disable low speed steer * No steer under --- selfdrive/modeld/modeld.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1d0facd133..b89c8bad57 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -43,10 +43,11 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p LAT_SMOOTH_SECONDS = 0.1 LONG_SMOOTH_SECONDS = 0.3 +MIN_LAT_CONTROL_SPEED = 0.3 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, - lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: + lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: plan = model_output['plan'][0] desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0], plan[:,Plan.ACCELERATION][:,0], @@ -55,7 +56,10 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) desired_curvature = model_output['desired_curvature'][0, 0] - desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) + if v_ego > MIN_LAT_CONTROL_SPEED: + desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) + else: + desired_curvature = prev_action.desiredCurvature return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), @@ -331,7 +335,7 @@ def main(demo=False): drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL) + action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego) prev_action = action fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, From 63a188d2e01b5891225806b887b315b114ded3b0 Mon Sep 17 00:00:00 2001 From: Warren Togami Date: Wed, 23 Apr 2025 20:23:40 -0500 Subject: [PATCH 060/477] TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850) neural_network_data: TOYOTA_RAV4_PRIME NNLC tuning gen 1 --- sunnypilot/neural_network_data | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data index 61dbe23f5d..16946bfd9c 160000 --- a/sunnypilot/neural_network_data +++ b/sunnypilot/neural_network_data @@ -1 +1 @@ -Subproject commit 61dbe23f5d6e3086cc549f7c598090256ad6bd87 +Subproject commit 16946bfd9cca1a33e8b609d10ca3d1a0089d38e2 From e85d833a800838bb11e6abc625f4130b5114ad9a Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 23 Apr 2025 21:09:22 -0700 Subject: [PATCH 061/477] Revert "Revert "OS04C10: use IFE downscaler for road cameras"" (#35047) * Revert "Revert "OS04C10: use IFE downscaler for road cameras" (#35046)" This reverts commit aaaa2d0dd064364d647fb381cc488fe6fe4d44e2. * fixed * patch it here * surely --- system/camerad/cameras/camera_common.cc | 3 -- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 +++--- system/camerad/cameras/ife.h | 18 +++++----- system/camerad/cameras/spectra.cc | 40 +++++++++++++--------- system/camerad/sensors/os04c10.cc | 11 ++++++ system/camerad/sensors/os04c10_registers.h | 22 ++++++++++-- system/camerad/sensors/sensor.h | 2 ++ 8 files changed, 71 insertions(+), 37 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index f6c2681dea..1f6ad9b4be 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } - out_img_width = sensor->frame_width; - out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; - // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c0426678b6..c26859cbc4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - int out_img_width, out_img_height; + uint32_t out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 18a42f05d8..8c4602bb31 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 49737f2db7..fd87d2baa4 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((s->frame_width - 1) << 16) | (s->frame_width - 1), + ((out_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height - 1) << 16) | (s->frame_height - 1), + ((out_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), + ((out_width / 2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), + ((out_height / 2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - s->frame_height - 1, - s->frame_width - 1, + out_height - 1, + out_width - 1, }); dst += write_cont(dst, 0xe30, { - s->frame_height/2 - 1, - s->frame_width - 1, + out_height / 2 - 1, + out_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 4535078771..47ae9061f4 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; + buf.out_img_width = sensor->frame_width / sensor->out_scale; + buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; + // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); assert(y_height/2 == uv_height); open = true; @@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { + if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { + ((OS04C10*)s)->ife_downscale_configure(); + } sensor.reset(s); return (sensors_init() == 0); }; @@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = sensor->frame_width, - .height = sensor->frame_height + sensor->extra_height, + .width = buf.out_img_width, + .height = buf.out_img_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index d008e1d07b..38be4ecca4 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace +void OS04C10::ife_downscale_configure() { + out_scale = 2; + + pixel_size_mm = 0.002; + frame_width = 2688; + frame_height = 1520; + exposure_time_max = 2352; + + init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); +} + OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index 8b1c78c69d..7cd9e97be5 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, - // {0x3829, 0x03}, - // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -332,3 +330,23 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, }; + +const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x3c8c, 0x40}, + {0x3714, 0x24}, + {0x37c2, 0x04}, + {0x3662, 0x10}, + {0x37d9, 0x08}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3808, 0x0a}, {0x3809, 0x80}, + {0x380a, 0x05}, {0x380b, 0xf0}, + {0x3814, 0x01}, + {0x3816, 0x01}, + {0x380c, 0x08}, {0x380d, 0x5c}, // HTS + {0x380e, 0x09}, {0x380f, 0x38}, // VTS + {0x3820, 0xb0}, + {0x3821, 0x00}, +}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index c1131aafdf..d4be3cf036 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,6 +29,7 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; + int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -109,6 +110,7 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); + void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 196848c023bddea801994699eb1d92409638f989 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 15:55:15 +0100 Subject: [PATCH 062/477] ui(raylib): set display power and brightness on init (#35060) * add set_display_power to hardware.py * set display power and brightness on app init --- system/hardware/base.py | 4 ++++ system/hardware/pc/hardware.py | 3 +++ system/hardware/tici/hardware.py | 7 +++++++ system/ui/lib/application.py | 4 ++++ 4 files changed, 18 insertions(+) diff --git a/system/hardware/base.py b/system/hardware/base.py index c7c765f20a..f2c627d339 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -130,6 +130,10 @@ class HardwareBase(ABC): def get_thermal_config(self): return ThermalConfig() + @abstractmethod + def set_display_power(self, on: bool): + pass + @abstractmethod def set_screen_brightness(self, percentage): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 017a449c90..091f6a9b25 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -53,6 +53,9 @@ class Pc(HardwareBase): def shutdown(self): print("SHUTDOWN!") + def set_display_power(self, on): + pass + def set_screen_brightness(self, percentage): pass diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 15480bab50..ffa852403f 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -341,6 +341,13 @@ class Tici(HardwareBase): exhaust=exhaust, case=case) + def set_display_power(self, on): + try: + with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f: + f.write("0" if on else "4") + except Exception: + pass + def set_screen_brightness(self, percentage): try: with open("/sys/class/backlight/panel0-backlight/max_brightness") as f: diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index f5a238b81e..0b918d036c 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -5,6 +5,7 @@ import pyray as rl from enum import IntEnum from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import HARDWARE DEFAULT_FPS = 60 FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops @@ -46,6 +47,9 @@ class GuiApplication: def init_window(self, title: str, fps: int=DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit + HARDWARE.set_display_power(True) + HARDWARE.set_screen_brightness(65) + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) From 8088438bd6d41311b27b6a5308c2a8ab10fd624d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 20:18:31 +0100 Subject: [PATCH 063/477] hardware: make set_display_power not abstract (#35061) hardware: make set_dispaly_power not abstract follow-up to https://github.com/commaai/openpilot/pull/35060#discussion_r2058829397 --- system/hardware/base.py | 1 - system/hardware/pc/hardware.py | 3 --- 2 files changed, 4 deletions(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index f2c627d339..1e3b94e44e 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -130,7 +130,6 @@ class HardwareBase(ABC): def get_thermal_config(self): return ThermalConfig() - @abstractmethod def set_display_power(self, on: bool): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 091f6a9b25..017a449c90 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -53,9 +53,6 @@ class Pc(HardwareBase): def shutdown(self): print("SHUTDOWN!") - def set_display_power(self, on): - pass - def set_screen_brightness(self, percentage): pass From 7c223e5586bc4ad8c21f1879fc3a0b73df6bd549 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 21:00:48 +0100 Subject: [PATCH 064/477] ui(raylib): decrease target FPS to 30 (#35062) --- system/ui/lib/application.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 0b918d036c..a3e209c394 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -7,7 +7,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -DEFAULT_FPS = 60 +DEFAULT_FPS = 30 FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions @@ -44,7 +44,7 @@ class GuiApplication: def request_close(self): self._window_close_requested = True - def init_window(self, title: str, fps: int=DEFAULT_FPS): + def init_window(self, title: str, fps: int = DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit HARDWARE.set_display_power(True) From 3ee2882093f79dc1d879e6fabdcc89c6c11db570 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 21:16:38 +0100 Subject: [PATCH 065/477] ui: replace qt spinner with raylib (#35059) * use raylib spinner * remove qt spinner * use wrapper, render spinner in thread * english * fix? * match Qt font size more closely --- .gitattributes | 1 - common/spinner.py | 52 -------------- selfdrive/ui/.gitignore | 1 - selfdrive/ui/SConscript | 3 +- selfdrive/ui/qt/spinner.cc | 120 -------------------------------- selfdrive/ui/qt/spinner.h | 37 ---------- selfdrive/ui/qt/spinner_larch64 | 3 - selfdrive/ui/spinner | 7 -- system/athena/registration.py | 2 +- system/manager/build.py | 12 ++-- system/ui/spinner.py | 65 ++++++++++++++--- 11 files changed, 64 insertions(+), 239 deletions(-) delete mode 100644 common/spinner.py delete mode 100644 selfdrive/ui/qt/spinner.cc delete mode 100644 selfdrive/ui/qt/spinner.h delete mode 100755 selfdrive/ui/qt/spinner_larch64 delete mode 100755 selfdrive/ui/spinner diff --git a/.gitattributes b/.gitattributes index eda2505d0e..1384edb626 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11,7 +11,6 @@ selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text -selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text third_party/**/*.a filter=lfs diff=lfs merge=lfs -text third_party/**/*.so filter=lfs diff=lfs merge=lfs -text diff --git a/common/spinner.py b/common/spinner.py deleted file mode 100644 index dcf22641c4..0000000000 --- a/common/spinner.py +++ /dev/null @@ -1,52 +0,0 @@ -import os -import subprocess -from openpilot.common.basedir import BASEDIR - - -class Spinner: - def __init__(self): - try: - self.spinner_proc = subprocess.Popen(["./spinner"], - stdin=subprocess.PIPE, - cwd=os.path.join(BASEDIR, "selfdrive", "ui"), - close_fds=True) - except OSError: - self.spinner_proc = None - - def __enter__(self): - return self - - def update(self, spinner_text: str): - if self.spinner_proc is not None: - self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n") - try: - self.spinner_proc.stdin.flush() - except BrokenPipeError: - pass - - def update_progress(self, cur: float, total: float): - self.update(str(round(100 * cur / total))) - - def close(self): - if self.spinner_proc is not None: - self.spinner_proc.kill() - try: - self.spinner_proc.communicate(timeout=2.) - except subprocess.TimeoutExpired: - print("WARNING: failed to kill spinner") - self.spinner_proc = None - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_value, traceback): - self.close() - - -if __name__ == "__main__": - import time - with Spinner() as s: - s.update("Spinner text") - time.sleep(5.0) - print("gone") - time.sleep(5.0) diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index f9724816da..d9176a3fd4 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -4,7 +4,6 @@ moc_* translations/main_test_en.* _text -_spinner ui mui diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 8fa4b55ea7..233addaa6a 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -66,9 +66,8 @@ if GetOption('extras'): qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - # spinner and text window + # text window qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs) - qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs) # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc deleted file mode 100644 index 2404efa668..0000000000 --- a/selfdrive/ui/qt/spinner.cc +++ /dev/null @@ -1,120 +0,0 @@ -#include "selfdrive/ui/qt/spinner.h" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" - -TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - setFixedSize(spinner_size); - - // pre-compute all the track imgs. make this a gif instead? - QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size); - QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size); - - QTransform transform(1, 0, 0, 1, width() / 2, height() / 2); - QPixmap pm(spinner_size); - QPainter p(&pm); - p.setRenderHint(QPainter::SmoothPixmapTransform); - for (int i = 0; i < track_imgs.size(); ++i) { - p.resetTransform(); - p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black); - p.drawPixmap(0, 0, comma_img); - p.setTransform(transform.rotate(360 / spinner_fps)); - p.drawPixmap(-width() / 2, -height() / 2, track_img); - track_imgs[i] = pm.copy(); - } - - m_anim.setDuration(1000); - m_anim.setStartValue(0); - m_anim.setEndValue(int(track_imgs.size() -1)); - m_anim.setLoopCount(-1); - m_anim.start(); - connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update())); -} - -void TrackWidget::paintEvent(QPaintEvent *event) { - QPainter painter(this); - painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]); -} - -// Spinner - -Spinner::Spinner(QWidget *parent) : QWidget(parent) { - QGridLayout *main_layout = new QGridLayout(this); - main_layout->setSpacing(0); - main_layout->setMargin(200); - - main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter); - - text = new QLabel(); - text->setWordWrap(true); - text->setVisible(false); - text->setAlignment(Qt::AlignCenter); - main_layout->addWidget(text, 1, 0, Qt::AlignHCenter); - - progress_bar = new QProgressBar(); - progress_bar->setRange(5, 100); - progress_bar->setTextVisible(false); - progress_bar->setVisible(false); - progress_bar->setFixedHeight(20); - main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter); - - setStyleSheet(R"( - Spinner { - background-color: black; - } - QLabel { - color: white; - font-size: 80px; - background-color: transparent; - } - QProgressBar { - background-color: #373737; - width: 1000px; - border solid white; - border-radius: 10px; - } - QProgressBar::chunk { - border-radius: 10px; - background-color: white; - } - )"); - - notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read); - QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update); -} - -void Spinner::update(int n) { - std::string line; - std::getline(std::cin, line); - - if (line.length()) { - bool number = std::all_of(line.begin(), line.end(), ::isdigit); - text->setVisible(!number); - progress_bar->setVisible(number); - text->setText(QString::fromStdString(line)); - if (number) { - progress_bar->setValue(std::stoi(line)); - } - } -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Spinner spinner; - setMainWindow(&spinner); - return a.exec(); -} diff --git a/selfdrive/ui/qt/spinner.h b/selfdrive/ui/qt/spinner.h deleted file mode 100644 index 43d90a75b0..0000000000 --- a/selfdrive/ui/qt/spinner.h +++ /dev/null @@ -1,37 +0,0 @@ -#include - -#include -#include -#include -#include -#include -#include - -constexpr int spinner_fps = 30; -constexpr QSize spinner_size = QSize(360, 360); - -class TrackWidget : public QWidget { - Q_OBJECT -public: - TrackWidget(QWidget *parent = nullptr); - -private: - void paintEvent(QPaintEvent *event) override; - std::array track_imgs; - QVariantAnimation m_anim; -}; - -class Spinner : public QWidget { - Q_OBJECT - -public: - explicit Spinner(QWidget *parent = 0); - -private: - QLabel *text; - QProgressBar *progress_bar; - QSocketNotifier *notifier; - -public slots: - void update(int n); -}; diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64 deleted file mode 100755 index 74081a6925..0000000000 --- a/selfdrive/ui/qt/spinner_larch64 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4 -size 3821728 diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner deleted file mode 100755 index 965c8f581a..0000000000 --- a/selfdrive/ui/spinner +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh - -if [ -f /TICI ] && [ ! -f _spinner ]; then - cp qt/spinner_larch64 _spinner -fi - -exec ./_spinner "$1" diff --git a/system/athena/registration.py b/system/athena/registration.py index 964fbff51e..e48ae64aea 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -7,10 +7,10 @@ from pathlib import Path from datetime import datetime, timedelta, UTC from openpilot.common.api import api_get from openpilot.common.params import Params -from openpilot.common.spinner import Spinner from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.spinner import Spinner from openpilot.common.swaglog import cloudlog diff --git a/system/manager/build.py b/system/manager/build.py index 93c0546c85..21eff2fecc 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -5,10 +5,10 @@ from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR -from openpilot.common.spinner import Spinner from openpilot.common.text_window import TextWindow -from openpilot.system.hardware import HARDWARE, AGNOS from openpilot.common.swaglog import cloudlog, add_file_handler +from openpilot.system.hardware import HARDWARE, AGNOS +from openpilot.system.ui.spinner import Spinner from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 @@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: if __name__ == "__main__": - spinner = Spinner() - spinner.update_progress(0, 100) - build_metadata = get_build_metadata() - build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) + with Spinner() as spinner: + spinner.update_progress(0, 100) + build_metadata = get_build_metadata() + build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 9c1882cf5f..5da96c73f9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -2,6 +2,7 @@ import pyray as rl import os import threading +import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app @@ -13,8 +14,8 @@ PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN_H = 100 TEXTURE_SIZE = 360 -FONT_SIZE = 88 -LINE_HEIGHT = 96 +FONT_SIZE = 96 +LINE_HEIGHT = 104 DARKGRAY = (55, 55, 55, 255) @@ -22,7 +23,7 @@ def clamp(value, min_value, max_value): return max(min(value, max_value), min_value) -class Spinner: +class SpinnerRenderer: def __init__(self): self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, @@ -70,7 +71,7 @@ class Spinner: spinner_origin, self._rotation, rl.WHITE) rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) - # Display progress bar or text based on user input + # Display the progress bar or text based on user input if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) @@ -84,9 +85,55 @@ class Spinner: FONT_SIZE, 0.0, rl.WHITE) +class Spinner: + def __init__(self): + self._renderer: SpinnerRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def update(self, spinner_text: str): + if self._renderer is not None: + self._renderer.set_text(spinner_text) + + def update_progress(self, cur: float, total: float): + self.update(str(round(100 * cur / total))) + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Spinner") + self._renderer = renderer = SpinnerRenderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join spinner thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() + + if __name__ == "__main__": - gui_app.init_window("Spinner") - spinner = Spinner() - spinner.set_text("Spinner text") - for _ in gui_app.render(): - spinner.render() + with Spinner() as s: + s.update("Spinner text") + time.sleep(5) From 756aebd39f378a6a1db2826b4044290b391cc03c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 24 Apr 2025 16:24:21 -0700 Subject: [PATCH 066/477] Tomb Raider 4 (#35058) * dc455ed7-0ef1-4c57-9391-c71767784c7e/400 * f16884e6-417e-4842-aeda-b2e1b3edf40b/400 --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/models/driving_policy.onnx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index b89c8bad57..9805506432 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.1 +LAT_SMOOTH_SECONDS = 0.3 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index df11e590dd..528dd298d4 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 sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891 +oid sha256:fe85c824c5c41580eb3818400433377b0bfc405927f8cb7d88af9a836bed693d size 15578328 From 37e86df41e2a411ac5db791a8315c29f543e5155 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Apr 2025 18:16:18 -0700 Subject: [PATCH 067/477] CI: comment reporter links on PRs (#35066) * comment * Revert "Tomb Raider 4 (#35058)" This reverts commit 756aebd39f378a6a1db2826b4044290b391cc03c. * no dpeth * Reapply "Tomb Raider 4 (#35058)" This reverts commit 7143835b3d075271e86fb181e08f32db7720c6f8. * no forks --- .github/workflows/model_review.yaml | 42 +++++++++++++++++++++++++++++ scripts/reporter.py | 31 +++++++++++++++++++++ 2 files changed, 73 insertions(+) create mode 100644 .github/workflows/model_review.yaml create mode 100755 scripts/reporter.py diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml new file mode 100644 index 0000000000..0e1825864c --- /dev/null +++ b/.github/workflows/model_review.yaml @@ -0,0 +1,42 @@ +name: "model review" + +on: + pull_request: + types: [opened, reopened, synchronize] + paths: + - 'selfdrive/modeld/models/*.onnx' + workflow_dispatch: + +jobs: + comment: + permissions: + contents: read + pull-requests: write + runs-on: ubuntu-latest + if: github.repository == 'commaai/openpilot' + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: Checkout master + uses: actions/checkout@v4 + with: + ref: master + path: base + - run: git lfs pull + - run: cd base && git lfs pull + + - run: pip install onnx + + - name: scripts/reporter.py + id: report + run: | + echo "content<> $GITHUB_OUTPUT + echo "## Model Review" >> $GITHUB_OUTPUT + MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT + echo "EOF" >> $GITHUB_OUTPUT + + - name: Post model report comment + uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16 + with: + header: model-review + message: ${{ steps.report.outputs.content }} \ No newline at end of file diff --git a/scripts/reporter.py b/scripts/reporter.py new file mode 100755 index 0000000000..903fcc8911 --- /dev/null +++ b/scripts/reporter.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 +import os +import glob +import onnx + +BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) +MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR) +MODEL_PATH = "/selfdrive/modeld/models/" + +def get_checkpoint(f): + model = onnx.load(f) + metadata = {prop.key: prop.value for prop in model.metadata_props} + return metadata['model_checkpoint'].split('/')[0] + +if __name__ == "__main__": + print("| | master | PR branch |") + print("|-| ----- | --------- |") + + for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"): + # TODO: add checkpoint to DM + if "dmonitoring" in f: + continue + + fn = os.path.basename(f) + master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn) + pr = get_checkpoint(BASEDIR + MODEL_PATH + fn) + print( + "|", fn, "|", + f"[{master}](https://reporter.comma.life/experiment/{master})", "|", + f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|" + ) From c961fb095fd192e1b4c325912d0fdb5ee9a7fc26 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 13:57:04 +0100 Subject: [PATCH 068/477] ui(raylib): preserve whitespace in wrapped text (#35067) * ui(raylib): preserve whitespace in wrapped text * lint --- system/ui/text.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 1337887d9b..53ea2333ce 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -27,8 +27,10 @@ def wrap_text(text, font_size, max_width): continue indent = re.match(r"^\s*", paragraph).group() current_line = indent - for word in paragraph.split(): - test_line = current_line + word + " " + words = re.split(r"(\s+)", paragraph[len(indent):]) + while len(words): + word = words.pop(0) + test_line = current_line + word + (words.pop(0) if words else "") if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: current_line = test_line else: From 92ada2170f51ee20a34d6c4e6cbd746556cfd787 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 14:00:31 +0100 Subject: [PATCH 069/477] ui(raylib): start scroll at bottom of text window (#35068) --- system/ui/text.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/ui/text.py b/system/ui/text.py index 53ea2333ce..d2e7a1e433 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -48,6 +48,7 @@ class TextWindow: self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT) self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) + self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0) def render(self): scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect) From 7eb1c31d72f95142162d91ff738fe12db150faff Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 14:06:37 +0100 Subject: [PATCH 070/477] ui(raylib/text): spacing between button and scrollbar (#35069) --- system/ui/text.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index d2e7a1e433..531ed1919c 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -7,7 +7,7 @@ from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app MARGIN = 50 -SPACING = 50 +SPACING = 40 FONT_SIZE = 72 LINE_HEIGHT = 80 BUTTON_SIZE = rl.Vector2(310, 160) @@ -60,7 +60,7 @@ class TextWindow: rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() - button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) + button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: if PC: From 362ddfc0c718a2c24e7228583caccf2ec82e5eb0 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 14:17:47 +0100 Subject: [PATCH 071/477] ui: replace qt text window with raylib (#35064) * remove qt text window * use wrapper, render text window in thread * add wait_for_exit method * update imports --- .gitattributes | 1 - common/text_window.py | 63 ----------------------------------- selfdrive/ui/.gitignore | 2 -- selfdrive/ui/SConscript | 3 -- selfdrive/ui/qt/text.cc | 64 ------------------------------------ selfdrive/ui/qt/text_larch64 | 3 -- selfdrive/ui/text | 7 ---- system/manager/build.py | 2 +- system/manager/manager.py | 2 +- system/ui/text.py | 60 ++++++++++++++++++++++++++++----- 10 files changed, 54 insertions(+), 153 deletions(-) delete mode 100755 common/text_window.py delete mode 100644 selfdrive/ui/qt/text.cc delete mode 100755 selfdrive/ui/qt/text_larch64 delete mode 100755 selfdrive/ui/text diff --git a/.gitattributes b/.gitattributes index 1384edb626..cc1605a132 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11,7 +11,6 @@ selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text -selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text third_party/**/*.a filter=lfs diff=lfs merge=lfs -text third_party/**/*.so filter=lfs diff=lfs merge=lfs -text third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text diff --git a/common/text_window.py b/common/text_window.py deleted file mode 100755 index d2762ebf7d..0000000000 --- a/common/text_window.py +++ /dev/null @@ -1,63 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import subprocess -from openpilot.common.basedir import BASEDIR - - -class TextWindow: - def __init__(self, text): - try: - self.text_proc = subprocess.Popen(["./text", text], - stdin=subprocess.PIPE, - cwd=os.path.join(BASEDIR, "selfdrive", "ui"), - close_fds=True) - except OSError: - self.text_proc = None - - def get_status(self): - if self.text_proc is not None: - self.text_proc.poll() - return self.text_proc.returncode - return None - - def __enter__(self): - return self - - def close(self): - if self.text_proc is not None: - self.text_proc.terminate() - self.text_proc = None - - def wait_for_exit(self): - if self.text_proc is not None: - while True: - if self.get_status() == 1: - return - time.sleep(0.1) - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_value, traceback): - self.close() - - -if __name__ == "__main__": - text = """Traceback (most recent call last): - File "./controlsd.py", line 608, in - main() - File "./controlsd.py", line 604, in main - controlsd_thread(sm, pm, logcan) - File "./controlsd.py", line 455, in controlsd_thread - 1/0 -ZeroDivisionError: division by zero""" - print(text) - - with TextWindow(text) as s: - for _ in range(100): - if s.get_status() == 1: - print("Got exit button") - break - time.sleep(0.1) - print("gone") diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index d9176a3fd4..7e9eaf932f 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,8 +3,6 @@ moc_* translations/main_test_en.* -_text - ui mui watch3 diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 233addaa6a..e63359da05 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -66,9 +66,6 @@ if GetOption('extras'): qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - # text window - qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs) - # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc deleted file mode 100644 index 21ec5eedcf..0000000000 --- a/selfdrive/ui/qt/text.cc +++ /dev/null @@ -1,64 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - QWidget window; - setMainWindow(&window); - - QGridLayout *main_layout = new QGridLayout(&window); - main_layout->setMargin(50); - - QLabel *label = new QLabel(argv[1]); - label->setWordWrap(true); - label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - ScrollView *scroll = new ScrollView(label); - scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); - main_layout->addWidget(scroll, 0, 0, Qt::AlignTop); - - // Scroll to the bottom - QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() { - scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum()); - }); - - QPushButton *btn = new QPushButton(); -#ifdef __aarch64__ - btn->setText(QObject::tr("Reboot")); - QObject::connect(btn, &QPushButton::clicked, [=]() { - Hardware::reboot(); - }); -#else - btn->setText(QObject::tr("Exit")); - QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit); -#endif - main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom); - - window.setStyleSheet(R"( - * { - outline: none; - color: white; - background-color: black; - font-size: 60px; - } - QPushButton { - padding: 50px; - padding-right: 100px; - padding-left: 100px; - border: 2px solid white; - border-radius: 20px; - margin-right: 40px; - } - )"); - - return a.exec(); -} diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64 deleted file mode 100755 index 7d74f4d31c..0000000000 --- a/selfdrive/ui/qt/text_larch64 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552 -size 3787480 diff --git a/selfdrive/ui/text b/selfdrive/ui/text deleted file mode 100755 index b12235f4e6..0000000000 --- a/selfdrive/ui/text +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh - -if [ -f /TICI ] && [ ! -f _text ]; then - cp qt/text_larch64 _text -fi - -exec ./_text "$1" diff --git a/system/manager/build.py b/system/manager/build.py index 21eff2fecc..771024794f 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -5,10 +5,10 @@ from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR -from openpilot.common.text_window import TextWindow from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.hardware import HARDWARE, AGNOS from openpilot.system.ui.spinner import Spinner +from openpilot.system.ui.text import TextWindow from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 diff --git a/system/manager/manager.py b/system/manager/manager.py index 89e5a472f2..d8c56cbc73 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -9,7 +9,6 @@ from cereal import log import cereal.messaging as messaging import openpilot.system.sentry as sentry from openpilot.common.params import Params, ParamKeyType -from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.system.manager.process import ensure_running @@ -18,6 +17,7 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.text import TextWindow def manager_init() -> None: diff --git a/system/ui/text.py b/system/ui/text.py index 531ed1919c..e57ae45d9a 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,5 +1,8 @@ #!/usr/bin/env python3 +import os import re +import threading +import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle @@ -42,7 +45,8 @@ def wrap_text(text, font_size, max_width): return lines -class TextWindow: + +class TextWindowRenderer: def __init__(self, text: str): self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) @@ -70,13 +74,53 @@ class TextWindow: return ret -def show_text_in_window(text: str): - gui_app.init_window("Text") - text_window = TextWindow(text) - for _ in gui_app.render(): - text_window.render() - gui_app.close() +class TextWindow: + def __init__(self, text: str): + self._text = text + + self._renderer: TextWindowRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def wait_for_exit(self): + while self._thread.is_alive(): + time.sleep(0.01) + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Text") + self._renderer = renderer = TextWindowRenderer(self._text) + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join text window thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() if __name__ == "__main__": - show_text_in_window(DEMO_TEXT) + with TextWindow(DEMO_TEXT): + time.sleep(5) From 37839ea0c59dd80b2129d7594e5b9aff99fd1d9b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 25 Apr 2025 16:57:18 -0400 Subject: [PATCH 072/477] controls: publish current curvature in CarControl (#34679) * controls: publish current curvature in CarControl * clean up * update refs --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/controlsd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index dfff26d9db..5ecff1ccdf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -141,6 +141,7 @@ class Controls: # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller + CC.currentCurvature = self.curvature if self.calibrated_pose is not None: CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist() CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4b3ef33407..5f8610d58f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fcc771b9ceb487a61035885acbd84e592fb316bf \ No newline at end of file +4c7ac1a362933af9d97697979162087c1ab2584b \ No newline at end of file From 38610419dc31b967f6d5f9633876287a5f275714 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 25 Apr 2025 13:58:25 -0700 Subject: [PATCH 073/477] [bot] Update Python packages (#35041) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 137 +-- opendbc_repo | 2 +- panda | 2 +- uv.lock | 3267 +++++++++++++++++++++++++------------------------- 4 files changed, 1708 insertions(+), 1700 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a1b027c51b..95af300c0f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -195,8 +195,8 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan[7](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -206,8 +206,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| @@ -218,19 +218,19 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|Outback 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2020-21|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Škoda|Kamiq 2021-23[12,14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Škoda|Karoq 2019-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Škoda|Superb 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Fabia 2022-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Škoda|Kamiq 2021-23[13,15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Škoda|Karoq 2019-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Škoda|Superb 2015-22[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -243,8 +243,8 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -276,42 +276,42 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
@@ -324,12 +324,13 @@ A supported vehicle is one that just works when you install a comma device. All 8In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
9Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
10Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
-11openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-12Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-13Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-14Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
-15Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-16Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+11See more setup details for Tesla.
+12openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+13Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+14Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+15Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+16Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+17Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/opendbc_repo b/opendbc_repo index 3b33a71a2b..7bad67af29 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9 +Subproject commit 7bad67af29ea117ce8cf51cc6549c97b9acdafe1 diff --git a/panda b/panda index d319ea2bba..b4773f96b3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55 +Subproject commit b4773f96b38a56089b28bf70b8073a9ddce6d847 diff --git a/uv.lock b/uv.lock index 6911f053cb..a8a99e9979 100644 --- a/uv.lock +++ b/uv.lock @@ -1,5 +1,5 @@ version = 1 -revision = 1 +revision = 2 requires-python = ">=3.11, <3.13" resolution-markers = [ "python_full_version >= '3.12' and sys_platform == 'darwin'", @@ -14,14 +14,14 @@ resolution-markers = [ name = "aiohappyeyeballs" version = "2.6.1" source = { registry = "https://pypi.org/simple" } -sdist = { url = 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"github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Fri, 25 Apr 2025 14:00:28 -0700 Subject: [PATCH 074/477] [bot] Update translations (#35072) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 8 -------- selfdrive/ui/translations/main_de.ts | 8 -------- selfdrive/ui/translations/main_es.ts | 8 -------- selfdrive/ui/translations/main_fr.ts | 8 -------- selfdrive/ui/translations/main_ja.ts | 8 -------- selfdrive/ui/translations/main_ko.ts | 8 -------- selfdrive/ui/translations/main_pt-BR.ts | 8 -------- selfdrive/ui/translations/main_th.ts | 8 -------- selfdrive/ui/translations/main_tr.ts | 8 -------- selfdrive/ui/translations/main_zh-CHS.ts | 8 -------- selfdrive/ui/translations/main_zh-CHT.ts | 8 -------- 11 files changed, 88 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 2afc088b24..fa3b2d69e7 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -582,14 +582,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - إعادة التشغيل - - - Exit - إغلاق - openpilot openpilot diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 986c0fa54f..3123e52578 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -574,14 +574,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere QObject - - Reboot - Neustart - - - Exit - Verlassen - openpilot openpilot diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index a2d095c064..3d9be63caf 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -574,14 +574,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para QObject - - Reboot - Reiniciar - - - Exit - Salir - openpilot openpilot diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 673056bf3b..69652510df 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - Redémarrer - - - Exit - Quitter - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index da99fdd6e7..4cce79757f 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -572,14 +572,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ QObject - - Reboot - 再起動 - - - Exit - 閉じる - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 1d8d76f219..3be96846a7 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - 재부팅 - - - Exit - 종료 - openpilot 오픈파일럿 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4971b7fbfa..a6a473bc92 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -574,14 +574,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar QObject - - Reboot - Reiniciar - - - Exit - Sair - openpilot openpilot diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index aab2270a01..c7521082c3 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - รีบูต - - - Exit - ปิด - openpilot openpilot diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 0b0e24dcf4..b8b7202898 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -569,14 +569,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - Yeniden başlat - - - Exit - Çık - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 963946e4da..c310265a1c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - 重启 - - - Exit - 退出 - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1946493247..5f81cc2c53 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - 重新啟動 - - - Exit - 離開 - openpilot openpilot From 124198460b87e8e3d03751fca983adec9a83b5ea Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 23:33:32 +0100 Subject: [PATCH 075/477] ui(raylib): create BaseWindow (#35074) * ui(raylib): create BaseWindow * test without typing * revert * Revert "test without typing" This reverts commit c8a5e1b8322bb7250ede540d7b6d25eefa72cef1. * lines --- system/ui/lib/window.py | 57 +++++++++++++++++++++++++++++++++++++++++ system/ui/spinner.py | 42 ++++-------------------------- system/ui/text.py | 45 ++++---------------------------- 3 files changed, 67 insertions(+), 77 deletions(-) create mode 100644 system/ui/lib/window.py diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py new file mode 100644 index 0000000000..d039d80b80 --- /dev/null +++ b/system/ui/lib/window.py @@ -0,0 +1,57 @@ +import threading +import time +import os +from typing import Generic, Protocol, TypeVar +from openpilot.system.ui.lib.application import gui_app + + +class RendererProtocol(Protocol): + def render(self): ... + + +R = TypeVar("R", bound=RendererProtocol) + + +class BaseWindow(Generic[R]): + def __init__(self, title: str): + self._title = title + self._renderer: R | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def _create_renderer(self) -> R: + raise NotImplementedError("Subclasses of BaseWindow must implement _create_renderer()") + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Spinner") + self._renderer = self._create_renderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + self._renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print(f"WARNING: failed to join {self._title} thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 5da96c73f9..119bdba3e7 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -6,6 +6,7 @@ import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text # Constants @@ -85,16 +86,12 @@ class SpinnerRenderer: FONT_SIZE, 0.0, rl.WHITE) -class Spinner: +class Spinner(BaseWindow[SpinnerRenderer]): def __init__(self): - self._renderer: SpinnerRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() + super().__init__("Spinner") - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return SpinnerRenderer() def update(self, spinner_text: str): if self._renderer is not None: @@ -103,35 +100,6 @@ class Spinner: def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Spinner") - self._renderer = renderer = SpinnerRenderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join spinner thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with Spinner() as s: diff --git a/system/ui/text.py b/system/ui/text.py index e57ae45d9a..33e8167c64 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 -import os import re -import threading import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow MARGIN = 50 SPACING = 40 @@ -74,52 +73,18 @@ class TextWindowRenderer: return ret -class TextWindow: +class TextWindow(BaseWindow[TextWindowRenderer]): def __init__(self, text: str): self._text = text + super().__init__("Text") - self._renderer: TextWindowRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return TextWindowRenderer(self._text) def wait_for_exit(self): while self._thread.is_alive(): time.sleep(0.01) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Text") - self._renderer = renderer = TextWindowRenderer(self._text) - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join text window thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with TextWindow(DEMO_TEXT): From 2619732d9f3ab5b7191df39e09ed4c768f898453 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Apr 2025 18:49:09 -0500 Subject: [PATCH 076/477] Fix tethering connection disabling internet (#35075) * fix * this is ignored in this networkmanager * whoop --- selfdrive/ui/qt/network/wifi_manager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index 1717210634..3d4bb9e7d1 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -439,7 +439,7 @@ void WifiManager::addTetheringConnection() { address["prefix"] = 24u; connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address); connection["ipv4"]["gateway"] = "192.168.43.1"; - connection["ipv4"]["route-metric"] = 1100; + connection["ipv4"]["never-default"] = true; connection["ipv6"]["method"] = "ignore"; asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection)); From 83b84a5bec719c3e8cc1501d56344d95d4a9c4f4 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 26 Apr 2025 01:20:58 +0100 Subject: [PATCH 077/477] Revert "ui(raylib): create BaseWindow (#35074)" This reverts commit 124198460b87e8e3d03751fca983adec9a83b5ea. --- system/ui/lib/window.py | 57 ----------------------------------------- system/ui/spinner.py | 42 ++++++++++++++++++++++++++---- system/ui/text.py | 45 ++++++++++++++++++++++++++++---- 3 files changed, 77 insertions(+), 67 deletions(-) delete mode 100644 system/ui/lib/window.py diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py deleted file mode 100644 index d039d80b80..0000000000 --- a/system/ui/lib/window.py +++ /dev/null @@ -1,57 +0,0 @@ -import threading -import time -import os -from typing import Generic, Protocol, TypeVar -from openpilot.system.ui.lib.application import gui_app - - -class RendererProtocol(Protocol): - def render(self): ... - - -R = TypeVar("R", bound=RendererProtocol) - - -class BaseWindow(Generic[R]): - def __init__(self, title: str): - self._title = title - self._renderer: R | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) - - def _create_renderer(self) -> R: - raise NotImplementedError("Subclasses of BaseWindow must implement _create_renderer()") - - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Spinner") - self._renderer = self._create_renderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - self._renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print(f"WARNING: failed to join {self._title} thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 119bdba3e7..5da96c73f9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -6,7 +6,6 @@ import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text # Constants @@ -86,12 +85,16 @@ class SpinnerRenderer: FONT_SIZE, 0.0, rl.WHITE) -class Spinner(BaseWindow[SpinnerRenderer]): +class Spinner: def __init__(self): - super().__init__("Spinner") + self._renderer: SpinnerRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() - def _create_renderer(self): - return SpinnerRenderer() + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) def update(self, spinner_text: str): if self._renderer is not None: @@ -100,6 +103,35 @@ class Spinner(BaseWindow[SpinnerRenderer]): def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Spinner") + self._renderer = renderer = SpinnerRenderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join spinner thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() + if __name__ == "__main__": with Spinner() as s: diff --git a/system/ui/text.py b/system/ui/text.py index 33e8167c64..e57ae45d9a 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 +import os import re +import threading import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.window import BaseWindow MARGIN = 50 SPACING = 40 @@ -73,18 +74,52 @@ class TextWindowRenderer: return ret -class TextWindow(BaseWindow[TextWindowRenderer]): +class TextWindow: def __init__(self, text: str): self._text = text - super().__init__("Text") - def _create_renderer(self): - return TextWindowRenderer(self._text) + self._renderer: TextWindowRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) def wait_for_exit(self): while self._thread.is_alive(): time.sleep(0.01) + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Text") + self._renderer = renderer = TextWindowRenderer(self._text) + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join text window thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() + if __name__ == "__main__": with TextWindow(DEMO_TEXT): From 9d17c73f6b8677fc986d2c02096950715c64694c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 26 Apr 2025 03:09:19 +0100 Subject: [PATCH 078/477] avoid importing Raylib UI (#35078) --- system/athena/registration.py | 2 +- system/manager/manager.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/system/athena/registration.py b/system/athena/registration.py index e48ae64aea..ce7fcea89f 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -10,7 +10,6 @@ from openpilot.common.params import Params from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware.hw import Paths -from openpilot.system.ui.spinner import Spinner from openpilot.common.swaglog import cloudlog @@ -45,6 +44,7 @@ def register(show_spinner=False) -> str | None: cloudlog.warning(f"missing public key: {pubkey}") elif dongle_id is None: if show_spinner: + from openpilot.system.ui.spinner import Spinner spinner = Spinner() spinner.update("registering device") diff --git a/system/manager/manager.py b/system/manager/manager.py index d8c56cbc73..c3ffe28457 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -17,7 +17,6 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version from openpilot.system.hardware.hw import Paths -from openpilot.system.ui.text import TextWindow def manager_init() -> None: @@ -203,6 +202,8 @@ def main() -> None: if __name__ == "__main__": + from openpilot.system.ui.text import TextWindow + unblock_stdout() try: From e7cf508f500cbd6cd783554c37185d87765e848c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sat, 26 Apr 2025 07:30:47 -0700 Subject: [PATCH 079/477] Tomb Raider 5 (#35080) 846c53a4-b886-4942-a4d3-7ea3aff5be8d/400 --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 528dd298d4..2075792f4d 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:fe85c824c5c41580eb3818400433377b0bfc405927f8cb7d88af9a836bed693d +oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 size 15578328 From be168d14e9e402237a01178766af0be8c9b8d4e4 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 26 Apr 2025 19:33:35 +0200 Subject: [PATCH 080/477] SL: updating localproxy implementation (#841) * Adding capabilities to route localProxy via sunnylink * Undo * Thx lint * get api token * cert is not valid when it's an IP. Still use cert, but don't validate --- sunnypilot/sunnylink/athena/sunnylinkd.py | 17 ++++++++++++++-- sunnypilot/sunnylink/utils.py | 9 +++++++++ system/athena/athenad.py | 24 +++++++++++++---------- 3 files changed, 38 insertions(+), 12 deletions(-) diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py index 2c4b95fa46..a675820628 100755 --- a/sunnypilot/sunnylink/athena/sunnylinkd.py +++ b/sunnypilot/sunnylink/athena/sunnylinkd.py @@ -10,11 +10,12 @@ import threading import time from jsonrpc import dispatcher +from functools import partial from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.common.swaglog import cloudlog from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \ - recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler + recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException, create_connection) @@ -50,7 +51,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'), # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'), ] + [ - threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}') + threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}') for x in range(HANDLER_THREADS) ] @@ -201,6 +202,18 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N cloudlog.error(f"sunnylinkd.saveParams.exception {e}") +def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]: + cloudlog.debug("athena.startLocalProxy.starting") + ws = create_connection( + remote_ws_uri, + header={"Authorization": f"Bearer {sunnylink_api.get_token()}"}, + enable_multithread=True, + sslopt={"cert_reqs": ssl.CERT_NONE} + ) + + return start_local_proxy_shim(global_end_event, local_port, ws) + + def main(exit_event: threading.Event = None): try: set_core_affinity([0, 1, 2, 3]) diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py index 57523d7394..55b1f6f285 100644 --- a/sunnypilot/sunnylink/utils.py +++ b/sunnypilot/sunnylink/utils.py @@ -46,3 +46,12 @@ def register_sunnylink(): sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args) print(f"SunnyLinkId: {sunnylink_id}") + + +def get_api_token(): + """Get the API token for the device.""" + params = Params() + sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8') + sunnylink_api = SunnylinkApi(sunnylink_dongle_id) + token = sunnylink_api.get_token() + print(f"API Token: {token}") diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 4bcdc9b83c..3f3fc3d70d 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -184,8 +184,8 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: thread.join() -def jsonrpc_handler(end_event: threading.Event) -> None: - dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event) +def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> None: + dispatcher["startLocalProxy"] = localProxyHandler or partial(startLocalProxy, end_event) while not end_event.is_set(): try: data = recv_queue.get(timeout=1) @@ -480,7 +480,19 @@ def setRouteViewed(route: str) -> dict[str, int | str]: def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]: + cloudlog.debug("athena.startLocalProxy.starting") + dongle_id = Params().get("DongleId").decode('utf8') + identity_token = Api(dongle_id).get_token() + ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, enable_multithread=True) + + return start_local_proxy_shim(global_end_event, local_port, ws) + + +def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, ws: WebSocket) -> dict[str, int]: try: + if ws.sock is None: + raise Exception("WebSocket is not connected") + # migration, can be removed once 0.9.8 is out for a while if local_port == 8022: local_port = 22 @@ -488,14 +500,6 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local if local_port not in LOCAL_PORT_WHITELIST: raise Exception("Requested local port not whitelisted") - cloudlog.debug("athena.startLocalProxy.starting") - - dongle_id = Params().get("DongleId").decode('utf8') - identity_token = Api(dongle_id).get_token() - ws = create_connection(remote_ws_uri, - cookie="jwt=" + identity_token, - enable_multithread=True) - # Set TOS to keep connection responsive while under load. # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90) From c0b0bb554cb4b9bebfad64a2d1cf89dea3dd6964 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sat, 26 Apr 2025 13:43:18 -0700 Subject: [PATCH 081/477] fix(replay): search for route key in entire str (#35081) fix(replay): look at whole segment string --- tools/replay/route.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 7731d0daf4..ff5a858e8c 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -121,7 +121,7 @@ bool Route::loadFromJson(const std::string &json) { bool Route::loadFromLocal() { std::string pattern = route_.timestamp + "--"; for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) { - if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) { + if (entry.is_directory() && entry.path().filename().string().find(pattern) != std::string::npos) { std::string segment = entry.path().string(); int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str()); From c4acae6b51983bcb6c4d2dc0f8aeec9401312888 Mon Sep 17 00:00:00 2001 From: William Bonilla <47262366+WilliamBonilla62@users.noreply.github.com> Date: Sun, 27 Apr 2025 22:54:00 -0400 Subject: [PATCH 082/477] =?UTF-8?q?=20"docs:=20update=20'Turn=20the=20Spee?= =?UTF-8?q?d=20Blue'=20tutorial=20with=20new=20UI=20path=20and=20fu?= =?UTF-8?q?=E2=80=A6=20(#35016)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * "docs: update 'Turn the Speed Blue' tutorial with new UI path and function" * Change 'Openpilot' to all lowercase ('openpilot') based on the review. --- docs/how-to/turn-the-speed-blue.md | 84 ++++++++++++++++++------------ 1 file changed, 50 insertions(+), 34 deletions(-) diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index e8b55ef81b..64f4475dfa 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -20,7 +20,7 @@ source .venv/bin/activate Then, compile openpilot: ```bash -scons -j8 +scons -j$(nproc) ``` ## 2. Run replay @@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route. If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect. + ## 3. Make the speed blue -Search for “mph” with git grep in the `ui` folder. +Now let’s update the speed display color in the UI. + +Search for the function responsible for rendering UI text: ```bash -$ git grep "mph" selfdrive/ui/ -paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); +git grep "drawText" selfdrive/ui/qt/onroad/hud.cc ``` -The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. +You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function: + +```cpp +void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { + QRect real_rect = p.fontMetrics().boundingRect(text); + real_rect.moveCenter({x, y - real_rect.height() / 2}); + + p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color + p.drawText(real_rect.x(), real_rect.bottom(), text); +} +``` + +Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to: + +```diff +- p.setPen(QColor(0xff, 0xff, 0xff, alpha)); ++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha)); +``` + +This change will tint all speed-related UI text to blue with the same transparency (`alpha`). + +--- + +## 4. Rebuild the UI + +After making changes, rebuild Openpilot so your new UI is compiled: ```bash -$ git diff -diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc -index 821d95115..cc996eaa1 100644 ---- a/selfdrive/ui/paint.cc -+++ b/selfdrive/ui/paint.cc -@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) { - const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363)); - const std::string speed_str = std::to_string((int)std::nearbyint(speed)); - nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); -- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold"); -- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); -+ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold"); -+ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular"); - } - - static void ui_draw_vision_event(UIState *s) { +scons -j$(nproc) && selfdrive/ui/ui ``` - - -## 4. Rebuild UI, and admire your work - -``` -scons -j8 && selfdrive/ui/ui -``` - ![](https://blog.comma.ai/img/blue_speed_ui.png) +You should now see the speed displayed in a nice blue shade during the demo replay. + +--- + ## 5. Push your fork to GitHub -Click fork on GitHub. Then, push with: +Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with: ```bash git remote rm origin git remote add origin git@github.com:/openpilot.git git add . -git commit -m "Make the speed blue." +git commit -m "Make the speed display blue" git push --set-upstream origin master ``` -## 6. Run your fork on device in your car! +--- -Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: +## 6. Run your fork on your comma device + +Uninstall Openpilot through the settings on your device. + +Then reinstall using your own GitHub-hosted fork: ``` installer.comma.ai//master ``` -## 7. Admire your work IRL +--- + +## 7. Admire your work IRL 🚗💨 + +You’ve now successfully modified Openpilot’s UI and deployed it to your own car! ![](https://blog.comma.ai/img/c3_blue_ui.jpg) From c5b75168e9553ef8893213a36038889db003258c Mon Sep 17 00:00:00 2001 From: William Bonilla <47262366+WilliamBonilla62@users.noreply.github.com> Date: Mon, 28 Apr 2025 16:30:16 -0400 Subject: [PATCH 083/477] Fix test_update_returns_state to flatten Kalman output (#35083) fix(tests): flatten Kalman filter output in test_update_returns_state --- common/tests/test_simple_kalman.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py index f4a967e58a..e44ac2cc57 100644 --- a/common/tests/test_simple_kalman.py +++ b/common/tests/test_simple_kalman.py @@ -24,6 +24,6 @@ class TestSimpleKalman: self.kf.set_x([[1.0], [1.0]]) assert self.kf.x == [[1.0], [1.0]] - def update_returns_state(self): + def test_update_returns_state(self): x = self.kf.update(100) - assert x == self.kf.x + assert x == [i[0] for i in self.kf.x] From 91fbbf812fb935e44369d6899a04b42f02edf950 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 28 Apr 2025 13:33:28 -0700 Subject: [PATCH 084/477] [bot] Update Python packages (#35085) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 2 +- opendbc_repo | 2 +- uv.lock | 54 ++++++++++++++++++++++++++++------------------------ 3 files changed, 31 insertions(+), 27 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 95af300c0f..c22568ce2e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -80,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. 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|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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private: void initWindows(); From a0bcea5719ce4fb3d335fea841d335c284c11ccd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Apr 2025 15:49:41 -0700 Subject: [PATCH 086/477] capitalization typo --- tools/replay/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/README.md b/tools/replay/README.md index f02090c58e..719f7d2db9 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -81,7 +81,7 @@ Arguments: connect.comma.ai ``` -## Visualize the Replay in the Openpilot UI +## Visualize the Replay in the openpilot UI To visualize the replay within the openpilot UI, run the following commands: ```bash From 45787163a225c459234433118aeaba83c1a610ef Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 30 Apr 2025 15:32:11 -0700 Subject: [PATCH 087/477] feat: clip.py (#35071) --- tools/clip/run.py | 215 +++++++++++++++++++++++++++ tools/install_ubuntu_dependencies.sh | 3 +- tools/op.sh | 7 + 3 files changed, 224 insertions(+), 1 deletion(-) create mode 100755 tools/clip/run.py diff --git a/tools/clip/run.py b/tools/clip/run.py new file mode 100755 index 0000000000..97baa880ea --- /dev/null +++ b/tools/clip/run.py @@ -0,0 +1,215 @@ +#!/usr/bin/env python3 + +import atexit +import logging +import os +import platform +import shutil +import time +from argparse import ArgumentParser, ArgumentTypeError +from collections.abc import Sequence +from pathlib import Path +from random import randint +from subprocess import Popen, PIPE +from typing import Literal + +from cereal.messaging import SubMaster +from openpilot.common.basedir import BASEDIR +from openpilot.common.prefix import OpenpilotPrefix +from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached + +DEFAULT_OUTPUT = 'output.mp4' +DEMO_START = 90 +DEMO_END = 105 +DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19' +FRAMERATE = 20 +PIXEL_DEPTH = '24' +RESOLUTION = '2160x1080' +SECONDS_TO_WARM = 2 +PROC_WAIT_SECONDS = 5 + +REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) +UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) + +logger = logging.getLogger('clip.py') + + +def check_for_failure(proc: Popen): + exit_code = proc.poll() + if exit_code is not None and exit_code != 0: + cmd = str(proc.args) + if isinstance(proc.args, str): + cmd = proc.args + elif isinstance(proc.args, Sequence): + cmd = str(proc.args[0]) + msg = f'{cmd} failed, exit code {exit_code}' + logger.error(msg) + stdout, stderr = proc.communicate() + if stdout: + logger.error(stdout.decode()) + if stderr: + logger.error(stderr.decode()) + raise ChildProcessError(msg) + + +def parse_args(parser: ArgumentParser): + args = parser.parse_args() + if args.demo: + args.route = DEMO_ROUTE + if args.start is None or args.end is None: + args.start = DEMO_START + args.end = DEMO_END + elif args.route.count('/') == 1: + if args.start is None or args.end is None: + parser.error('must provide both start and end if timing is not in the route ID') + elif args.route.count('/') == 3: + if args.start is not None or args.end is not None: + parser.error('don\'t provide timing when including it in the route ID') + parts = args.route.split('/') + args.route = '/'.join(parts[:2]) + args.start = int(parts[2]) + args.end = int(parts[3]) + if args.end <= args.start: + parser.error(f'end ({args.end}) must be greater than start ({args.start})') + if args.start < SECONDS_TO_WARM: + parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up') + + # if using local files, don't worry about length check right now so we skip the network call + # TODO: derive segment count from local FS + if not args.data_dir: + try: + num_segs = get_max_seg_number_cached(SegmentRange(args.route)) + except Exception as e: + parser.error(f'failed to get route length: {e}') + + # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data + length = round(num_segs * 60) + if args.start >= length: + parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') + if args.end > length: + parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') + + return args + + +def start_proc(args: list[str], env: dict[str, str]): + return Popen(args, env=env, stdout=PIPE, stderr=PIPE) + + +def validate_env(parser: ArgumentParser): + if platform.system() not in ['Linux']: + parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n') + for proc in ['Xvfb', 'ffmpeg']: + if shutil.which(proc) is None: + parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n') + for proc in [REPLAY, UI]: + if shutil.which(proc) is None: + parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n') + + +def validate_output_file(output_file: str): + if not output_file.endswith('.mp4'): + raise ArgumentTypeError('output must be an mp4') + return output_file + + +def validate_route(route: str): + if route.count('/') not in (1, 3): + raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}') + return route + + +def wait_for_frames(procs: list[Popen]): + sm = SubMaster(['uiDebug']) + no_frames_drawn = True + while no_frames_drawn: + sm.update() + no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0. + for proc in procs: + check_for_failure(proc) + + +def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int): + logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB') + + begin_at = max(start - SECONDS_TO_WARM, 0) + duration = end - start + bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000)) + + # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision + display = f':{randint(99, 999)}' + + ffmpeg_cmd = [ + 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', + '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23', + '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath, + ] + + replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] + if data_dir: + replay_cmd.extend(['--data_dir', data_dir]) + if quality == 'low': + replay_cmd.append('--qcam') + replay_cmd.append(route) + + ui_cmd = [UI, '-platform', 'xcb'] + xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] + + with OpenpilotPrefix(prefix, shared_download_cache=True): + env = os.environ.copy() + env['DISPLAY'] = display + + xvfb_proc = start_proc(xvfb_cmd, env) + atexit.register(lambda: xvfb_proc.terminate()) + ui_proc = start_proc(ui_cmd, env) + atexit.register(lambda: ui_proc.terminate()) + replay_proc = start_proc(replay_cmd, env) + atexit.register(lambda: replay_proc.terminate()) + procs = [replay_proc, ui_proc, xvfb_proc] + + logger.info('waiting for replay to begin (loading segments, may take a while)...') + wait_for_frames(procs) + + logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...') + time.sleep(SECONDS_TO_WARM) + for proc in procs: + check_for_failure(proc) + + ffmpeg_proc = start_proc(ffmpeg_cmd, env) + procs.append(ffmpeg_proc) + atexit.register(lambda: ffmpeg_proc.terminate()) + + logger.info(f'recording in progress ({duration}s)...') + ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) + for proc in procs: + check_for_failure(proc) + logger.info(f'recording complete: {Path(output_filepath).resolve()}') + + +def main(): + p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai') + validate_env(p) + route_group = p.add_mutually_exclusive_group(required=True) + route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})') + route_group.add_argument('--demo', help='use the demo route', action='store_true') + p.add_argument('-d', '--data-dir', help='local directory where route data is stored') + p.add_argument('-e', '--end', help='stop clipping at seconds', type=int) + p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.) + p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT) + p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') + p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') + p.add_argument('-s', '--start', help='start clipping at seconds', type=int) + args = parse_args(p) + try: + clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size) + except KeyboardInterrupt as e: + logger.exception('interrupted by user', exc_info=e) + except Exception as e: + logger.exception('encountered error', exc_info=e) + finally: + atexit._run_exitfuncs() + + +if __name__ == '__main__': + logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s') + main() diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 03302364e9..f33569704a 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -63,7 +63,8 @@ function install_ubuntu_common_requirements() { libqt5svg5-dev \ libqt5serialbus5-dev \ libqt5x11extras5-dev \ - libqt5opengl5-dev + libqt5opengl5-dev \ + xvfb } # Install Ubuntu 24.04 LTS packages diff --git a/tools/op.sh b/tools/op.sh index b4508f7ef7..8a8faaf237 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -328,6 +328,11 @@ function op_sim() { op_run_command exec tools/sim/launch_openpilot.sh } +function op_clip() { + op_before_cmd + op_run_command tools/clip/run.py $@ +} + function op_switch() { REMOTE="origin" if [ "$#" -gt 1 ]; then @@ -395,6 +400,7 @@ function op_default() { echo -e " ${BOLD}juggle${NC} Run PlotJuggler" echo -e " ${BOLD}replay${NC} Run Replay" echo -e " ${BOLD}cabana${NC} Run Cabana" + echo -e " ${BOLD}clip${NC} Run clip (linux only)" echo -e " ${BOLD}adb${NC} Run adb shell" echo "" echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}" @@ -445,6 +451,7 @@ function _op() { lint ) shift 1; op_lint "$@" ;; test ) shift 1; op_test "$@" ;; replay ) shift 1; op_replay "$@" ;; + clip ) shift 1; op_clip "$@" ;; sim ) shift 1; op_sim "$@" ;; install ) shift 1; op_install "$@" ;; switch ) shift 1; op_switch "$@" ;; From c5ba5c9c23595e35a2282b79b6a399a1686edf7a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Apr 2025 15:44:27 -0700 Subject: [PATCH 088/477] push back a couple weeks, cvpr release! --- RELEASES.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index ced7e3d4fc..3ff80ca4dc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,12 @@ -Version 0.9.9 (2025-04-30) +Version 0.9.9 (2025-05-15) ======================== * New driving model + * New training architecture supervised by MLSIM +* Steering actuator delay is now learned online * Tesla Model 3 and Y support thanks to lukasloetkolben! * Coming soon - * New driving model supervised by MLSIM - * An online learner for steering actuator delay + * New Honda models + * Bigger vision model Version 0.9.8 (2025-02-28) ======================== From 9f1e462faabdc000b5c574b0e38818bcd6068e88 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 30 Apr 2025 17:19:53 -0700 Subject: [PATCH 089/477] Tomb Raider 6 (#35087) * 5ec366c3-7883-4004-84a2-e4b14bac5b1d/400 * Use lat plan * fix import * fix * 8d0a1b3b-9972-4e53-b9c5-3e13e5e3e404/400 * whitespace * whitespace --- selfdrive/controls/lib/drive_helpers.py | 10 ++++++++++ selfdrive/modeld/modeld.py | 7 ++++--- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 4 files changed, 17 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 3f99f1bbbb..56eeac3bdf 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -62,3 +62,13 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0. should_stop = (v_target < vEgoStopping and v_target_1sec < vEgoStopping) return a_target, should_stop + +def curv_from_psis(psi_target, psi_rate, vego, action_t): + vego = np.clip(vego, MIN_SPEED, np.inf) + curv_from_psi = psi_target / (vego * action_t) + return 2*curv_from_psi - psi_rate / vego + +def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t): + psi_target = np.interp(action_t, t_idxs, yaws) + psi_rate = yaw_rates[0] + return curv_from_psis(psi_target, psi_rate, vego, action_t) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 9805506432..c1b3dd52d8 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -54,8 +54,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. ModelConstants.T_IDXS, action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - - desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], + plan[:, Plan.ORIENTATION_RATE][:, 2], + ModelConstants.T_IDXS, v_ego, lat_action_t) if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 2075792f4d..5b9b686829 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:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 -size 15578328 +oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5 +size 15588463 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 5e08b78472..0a7b4a803d 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:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 +oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e size 46265585 From 2ceafa2c5714e81de87e2fbba741d529fc7fbd13 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Thu, 1 May 2025 11:44:43 +0200 Subject: [PATCH 090/477] ci: Fix prebuilt label behavior (#864) * Refactor workflow to centralize branch source handling Moved branch resolution logic to a single `SOURCE_BRANCH` variable for consistency and readability. Updated related conditionals and parameters to use this new variable, reducing redundancy and improving maintainability of branch-specific configurations. * Refactor workflow to use repository-defined variables. Replaced hardcoded branch names with repository-defined variables for improved configurability and maintainability. This ensures flexibility by allowing changes via repository settings without modifying the workflow file. --- .../workflows/sunnypilot-build-prebuilt.yaml | 107 ++++++++++-------- 1 file changed, 59 insertions(+), 48 deletions(-) diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml index c203edfa75..6cd5023a17 100644 --- a/.github/workflows/sunnypilot-build-prebuilt.yaml +++ b/.github/workflows/sunnypilot-build-prebuilt.yaml @@ -8,14 +8,16 @@ env: PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot" # Branch configurations - MASTER_BRANCH: "master" - MASTER_NEW_BRANCH: "master-new" - DEV_C3_SOURCE_BRANCH: "master-dev-c3-new" + STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings. + DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings. # Target branch configurations - STAGING_TARGET_BRANCH: "staging-c3-new" - DEV_TARGET_BRANCH: "dev-c3-new" - RELEASE_TARGET_BRANCH: "release-c3-new" + STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings. + DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings. + RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings. + + # Runtime configuration + SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}" on: push: @@ -59,7 +61,7 @@ jobs: - uses: actions/checkout@v4 with: submodules: recursive - ref: ${{ github.head_ref || github.ref_name }} + ref: ${{ env.SOURCE_BRANCH }} repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }} - run: git lfs pull @@ -67,53 +69,62 @@ jobs: uses: actions/cache@v4 with: path: ${{env.SCONS_CACHE_DIR}} - key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }} + key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }} # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) # for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden. restore-keys: | - scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }} - scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }} - scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }} + scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }} + scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }} scons-${{ runner.os }}-${{ runner.arch }} - - name: Set Configuration - if: (!github.event.pull_request.head.repo.fork) + - name: Set Feature Branch Prebuilt Configuration + id: set_feature_configuration + if: ( + !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) && + !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) && + !(startsWith(github.ref, 'refs/tags/')) + ) run: | - if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then - # Dev configuration - echo "BRANCH_TYPE=dev" >> $GITHUB_ENV - echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV - echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV - echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV - - elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then - # Master configuration - echo "BRANCH_TYPE=master" >> $GITHUB_ENV - echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV - echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV - echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV - - elif [[ "${{ github.ref }}" == refs/tags/* ]]; then - # Tag configuration - echo "BRANCH_TYPE=tag" >> $GITHUB_ENV - echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV - echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV - echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV - - else - # Feature branch configuration - echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV - echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV - echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV - fi - - - name: Set Configuration (only forks) - if: (github.event.pull_request.head.repo.fork) - run: | - echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV - echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV + echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV + - name: Set dev-c3-new prebuilt Configuration + id: set_dev_configuration + if: ( + steps.set_feature_configuration.outcome == 'skipped' && + env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH + ) + run: | + echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV + echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV + echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV + + - name: Set staging-c3-new prebuilt Configuration + id: set_staging_configuration + if: ( + steps.set_feature_configuration.outcome == 'skipped' && + !contains(github.event_name, 'pull_request') && + steps.set_dev_configuration.outcome == 'skipped' && + (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) + ) + run: | + echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV + echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV + echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV + + - name: Set release-c3-new prebuilt Configuration + id: set_tag_configuration + if: ( + steps.set_feature_configuration.outcome == 'skipped' && + !contains(github.event_name, 'pull_request') && + steps.set_staging_configuration.outcome == 'skipped' && + startsWith(github.ref, 'refs/tags/') + ) + run: | + echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV + echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV + echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV + - name: Set environment variables id: set-env run: | @@ -278,12 +289,12 @@ jobs: - name: Send Discord Notification env: - DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }} + DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }} run: | TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}' export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}" export VERSION="${{ needs.build.outputs.version }}" - export branch_name=${{ github.head_ref || github.ref_name }} + export branch_name=${{ env.SOURCE_BRANCH }} export new_branch=${{ needs.build.outputs.new_branch }} export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}} echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json From 45b273328de61905f5c8f48d21e626ef831ff697 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 1 May 2025 11:42:49 -0700 Subject: [PATCH 091/477] Enable online lag learning (#34968) * Use in modeld * Use in torqued * Do not use default value in torqued * Add liveDelay in process replay * update ref --------- Co-authored-by: Bruce Wayne --- selfdrive/locationd/torqued.py | 7 ++++--- selfdrive/modeld/modeld.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 9 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index fcaa19df73..5ed86e457f 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets): class TorqueEstimator(ParameterEstimator): def __init__(self, CP, decimated=False, track_all_points=False): self.hist_len = int(HISTORY / DT_MDL) - self.lag = CP.steerActuatorDelay + .2 # from controlsd + self.lag = 0.0 self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters if decimated: self.min_bucket_points = MIN_BUCKET_POINTS / 10 @@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["steer_override"].append(msg.steeringPressed) elif which == "liveCalibration": self.calibrator.feed_live_calib(msg) - + elif which == "liveDelay": + self.lag = msg.lateralDelay # calculate lateral accel from past steering torque elif which == "livePose": if len(self.raw_points['steer_torque']) == self.hist_len: @@ -241,7 +242,7 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose') params = Params() estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index c1b3dd52d8..dde742f159 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -221,7 +221,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) publish_state = PublishState() params = Params() @@ -248,7 +248,6 @@ def main(demo=False): # TODO this needs more thought, use .2s extra for now to estimate other delays # TODO Move smooth seconds to action function - lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -292,6 +291,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) + lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 6139846322..3183db0c3a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -568,7 +568,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"], + pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, @@ -577,7 +577,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"], + pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"], subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f8610d58f..3dd3eab25f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4c7ac1a362933af9d97697979162087c1ab2584b \ No newline at end of file +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file From afcd031cf1daca1e4ff8b49b0004f44bdda49699 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 1 May 2025 13:59:07 -0700 Subject: [PATCH 092/477] [bot] Update Python packages (#35095) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 3262 +++++++++++++++++++++++++------------------------- 2 files changed, 1632 insertions(+), 1632 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b35c84f07c..0d3b96f1db 160000 --- 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Smiskol Date: Thu, 1 May 2025 20:26:28 -0700 Subject: [PATCH 093/477] Tesla: move steering disengage to generic param (#35097) * add event * fix * for now don't change * bump to master --- cereal/log.capnp | 1 + opendbc_repo | 2 +- selfdrive/car/car_specific.py | 2 ++ selfdrive/selfdrived/events.py | 5 +++++ 4 files changed, 9 insertions(+), 1 deletion(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index a5828d61cb..6b5398405c 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { preEnableStandstill @12; # added during pre-enable state with brake gasPressedOverride @13; # added when user is pressing gas with no disengage on gas steerOverride @14; + steerDisengage @94; # exits active state cruiseDisabled @15; speedTooLow @16; outOfSpace @17; diff --git a/opendbc_repo b/opendbc_repo index 0d3b96f1db..7b87e9069c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0d3b96f1dbb6d6318b123e6c481248685c805f18 +Subproject commit 7b87e9069c387ee27187efac45cdff42f3378e20 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 2d69d3d590..bbecc6e688 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -191,6 +191,8 @@ class CarSpecificEvents: events.add(EventName.accFaulted) if CS.steeringPressed: events.add(EventName.steerOverride) + if CS.steeringDisengage: + events.add(EventName.steerDisengage) if CS.brakePressed and CS.standstill: events.add(EventName.preEnableStandstill) if CS.gasPressed: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index ee2c418b6e..c187ed474a 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -670,6 +670,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { visual_alert=VisualAlert.brakePressed), }, + EventName.steerDisengage: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Steering Pressed"), + }, + EventName.preEnableStandstill: { ET.PRE_ENABLE: Alert( "Release Brake to Engage", From e972a47b9389ea172433a7d68a40cc9abfe8952f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 1 May 2025 20:27:14 -0700 Subject: [PATCH 094/477] CI: check submodules after tests (#35100) release: check submodules after tests --- .github/workflows/selfdrive_tests.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 25fc258634..3edb6c2981 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -51,10 +51,6 @@ jobs: timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - uses: ./.github/workflows/setup-with-retry - - name: Check submodules - if: github.repository == 'commaai/openpilot' - timeout-minutes: 3 - run: release/check-submodules.sh - name: Build openpilot and run checks timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | @@ -65,6 +61,10 @@ jobs: run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh" + - name: Check submodules + if: github.repository == 'commaai/openpilot' + timeout-minutes: 3 + run: release/check-submodules.sh build: runs-on: From c86204ce6df7207c4d3db8328c0b20cff625cf47 Mon Sep 17 00:00:00 2001 From: dparring <114614741+dparring@users.noreply.github.com> Date: Thu, 1 May 2025 23:28:06 -0500 Subject: [PATCH 095/477] FCA: Ram 1500 improvements (#797) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * FCA: Ram 1500 improvements * updating reference to my opendbc * syncing latest opendbc * move to car_specific_sp * bump * Realfast ram1500 (#1) * Bump tinygrad to upstream master (#34973) bump tg * test_onroad: test liveParameters service timing (#34977) Add live params to test onroad * selfdrived: remove ignored processes list (#34978) * selfdrived: remove ignored processes list * it's a set * calibrationd: read carParams from Params (#34981) * Read CarParams once from Params * Remove it from process replay * locationd: make pose_kf inherit from KalmanFilter (#34982) * Read message not json for initial state * Delete lines * Fix param * MADS: prevent `wrongCarMode` from disabling MADS enabled state (#792) * MADS: prevent `wrongCarMode` from disabling MADS enabled state Add wrongCarModeNoEntry as a NO_ENTRY event to replace wrongCarMode (USER_DISABLE) that would incorrectly disable MADS when in the wrong car mode. Provides contextual guidance to users based on car brand, showing appropriate instructions for re-engagement without requiring MADS to be re-enabled. * move down * warning only? * cereal SIKE * remove duplicate * try this out * final * Readme: update with links to new branches and info about rewrite and reflash agnos (#795) * Adding the new branches info and adding a warning to reflash agnos * Using more blockquote * it --------- Co-authored-by: Stupefacient * agnos 11.13 (#34980) * agnos 11.12 * new build * Multilang: Update pt-BR translation (#34983) * [bot] Update Python packages (#34987) Update Python packages Co-authored-by: Vehicle Researcher * Multilang: Update ja translation (#34986) * 日本語訳2025/3/19 * numerusform追加。 * connect to an unmetered networkに対応 * panda是正 * opendbc_repo是正 * Multilang: Update zh translation (#34985) * update to latest userdata partition (#34990) update * paramsd: cache backwards compatibility (#34991) * LiveParametersV2 key * Param key * Fix tests * Remove old params if error * Update exception message * Update the test * Add test for corrupted byte format in v1 * Rename params_reader => params * hardwared: give stuck LTE connections a kick This reverts commit e3e694096a3a79e663712797e559e729e6818c7c. * Revert "hardwared: give stuck LTE connections a kick" This reverts commit e4aa346259d9be4713c0d6b7bcd49ac88c277c1f. * process_replay: fix GM and replace TOYOTA3 (#34996) * Add volt and bolt param migration * Remove mazda due to invalid sensor timings * Fix the import * Add mazda to excluded * Bring back mazda, but add todo * New segment for TOYOTA3 * Fix * Update ref commit * bump opendbc * test_models: update relay malfunction check (#34999) relay is checked in fwd hook * process_replay: remove GM (volt) (#35000) Remove volt segment * Revert "test_models: update relay malfunction check" (#35002) Revert "test_models: update relay malfunction check (#34999)" This reverts commit 2cd0079abef0f654541dfc894e97b02829163577. * Reapply "Online lateral lag learning" (#34975) * Online lateral lag learning (#34974) This reverts commit b4cc9e68d126c2219a7ddf33519e222fe8bfe00d. * pad to the best size for fft * Fix static analysis * Add typing * Fix typing * MAX_LAG * Calculate cross correlation regardless if the points are valid * Back to lagd * Add lagd to process_config * Lagd in test onroad * Move lag estimator for lagd * Remove duplicate entry from test_onroad * Update process replay * pre-fill the data * Update cpu usage * 25sec window * Change the meaning of lateralDelayEstimate * No newline * Fix typing * Prefill * Update ref commit * Add a unit test * Fix static issues * Time limit * Or timeout * Use mocker * Update estimate every time * empty test * DT const * enable RIVIAN again * Update ref commit * Update that again * Improve the tests * Fix static * Add masking test * Increase timeout * Add liveDelay to selfdrived * Add liveDelay to selfdrived in process_replay * Fix block_avg restore after num_blocks * regen most * Update bolt * Update ref commit * Change the key name * Add assert * True weighted average * Raise thermal setpoint (#35008) We don't need to control all the way down to 70C * UI: Update `AbstractControlSP_SELECTOR` and `OptionControlSP` (#800) * controls * Adjust label width dynamically based on layout type. Updated the label's fixed width to be conditional on the layout type, improving adaptability for different inline layouts. Additionally, corrected indentation in the width calculation loop for consistency. * Refactor OptionControlSP to improve parameter value handling and encapsulate logic in dedicated methods * Refactor getParamValue to return an integer and ensure value is updated correctly in button click handler * Trying to unify a bit the logic. still WIP * Reducing a bit the change footprint * Refactor spacing item handling to prevent duplicate insertion and improve layout management --------- Co-authored-by: DevTekVE * bump panda * Radard: vision-based yRel for Hyundai single-lead systems (#805) Introduced processing for custom yRel values using HyundaiFlagsSP when the enhanced SCC flag is enabled. Updated `radard` to handle `CarParamsSP` and make necessary adjustments for Hyundai vehicles with specific SCC configurations. * MADS: transition to soft-disable for specific gear states (#791) * MADS: transition to soft-disable for specific gear states This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system. * structs * UI: Device & Sunnylink Panels - Standardize push button size & alignment (#806) * layout adjustments * sunnylink_panel --------- Co-authored-by: Jason Wen * [bot] Update Python packages (#35012) * Update Python packages * update refs --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol * ci: Remove redundant Panda build step from prebuilt workflow (#810) The Panda build step was unnecessary as it is not utilized in this workflow. This change simplifies the workflow and reduces redundant actions, improving efficiency. * Device: Customizable Max Time Offroad (#796) * Max Time Offroad * Refactor & Fix param * Error Handling * rename SP variable * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE * Update selfdrive/ui/sunnypilot/qt/widgets/controls.h Co-authored-by: DevTekVE * Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc Co-authored-by: DevTekVE * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h Co-authored-by: DevTekVE * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc Co-authored-by: DevTekVE * UI layout changes for better alignment selector is not big enough -> make it bigger ;) OptionControlSP now includes a QMap argument to allow actual values to be set in param directly * Rebase & resolve reviews * change default to be closer to OP default * me dumb * MaxTimeOffroad: Add support for 30h limit and improve label formatting * power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity * test: Add unit tests for MaxTimeOffroad parameter handling * power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic * power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad --------- Co-authored-by: DevTekVE Co-authored-by: Jason Wen * Hyundai longitudinal: Parse lead info for camera-based SCC platforms (#809) * Hyundai longitudinal: Parse lead info for camera-based SCC platforms * fix * update * bump * update tests * lol why is this here * bump --------- Co-authored-by: DevTekVE Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> * Models: point to v2 of driving models json for recompiled models (#817) Use newer model version json since they have been recompiled * ci: update squash script for external contributors (#811) * Get head ref info * Simpify adding the comment with the newest flagg by gh cli * Dynamic origin * Enhance PR processing: add label handling for forked PRs and improve variable naming * Refactor PR label handling: use constant for trust-fork label and improve comments * Fix remote addition in PR processing: change subprocess call to not check for errors * Refactor PR comment handling: support multiple comments and improve clarity * Refactor PR processing: streamline comment handling and improve error management * Refactor add_pr_comments function: specify comments type as list of strings * Maybe we don't prevent "behind" branches to be merged as lon as the PR itself is mergeable * lint, leave me alone --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> * sunnylink: fix sunnylink backup restore version parsing (#816) * improvement * fix: Improve version parsing logic for sunnypilot --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen * DM: Enforce monitoring of MADS state in driver monitoring (#818) * DM: Enforce monitoring of MADS state in driver monitoring Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling. * how * [bot] Update Python packages (#35017) Update Python packages Co-authored-by: Vehicle Researcher * Rename experimental long (#35011) * now alpha long * fix * rename param * thought i did this * debug * debug * more * more * moar * Revert "moar" This reverts commit e347106246583982e1be206485ad4d8eb944f817. * Revert "more" This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1. * Revert "more" This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453. * Revert "debug" This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63. * Revert "debug" This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb. * Temporary disable UI preview from CI (#35018) disable * Update Python packages (#819) * Fix possible CAN ignition overlap due to incorrect counter tracking (#35019) * fix-rivian-ign * bump * UI: Bugfix Max Time Offroad (#820) bugfixes Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> * CI: Improve `dev-c3-new` auto build (#825) * force commit to force PR * ci: add job to manage PR labels and remove trust label on new commits * Add pull request trigger * empty commit to test * ci: update pull request label management logic and remove FORCE_RUN flag * ci: update trust label management to use TRUST_FORK_PR_LABEL * ci: update workflow to manage PR labels and adjust trigger conditions * ci: rename jobs in workflow for consistency and clarity * ci: add unleash-nightly-squash branch to workflow * ci: add checkout step with GITHUB_TOKEN to workflow * force wait * what happens if negated the wait * ci: add 'Wait for Tests' action to monitor workflow execution * ci: update wait-for-tests action conditions and cleanup * ci: refine conditions for managing PR labels and waiting for tests * ci: enhance PR label conditions for workflow execution * Cant use env on if * maybe * ci: update pull request workflow conditions and cleanup * Missing end of line * ci: rename workflow and update job name for clarity * Cleaning * ci: refine conditions for pull request handling in workflow * ci: update handling of TRUST_FORK_LABEL in PR processing * ci: remove fork trust warning from PR processing --------- Co-authored-by: Jason Wen * CI: Update PR list query to exclude draft pull requests (#829) * lagd: check sensors valid (#35027) * Check if sensors valid * Fix test * Fix static * Constants * time buffer for pose valid * Fix static * Revert "DM: Enforce monitoring of MADS state in driver monitoring" (#830) Revert "DM: Enforce monitoring of MADS state in driver monitoring (#818)" This reverts commit 3615b1a20371c8e074f591030fb56c770db7c08c. * DM: Enforce monitoring of MADS state in driver monitoring (#831) * DM: Enforce monitoring of MADS state in driver monitoring Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling. * how * okay, only when active * ui(raylib): update spinner progress bar to match Qt (#35028) * lagd: estimate std (#35009) * Std * Fix static * Refactor * Assert std zero * update * ui(raylib): fix typos (#35030) * Update modeld action logic (#35032) * add action logic * magic numbers * unused * plot accel * more changes * lagd: check for validity of the estimate when restoring state (#35034) Do not restore if invalid * Multilang: Update de translation (#35025) added missing German translations * Tomb raider 2 (#35029) * db56b8fb-9135-4ab6-af18-99b7df7b2245/400 * fixes * linter unhappy * 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400 * This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400 * Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400 * Actually end-to-end * typo * smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360 * Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360" This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f. * 11632ef7-f555-489c-8480-e3bf97d9285e/400 * 08712d27-f6bd-4536-a30e-c729e5f62356/400 * 0a92a35e-1f72-476a-8cb6-c9f103f36822/400 * ee6d2394-2072-420c-a664-b4c0d4ed0b61/400 * no prev curv * No double work * fix bug * smooth * update prev action * whitespace * add little accel * new ref * Update plant.py * DEC: adjust dynamic speed adaptation parameters (#813) * early and better * Update sunnypilot/selfdrive/controls/lib/dec/constants.py --------- Co-authored-by: Jason Wen Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> * OS04C10: use IFE downscaler for road cameras (#35023) * squashh * wrong * clean up * rename * process replay migration: fix longitudinalPlan (#35035) * ci: ui preview add unicode characters and emojis (#835) Add unicode characters and emojis! * ui(raylib): update text window font, new lines and indentation (#35031) * NNLC: decreased low-speed factor (#822) * NNLC: decreased low-speed factor * np.float to float * format * add tests for sanity check --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen * ui(raylib): calculate spinner progress in set_text (#35036) * bugfix: Auto lane change - Add mode to disable lane changes (#826) * off is off * sugg * line * Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py --------- Co-authored-by: Jason Wen Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: DevTekVE * NNLC: use `safe_exp` to prevent overflow in `sigmoid` (#836) * test * prevent overflowing * unused * NNLC: fix weak torque in high lat-accel turns (#823) * NNLC: fix weak torque in high lat-accel turns * np.float to float --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen * ci: trigger prebuilt builds via label from PR * ci: enhance pull request handling for prebuilt workflows * ci: add wait-for-action step to monitor selfdrive_tests workflow * ci: add validation job to monitor selfdrive_tests for prebuilt workflows * test * force negative condition to validate flow * force negative condition to validate flow * ci: add wait_for_tests input to control selfdrive_tests workflow execution * ci: update description for wait_for_tests input in workflow * Cleaning * Remove PR label when triggered by the label * Rename * Changing to target and only caring about labeled for the time being * gh action needs cancelled not canceled * Line ending * ci: avoid deadlock on dev-c3 branch build when PR labeled dev-c3 (#839) * ci: enhance PR checks to validate individual check runs before merging and ignore reset-and-squash as candidate for fail * reset and squash script shouldn't will be cancelled only if a push to master has been made which always should take priority. The rest will be put on hold to avoid parallel squash scripts running * Set concurrencty at workflow level? * Set concurrencty at workflow level? * change trigger to pull_request to validate * Reducing the types of "pull request" events * Keep it as target * Playing eith run name a little * Change to pull request not target * simplifying * set to just pull request without target * maintain as pull request target * ci: update auto pr review config and split turst fork pr (#842) * Updating auto pr labeler * auto pr review revamp * Leaving event as pull request :) * Check permission * add chore * Bringing back as original * ci: bugfix flipped contains check for pull requests * ci: bugfix cancelling only when push to master or workflow dispatch. Otherwise don't let it cancel as it seems that when running with pull_request_target we are with ref pointing to target and thus the cancel condition was being met * ui(raylib): constant spinner rotation speed (#35037) * ci: improve conditions for publish and notify steps in workflow (#844) * [bot] Update translations (#35040) Update translations Co-authored-by: Vehicle Researcher * Long planner: make work with training (#35043) * revert useless * update ref * Modeld: small refactor (#35044) refactor * update smooth * raylib: init updater (#35045) * raylib: init updater * cleanup * Revert "OS04C10: use IFE downscaler for road cameras" (#35046) Revert "OS04C10: use IFE downscaler for road cameras (#35023)" This reverts commit 3b60b22ceeb090812e5fa948ac6e56442d681dc4. * Tomb Raider 3 (#35042) * 92b64884-4506-4a03-87ad-33e1a177fe73/400 * faster lat * DM: Use `carControl.latActive` for MADS DM monitoring (#845) * ci: fixes for trigger conditions on sync (#847) pull_request_target is needed for security, but at the same time it makes life a little harder because the ref is different so we need to do some work to make sure we get what we are supposed to get * ui(raylib): reduce spinner rotation artifact (#35048) * ui(raylib): reduce spinner rotation artifact A visual artifact (white pixels) appeared on the edge of the rotating spinner track texture, likely due to RGB color bleed during bilinear filtering in Raylib. Pre-multiplying the alpha channel of the spinner track image using `rl.image_alpha_premultiply` significantly reduces the visibility of the artifact. * lint * ui(raylib): increase font size and wrap text in spinner (#35049) - Wrap text onto separate lines - Increase font size to be closer to Qt - Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text` Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered * ui(raylib): update spinner vertical pos (#35051) Adjust the spinner vertical position when displaying text or a progress bar - When displaying the progress bar, center the comma logo and spinner in the middle of the screen - When displaying text, center the entire content vertically Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]` * ui(raylib): "exit" btn in text window on PC (#35052) * ui(raylib): "exit" btn in text window on PC * unused import * Revert "ui(raylib): "exit" btn in text window on PC (#35052)" This reverts commit f9767d265010101f123dcdc261206cb7be8bb5d8. * plotjuggler: support relative paths (#35054) * Support relative paths * Abspath for rlog too * Reapply "ui(raylib): "exit" btn in text window on PC" (#35053) * ui(raylib): "exit" btn in text window on PC * unused import * request close * this was missing * Disable low speed steer in modeld (#35056) * disable low speed steer * No steer under * TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850) neural_network_data: TOYOTA_RAV4_PRIME NNLC tuning gen 1 * SL: updating localproxy implementation (#841) * Adding capabilities to route localProxy via sunnylink * Undo * Thx lint * get api token * cert is not valid when it's an IP. Still use cert, but don't validate * move to car_specific_sp * bump --------- Co-authored-by: Harald Schäfer Co-authored-by: Kacper Rączy Co-authored-by: Adeeb Shihadeh Co-authored-by: Jason Wen Co-authored-by: DevTekVE Co-authored-by: Stupefacient Co-authored-by: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com> Co-authored-by: Vehicle Researcher Co-authored-by: programanichiro <99449198+programanichiro@users.noreply.github.com> Co-authored-by: eFini Co-authored-by: Maxime Desroches Co-authored-by: Shane Smiskol Co-authored-by: Robbe Derks Co-authored-by: Nayan Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Cameron Clough Co-authored-by: niko001 Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com> Co-authored-by: ZwX1616 Co-authored-by: YassineYousfi Co-authored-by: Tim Wilson Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: Warren Togami * fixing missing event * more event fixes * fixing spacing * more fixes * revert * update * update * update * reverting unneeded event * S P A C I N G * bumping opendbc * bump * Update sunnypilot/selfdrive/car/car_specific.py * Update sunnypilot/selfdrive/car/car_specific.py --------- Co-authored-by: Jason Wen Co-authored-by: Harald Schäfer Co-authored-by: Kacper Rączy Co-authored-by: Adeeb Shihadeh Co-authored-by: DevTekVE Co-authored-by: Stupefacient Co-authored-by: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com> Co-authored-by: Vehicle Researcher Co-authored-by: programanichiro <99449198+programanichiro@users.noreply.github.com> Co-authored-by: eFini Co-authored-by: Maxime Desroches Co-authored-by: Shane Smiskol Co-authored-by: Robbe Derks Co-authored-by: Nayan Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Cameron Clough Co-authored-by: niko001 Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com> Co-authored-by: ZwX1616 Co-authored-by: YassineYousfi Co-authored-by: Tim Wilson Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: Warren Togami --- opendbc_repo | 2 +- selfdrive/selfdrived/selfdrived.py | 2 +- sunnypilot/selfdrive/car/car_specific.py | 31 ++++++++++++++++++++---- 3 files changed, 28 insertions(+), 7 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 63fbea047b..ac089b6314 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 63fbea047be715cb772701270e66eddda49433a4 +Subproject commit ac089b63147450275e2dd3d261463ff992271d6a diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 36d1b27044..0b825869f4 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -198,7 +198,7 @@ class SelfdriveD(CruiseHelper): car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg() self.events.add_from_msg(car_events) - car_events_sp = self.car_events_sp.update().to_msg() + car_events_sp = self.car_events_sp.update(CS, self.events).to_msg() self.events_sp.add_from_msg(car_events_sp) if self.CP.notCar: diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py index 057f79cf0c..649aceca01 100644 --- a/sunnypilot/selfdrive/car/car_specific.py +++ b/sunnypilot/selfdrive/car/car_specific.py @@ -5,12 +5,16 @@ This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from cereal import custom +from cereal import log, custom from opendbc.car import structs +from opendbc.car.chrysler.values import RAM_DT +from openpilot.selfdrive.selfdrived.events import Events from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP +EventName = log.OnroadEvent.EventName EventNameSP = custom.OnroadEventSP.EventName +GearShifter = structs.CarState.GearShifter class CarSpecificEventsSP: @@ -18,6 +22,7 @@ class CarSpecificEventsSP: self.CP = CP self.params = params + self.low_speed_alert = False self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks") self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed") @@ -25,10 +30,26 @@ class CarSpecificEventsSP: self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks") self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed") - def update(self): - events = EventsSP() + def update(self, CS: structs.CarState, events: Events): + events_sp = EventsSP() + + if self.CP.brand == 'chrysler': + if self.CP.carFingerprint in RAM_DT: + # remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic + if events.has(EventName.belowSteerSpeed): + events.remove(EventName.belowSteerSpeed) + + # TODO-SP: use if/elif to have the gear shifter condition takes precedence over the speed condition + # TODO-SP: add 1 m/s hysteresis + if CS.vEgo >= self.CP.minEnableSpeed: + self.low_speed_alert = False + if CS.gearShifter != GearShifter.drive: + self.low_speed_alert = True + if self.low_speed_alert: + events.add(EventName.belowSteerSpeed) + if self.CP.brand == 'hyundai': if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed: - events.add(EventNameSP.hyundaiRadarTracksConfirmed) + events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed) - return events + return events_sp From b58552542d29bce3c8ae17a2c940dbf935197aed Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 1 May 2025 22:10:16 -0700 Subject: [PATCH 096/477] Tesla safety: fix high angle rate fault and enforce steering disengage via safety (#35101) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 7b87e9069c..6af5ad8dd5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7b87e9069c387ee27187efac45cdff42f3378e20 +Subproject commit 6af5ad8dd5de3b890d2812cc19b063caae858b31 From b4c3e4d4d9b841a40f5ae43d5759bb2dc1bdc37b Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Fri, 2 May 2025 16:25:23 +0200 Subject: [PATCH 097/477] models: Remove local model compilation for modeldv2 (#868) * Remove supercombo model ONNX file. Deleted the large `supercombo.onnx` model file from the repository. This cleanup reduces repository size and dependency on unused or outdated files for this version. * Disable tinygrad model compilation on macos temporarily * Remove unused dmonitoring model file. Deleted the ONNX model for dmonitoring as it is no longer required. This eliminates unnecessary assets and reduces repository size. * Removing the model also from the snpe build, we have them, prebuilt --- selfdrive/modeld/SConscript | 10 +- sunnypilot/modeld/SConscript | 12 -- sunnypilot/modeld/models/supercombo.onnx | 3 - sunnypilot/modeld_v2/SConscript | 18 -- sunnypilot/modeld_v2/dmonitoringmodeld | 4 - sunnypilot/modeld_v2/dmonitoringmodeld.py | 192 ------------------ .../models/dmonitoring_model.current | 2 - .../modeld_v2/models/dmonitoring_model.onnx | 3 - sunnypilot/modeld_v2/models/supercombo.onnx | 3 - 9 files changed, 6 insertions(+), 241 deletions(-) delete mode 100644 sunnypilot/modeld/models/supercombo.onnx delete mode 100755 sunnypilot/modeld_v2/dmonitoringmodeld delete mode 100755 sunnypilot/modeld_v2/dmonitoringmodeld.py delete mode 100644 sunnypilot/modeld_v2/models/dmonitoring_model.current delete mode 100644 sunnypilot/modeld_v2/models/dmonitoring_model.onnx delete mode 100644 sunnypilot/modeld_v2/models/supercombo.onnx diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index cecebfa18b..0c04ec2823 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -47,8 +47,10 @@ elif arch == 'Darwin': else: device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0' -for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - fn = File(f"models/{model_name}").abspath - cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' - lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd) +# TODO-SP: after 15.4 it's not possible to compile models locally on mac https://discord.com/channels/469524606043160576/1362735424644055230 +if arch != 'Darwin': + for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: + fn = File(f"models/{model_name}").abspath + cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd) diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript index 1a54fe1e32..bebd2de953 100644 --- a/sunnypilot/modeld/SConscript +++ b/sunnypilot/modeld/SConscript @@ -52,15 +52,3 @@ commonmodel_lib = lenv.Library('commonmodel', common_src) lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) - -tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)] - -# Get model metadata -fn = File("models/supercombo").abspath -cmd = f'python3 {Dir("#sunnypilot/modeld").abspath}/get_model_metadata.py {fn}.onnx' -lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) - -if arch == "larch64": - thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl']) - thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) - lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL']) diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx deleted file mode 100644 index 8b7126c44a..0000000000 --- a/sunnypilot/modeld/models/supercombo.onnx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154 -size 62486347 diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript index 1a173dcdeb..4ade1469f0 100644 --- a/sunnypilot/modeld_v2/SConscript +++ b/sunnypilot/modeld_v2/SConscript @@ -29,22 +29,4 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor cython_libs = envCython["LIBS"] + libs commonmodel_lib = lenv.Library('commonmodel', common_src) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] - -# Get model metadata -fn = File("models/supercombo").abspath -cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/get_model_metadata.py {fn}.onnx' -lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) - -# Compile tinygrad model -pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' -if arch == 'larch64': - device_string = 'QCOM=1' -else: - device_string = 'CLANG=1 IMAGE=0' - -for model_name in ['supercombo', 'dmonitoring_model']: - fn = File(f"models/{model_name}").abspath - cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' - lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd) diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld b/sunnypilot/modeld_v2/dmonitoringmodeld deleted file mode 100755 index 90b43800fe..0000000000 --- a/sunnypilot/modeld_v2/dmonitoringmodeld +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -exec "$DIR/dmonitoringmodeld.py" "$@" diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld.py b/sunnypilot/modeld_v2/dmonitoringmodeld.py deleted file mode 100755 index 4469618c88..0000000000 --- a/sunnypilot/modeld_v2/dmonitoringmodeld.py +++ /dev/null @@ -1,192 +0,0 @@ -#!/usr/bin/env python3 -import os -from openpilot.system.hardware import TICI -if TICI: - from tinygrad.tensor import Tensor - from tinygrad.dtype import dtypes - from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address - os.environ['QCOM'] = '1' -else: - from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner -import math -import time -import pickle -import ctypes -import numpy as np -from pathlib import Path -from setproctitle import setproctitle - -from cereal import messaging -from cereal.messaging import PubMaster, SubMaster -from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.common.swaglog import cloudlog -from openpilot.common.realtime import config_realtime_process -from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE -from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import CLContext, MonitoringModelFrame -from openpilot.sunnypilot.modeld_v2.parse_model_outputs import sigmoid -from openpilot.system import sentry - -MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE -CALIB_LEN = 3 -FEATURE_LEN = 512 -OUTPUT_SIZE = 84 + FEATURE_LEN - -PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" -SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') -MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx' -MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' - - -class DriverStateResult(ctypes.Structure): - _fields_ = [ - ("face_orientation", ctypes.c_float*3), - ("face_position", ctypes.c_float*3), - ("face_orientation_std", ctypes.c_float*3), - ("face_position_std", ctypes.c_float*3), - ("face_prob", ctypes.c_float), - ("_unused_a", ctypes.c_float*8), - ("left_eye_prob", ctypes.c_float), - ("_unused_b", ctypes.c_float*8), - ("right_eye_prob", ctypes.c_float), - ("left_blink_prob", ctypes.c_float), - ("right_blink_prob", ctypes.c_float), - ("sunglasses_prob", ctypes.c_float), - ("occluded_prob", ctypes.c_float), - ("ready_prob", ctypes.c_float*4), - ("not_ready_prob", ctypes.c_float*2)] - - -class DMonitoringModelResult(ctypes.Structure): - _fields_ = [ - ("driver_state_lhd", DriverStateResult), - ("driver_state_rhd", DriverStateResult), - ("poor_vision_prob", ctypes.c_float), - ("wheel_on_right_prob", ctypes.c_float), - ("features", ctypes.c_float*FEATURE_LEN)] - - -class ModelState: - inputs: dict[str, np.ndarray] - output: np.ndarray - - def __init__(self, cl_ctx): - assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) - - self.frame = MonitoringModelFrame(cl_ctx) - self.numpy_inputs = { - 'calib': np.zeros((1, CALIB_LEN), dtype=np.float32), - } - - if TICI: - self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} - with open(MODEL_PKL_PATH, "rb") as f: - self.model_run = pickle.load(f) - else: - self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH) - - def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]: - self.numpy_inputs['calib'][0,:] = calib - - t1 = time.perf_counter() - - input_img_cl = self.frame.prepare(buf, transform.flatten()) - if TICI: - # The imgs tensors are backed by opencl memory, only need init once - if 'input_img' not in self.tensor_inputs: - self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8) - else: - self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT)) - - if TICI: - output = self.model_run(**self.tensor_inputs).numpy().flatten() - else: - output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten() - - t2 = time.perf_counter() - return output, t2 - t1 - - -def fill_driver_state(msg, ds_result: DriverStateResult): - msg.faceOrientation = list(ds_result.face_orientation) - msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] - msg.facePosition = list(ds_result.face_position[:2]) - msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] - msg.faceProb = float(sigmoid(ds_result.face_prob)) - msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob)) - msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob)) - msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob)) - msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob)) - msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob)) - msg.occludedProb = float(sigmoid(ds_result.occluded_prob)) - msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob] - msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob] - - -def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float): - model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents - msg = messaging.new_message('driverStateV2', valid=True) - ds = msg.driverStateV2 - ds.frameId = frame_id - ds.modelExecutionTime = execution_time - ds.gpuExecutionTime = gpu_execution_time - ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob)) - ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob)) - ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' - fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) - fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) - return msg - - -def main(): - setproctitle(PROCESS_NAME) - config_realtime_process([0, 1, 2, 3], 5) - - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - - cl_context = CLContext() - model = ModelState(cl_context) - cloudlog.warning("models loaded, dmonitoringmodeld starting") - - cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) - while not vipc_client.connect(False): - time.sleep(0.1) - assert vipc_client.is_connected() - cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") - - sm = SubMaster(["liveCalibration"]) - pm = PubMaster(["driverStateV2"]) - - calib = np.zeros(CALIB_LEN, dtype=np.float32) - model_transform = None - - while True: - buf = vipc_client.recv() - if buf is None: - continue - - if model_transform is None: - cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye - model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32) - - sm.update(0) - if sm.updated["liveCalibration"]: - calib[:] = np.array(sm["liveCalibration"].rpyCalib) - - t1 = time.perf_counter() - model_output, gpu_execution_time = model.run(buf, calib, model_transform) - t2 = time.perf_counter() - - pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time)) - - -if __name__ == "__main__": - try: - main() - except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") - except Exception: - sentry.capture_exception() - raise diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.current b/sunnypilot/modeld_v2/models/dmonitoring_model.current deleted file mode 100644 index 121871ef2b..0000000000 --- a/sunnypilot/modeld_v2/models/dmonitoring_model.current +++ /dev/null @@ -1,2 +0,0 @@ -fa69be01-b430-4504-9d72-7dcb058eb6dd -d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6 diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx b/sunnypilot/modeld_v2/models/dmonitoring_model.onnx deleted file mode 100644 index dcc727510e..0000000000 --- a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb -size 7196502 diff --git a/sunnypilot/modeld_v2/models/supercombo.onnx b/sunnypilot/modeld_v2/models/supercombo.onnx deleted file mode 100644 index 4c9f795574..0000000000 --- a/sunnypilot/modeld_v2/models/supercombo.onnx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a -size 51461700 From 6151abe08a5abe4397a9a286bce40585725e562d Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Fri, 2 May 2025 18:05:26 +0200 Subject: [PATCH 098/477] ci: Add error handling for failed workflow run (#869) Enhance action to fail on non-successful workflow runs Add logic to check the conclusion of the watched workflow run. If the run ends with a non-successful status, the action now exits with an error to improve error handling and ensure reliability. Co-authored-by: Jason Wen --- .github/workflows/wait-for-action/action.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml index 574ef15186..9cde4cf076 100644 --- a/.github/workflows/wait-for-action/action.yaml +++ b/.github/workflows/wait-for-action/action.yaml @@ -40,5 +40,13 @@ runs: RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId') echo "Watching run ID: $RUN_ID" gh run watch "$RUN_ID" + + CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion') + echo "Run concluded with: $CONCLUSION" + + if [[ "$CONCLUSION" != "success" ]]; then + echo "❌ Workflow run failed with conclusion: $CONCLUSION" + exit 1 + fi env: GITHUB_TOKEN: ${{ inputs.github-token }} From e1d2360b8c1669ef664f4fc677c7da3023414bee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 2 May 2025 10:17:40 -0700 Subject: [PATCH 099/477] Revert: Tomb Raider 6 (#35105) --- selfdrive/modeld/modeld.py | 7 +++---- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index dde742f159..25bb190fcd 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -54,9 +54,8 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. ModelConstants.T_IDXS, action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], - plan[:, Plan.ORIENTATION_RATE][:, 2], - ModelConstants.T_IDXS, v_ego, lat_action_t) + + desired_curvature = model_output['desired_curvature'][0, 0] if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 5b9b686829..2075792f4d 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 sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5 -size 15588463 +oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 +size 15578328 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 0a7b4a803d..5e08b78472 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:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e +oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 size 46265585 From a1ec8c6bfe93d5af4a4236291bec1335a874ec24 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 May 2025 20:23:30 -0700 Subject: [PATCH 100/477] test models: check steering disengage matches for Tesla (#35107) test models: check steering disengage matches for tesla --- selfdrive/car/tests/test_models.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 53f2bb586d..0a4784aca8 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -330,6 +330,7 @@ class TestCarModelBase(unittest.TestCase): prev_panda_gas = self.safety.get_gas_pressed_prev() prev_panda_brake = self.safety.get_brake_pressed_prev() prev_panda_regen_braking = self.safety.get_regen_braking_prev() + prev_panda_steering_disengage = self.safety.get_steering_disengage_prev() prev_panda_vehicle_moving = self.safety.get_vehicle_moving() prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min() prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max() @@ -357,6 +358,9 @@ class TestCarModelBase(unittest.TestCase): if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) + if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage: + self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev()) + if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) @@ -432,6 +436,7 @@ class TestCarModelBase(unittest.TestCase): brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() + checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. From df4f2955dc16325472322522b12a8db5347f52fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 2 May 2025 20:54:42 -0700 Subject: [PATCH 101/477] Revert TR (#35110) * Revert "Tomb raider 2 (#35029)" This reverts commit 2c162d9b75ae4e77bdf5bc3225e880d352ec0f5c. * bugfix * fix policy * min control speed --- selfdrive/controls/lib/longitudinal_planner.py | 15 +++------------ selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 6 +++--- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 +++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 23 insertions(+), 31 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4219e80f33..9d71faeca2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mode == 'acc': + if self.mpc.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -160,17 +160,8 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) - output_a_target_e2e = sm['modelV2'].action.desiredAcceleration - output_should_stop_e2e = sm['modelV2'].action.shouldStop - - if self.mode == 'acc': - output_a_target = output_a_target_mpc - self.output_should_stop = output_should_stop_mpc - else: - output_a_target = min(output_a_target_mpc, output_a_target_e2e) - self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 36bd724d01..a91c6395c7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - #temporal_pose = modelV2.temporalPose - #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 25bb190fcd..5e1acdea0e 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,8 +41,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.3 -LONG_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.0 +LONG_SMOOTH_SECONDS = 0.0 MIN_LAT_CONTROL_SPEED = 0.3 @@ -172,7 +172,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 2075792f4d..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:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 -size 15578328 +oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 +size 15966721 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 5e08b78472..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:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 -size 46265585 +oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 +size 34882971 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 783572d436..810c44ccb9 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,12 +88,6 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -101,10 +95,17 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3dd3eab25f..1ae4c4a1a8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 From 3f883ad2154c08d5f7428a3ec15351856c7dc573 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 3 May 2025 00:41:04 -0400 Subject: [PATCH 102/477] ui: add longitudinal settings panel (#852) * ui: add longitudinal settings panel * ui preview * add ui preview * rename to Cruise --- selfdrive/ui/sunnypilot/SConscript | 1 + .../qt/offroad/settings/longitudinal_panel.cc | 11 +++++++++++ .../qt/offroad/settings/longitudinal_panel.h | 17 +++++++++++++++++ .../sunnypilot/qt/offroad/settings/settings.cc | 2 ++ selfdrive/ui/tests/test_ui/run.py | 9 ++++++++- 5 files changed, 39 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index deeec44732..4ff3f70477 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -21,6 +21,7 @@ qt_src = [ "sunnypilot/qt/offroad/offroad_home.cc", "sunnypilot/qt/offroad/settings/device_panel.cc", "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/settings.cc", "sunnypilot/qt/offroad/settings/software_panel.cc", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc new file mode 100644 index 0000000000..9d8a4d9c19 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc @@ -0,0 +1,11 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h" + +LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) { +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h new file mode 100644 index 0000000000..cd68e3ec2f --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h @@ -0,0 +1,17 @@ +/** + * 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 LongitudinalPanel : public QWidget { + Q_OBJECT + +public: + explicit LongitudinalPanel(QWidget *parent = nullptr); +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index 6588c1a6bd..9dd078e52d 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -16,6 +16,7 @@ #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" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" @@ -79,6 +80,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { 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("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"), + PanelInfo(" " + tr("Cruise"), new LongitudinalPanel(this), "../assets/offroad/icon_speed_limit.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"), diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 54d1889453..064ef14a73 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -239,11 +239,17 @@ def setup_settings_steering_alc(click, pm: PubMaster, scroll=None): click(970, 534) time.sleep(UI_DELAY) -def setup_settings_trips(click, pm: PubMaster, scroll=None): +def setup_settings_driving(click, pm: PubMaster, scroll=None): setup_settings_device(click, pm) click(278, 962) time.sleep(UI_DELAY) +def setup_settings_trips(click, pm: PubMaster, scroll=None): + setup_settings_device(click, pm) + scroll(-400, 278, 962) + click(278, 646) + time.sleep(UI_DELAY) + def setup_settings_vehicle(click, pm: PubMaster, scroll=None): Params().put("CarPlatformBundle", json.dumps( { @@ -291,6 +297,7 @@ CASES.update({ "settings_steering": setup_settings_steering, "settings_steering_mads": setup_settings_steering_mads, "settings_steering_alc": setup_settings_steering_alc, + "settings_driving": setup_settings_driving, "settings_trips": setup_settings_trips, "settings_vehicle": setup_settings_vehicle, }) From db6832762b054f47627ab66165cdc8f05857d1a4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 May 2025 21:48:55 -0700 Subject: [PATCH 103/477] Tesla: forward Summon (#35113) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 6af5ad8dd5..b82e8e0122 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 6af5ad8dd5de3b890d2812cc19b063caae858b31 +Subproject commit b82e8e01225a2b9e0953f59d336b9d278bab9acf From 44ab494c4105660b272a79fbce5d853235b2d30d Mon Sep 17 00:00:00 2001 From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Date: Fri, 2 May 2025 23:50:40 -0700 Subject: [PATCH 104/477] BUG FIX: Fix .thneed model runners (#871) Add support for thneed library and thneedmodel integration Co-authored-by: DevTekVE --- sunnypilot/modeld/SConscript | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript index bebd2de953..df897e3049 100644 --- a/sunnypilot/modeld/SConscript +++ b/sunnypilot/modeld/SConscript @@ -52,3 +52,8 @@ commonmodel_lib = lenv.Library('commonmodel', common_src) lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) + +if arch == "larch64": + thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl']) + thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) + lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL']) \ No newline at end of file From 600647d5e2434f8ed77cafe08cdbb8d34645c8a8 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 3 May 2025 21:01:17 +0200 Subject: [PATCH 105/477] models: simplify modeld v2 logic process (#875) * Refactor model runner methods for improved abstraction. Moved slicing logic to a private `_slice_outputs` method and decoupled `_run_model` for clearer subclass implementation. Removed redundant `output` attribute in `ModelState` to streamline data handling. * Add output parsing to model_runner and remove duplicate logic Integrates an output parser directly into `model_runner` for streamlined inference and parsing. Removes redundant parser initialization from `modeld` to avoid duplication and enhance maintainability. * Reordering * linter * linter --- sunnypilot/modeld_v2/model_runner.py | 16 ++++++++++++---- sunnypilot/modeld_v2/modeld.py | 10 +--------- 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py index 82fc3f5196..64bf52795d 100644 --- a/sunnypilot/modeld_v2/model_runner.py +++ b/sunnypilot/modeld_v2/model_runner.py @@ -8,6 +8,7 @@ from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address +from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser from openpilot.system.hardware import TICI from openpilot.system.hardware.hw import Paths @@ -48,6 +49,7 @@ class ModelRunner(ABC): self.input_shapes = self.model_metadata['input_shapes'] self.output_slices = self.model_metadata['output_slices'] self.inputs: dict = {} + self.parser = Parser() @abstractmethod def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict: @@ -55,16 +57,22 @@ class ModelRunner(ABC): raise NotImplementedError @abstractmethod - def run_model(self): + def _run_model(self): """Run model inference with prepared inputs.""" + raise NotImplementedError("This method should be implemented in subclasses.") - def slice_outputs(self, model_outputs: np.ndarray) -> dict: + def _slice_outputs(self, model_outputs: np.ndarray) -> dict: """Slice model outputs according to metadata configuration.""" parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()} if SEND_RAW_PRED: parsed_outputs['raw_pred'] = model_outputs.copy() return parsed_outputs + def run_model(self) -> dict[str, np.ndarray]: + """Run model inference with prepared inputs and parse outputs.""" + result: dict[str, np.ndarray] = self.parser.parse_outputs(self._slice_outputs(self._run_model())) + return result + class TinygradRunner(ModelRunner): """Tinygrad implementation of model runner for TICI hardware.""" @@ -108,7 +116,7 @@ class TinygradRunner(ModelRunner): return self.inputs - def run_model(self): + def _run_model(self): return self.model_run(**self.inputs).numpy().flatten() @@ -130,5 +138,5 @@ class ONNXRunner(ModelRunner): self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key]) return self.inputs - def run_model(self): + def _run_model(self): return self.runner.run(None, self.inputs)[0].flatten() diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index bc67db297d..9a90e21cb5 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -18,7 +18,6 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.sunnypilot.modeld_v2.constants import ModelConstants from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext @@ -41,7 +40,6 @@ class FrameMeta: class ModelState: frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] - output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse def __init__(self, context: CLContext): @@ -64,12 +62,7 @@ class ModelState: if key not in self.frames: # Managed by opencl self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32) - self.parser = Parser() - if self.model_runner.is_20hz: - net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1] - self.output = np.zeros(net_output_size, dtype=np.float32) - num_elements = self.numpy_inputs['features_buffer'].shape[1] step_size = int(-100 / num_elements) self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1] @@ -105,8 +98,7 @@ class ModelState: return None # Run model inference - self.output = self.model_runner.run_model() - outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output)) + outputs = self.model_runner.run_model() if self.model_runner.is_20hz: self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] From d90e41f08f8637b2781d5449d98b475601bda39f Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 4 May 2025 17:03:22 +0200 Subject: [PATCH 106/477] models: refactor model bundle structure (#870) * Refactor model and artifact structures with version compatibility filtering - Introduced `Artifact` struct and nested it within the `Model` struct for improved clarity and organization. - Updated enums, logic, and parsing to align with the new struct definitions. - Implemented version compatibility filtering for model bundles using the `is_bundle_version_compatible` helper. - Enhanced artifact download handling by adding checks for missing URIs, better error management, and improved logging. - Adjusted model fetching to point to the latest endpoint (`v3`). * Make linter happy * Make linter happy * Refactor model data parsing to improve readability. Replaced kwargs-based data extraction with explicit parameter passing for clarity. This enhances code readability and reduces ambiguities in method calls, making the parsing logic more maintainable and straightforward. * Refactor error handling in active model bundle retrieval. Wrapped the logic to fetch the active model bundle in a try-except block to prevent unhandled exceptions. This ensures more robust error handling and avoids potential crashes when retrieving or processing model data. * Refactor exception handling in get_active_model_bundle Replace bare except with Exception to improve specificity and clarity. This ensures better debugging practices and aligns with recommended coding standards. Other minor whitespace adjustments were made for improved readability. * Update model path to use artifact fileName property Replaced `fileName` with `artifact.fileName` in the custom model path construction. This ensures compatibility with updated drive model structures and avoids potential file resolution issues. --- cereal/custom.capnp | 35 ++++--- .../qt/offroad/settings/software_panel.cc | 18 ++-- sunnypilot/modeld/runners/run_helpers.py | 17 ++-- sunnypilot/modeld_v2/model_runner.py | 6 +- sunnypilot/models/fetcher.py | 95 +++++++++---------- sunnypilot/models/helpers.py | 33 ++++++- sunnypilot/models/manager.py | 42 +++++--- 7 files changed, 146 insertions(+), 100 deletions(-) diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8c23743420..10fc83eb01 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -39,20 +39,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { sha256 @1 :Text; } - enum Type { - drive @0; - navigation @1; - metadata @2; - } - - struct Model { - fullName @0 :Text; - fileName @1 :Text; - downloadUri @2 :DownloadUri; - downloadProgress @3 :DownloadProgress; - type @4 :Type; - } - enum DownloadStatus { notDownloading @0; downloading @1; @@ -67,6 +53,25 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { eta @2 :UInt32; } + struct Artifact { + fileName @0 :Text; + downloadUri @1 :DownloadUri; + downloadProgress @2 :DownloadProgress; + } + + struct Model { + type @0 :Type; + artifact @1 :Artifact; # Main artifact + metadata @2 :Artifact; # Metadata artifact + + enum Type { + supercombo @0; + navigation @1; + vision @2; + policy @3; + } + } + enum Runner { snpe @0; tinygrad @1; @@ -83,6 +88,8 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { environment @6 :Text; runner @7 :Runner; is20hz @8 :Bool; + ref @9 :Text; # New field + minimumSelectorVersion @10 :UInt32; } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc index ddee1362bb..20f3fdb598 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc @@ -47,24 +47,24 @@ void SoftwarePanelSP::handleBundleDownloadProgress() { // Get status for each model type in order for (const auto &model: models) { QString typeName; - QString modelName; + QString modelName = QString::fromStdString(bundle.getDisplayName()); switch (model.getType()) { - case cereal::ModelManagerSP::Type::DRIVE: + case cereal::ModelManagerSP::Model::Type::SUPERCOMBO: typeName = tr("Driving"); - modelName = QString::fromStdString(bundle.getDisplayName()); break; - case cereal::ModelManagerSP::Type::NAVIGATION: + case cereal::ModelManagerSP::Model::Type::NAVIGATION: typeName = tr("Navigation"); - modelName = QString::fromStdString(model.getFullName()); break; - case cereal::ModelManagerSP::Type::METADATA: - typeName = tr("Metadata"); - modelName = QString::fromStdString(model.getFullName()); + case cereal::ModelManagerSP::Model::Type::VISION: + typeName = tr("Vision"); + break; + case cereal::ModelManagerSP::Model::Type::POLICY: + typeName = tr("Policy"); break; } - const auto &progress = model.getDownloadProgress(); + const auto &progress = model.getArtifact().getDownloadProgress(); QString line; if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) { diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py index 5470106f1d..3e6b280ae1 100644 --- a/sunnypilot/modeld/runners/run_helpers.py +++ b/sunnypilot/modeld/runners/run_helpers.py @@ -25,13 +25,19 @@ METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl' ModelManager = custom.ModelManagerSP +def _get_model(): + if bundle := get_active_bundle(): + drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo) + return drive_model + + return None + def get_model_path(): if USE_ONNX: return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'} - if bundle := get_active_bundle(): - drive_model = next(model for model in bundle.models if model.type == ModelManager.Type.drive) - return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}"} + if model := _get_model(): + return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.fileName}"} return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'} @@ -39,9 +45,8 @@ def get_model_path(): def load_metadata(): metadata_path = METADATA_PATH - if bundle := get_active_bundle(): - metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata) - metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}" + if model := _get_model(): + metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" with open(metadata_path, 'rb') as f: return pickle.load(f) diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py index 64bf52795d..10c80b8769 100644 --- a/sunnypilot/modeld_v2/model_runner.py +++ b/sunnypilot/modeld_v2/model_runner.py @@ -35,8 +35,8 @@ class ModelRunner(ABC): if bundle := get_active_bundle(): bundle_models = {model.type.raw: model for model in bundle.models} - self._drive_model = bundle_models.get(ModelManager.Type.drive) - self._metadata_model = bundle_models.get(ModelManager.Type.metadata) + self._drive_model = bundle_models.get(ModelManager.Model.Type.supercombo) + self._metadata_model = self._drive_model.metadata self.is_20hz = bundle.is20hz # Override the metadata path if a metadata model is found in the active bundle @@ -82,7 +82,7 @@ class TinygradRunner(ModelRunner): model_pkl_path = MODEL_PKL_PATH if self._drive_model: - model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.fileName}" + model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.artifact.fileName}" assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner" # Load Tinygrad model diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py index 3e3e479903..7076cf1861 100644 --- a/sunnypilot/models/fetcher.py +++ b/sunnypilot/models/fetcher.py @@ -11,6 +11,7 @@ import time import requests from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog +from sunnypilot.models.helpers import is_bundle_version_compatible from cereal import custom @@ -19,68 +20,49 @@ class ModelParser: """Handles parsing of model data into cereal objects""" @staticmethod - def _parse_model(full_name: str, file_name: str, uri_data: dict, - model_type: custom.ModelManagerSP.Type) -> custom.ModelManagerSP.Model: - model = custom.ModelManagerSP.Model() + def _parse_download_uri(download_uri_data) -> custom.ModelManagerSP.DownloadUri: download_uri = custom.ModelManagerSP.DownloadUri() + download_uri.uri = download_uri_data.get("url") + download_uri.sha256 = download_uri_data.get("sha256") + return download_uri - download_uri.uri = uri_data["url"] - download_uri.sha256 = uri_data["sha256"] + @staticmethod + def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact: + artifact = custom.ModelManagerSP.Artifact() + artifact.fileName = artifact_data.get("file_name") + artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {})) + return artifact - model.fullName = full_name - model.fileName = file_name - model.downloadUri = download_uri - model.type = model_type + @staticmethod + def _parse_model(model_data) -> custom.ModelManagerSP.Model: + model = custom.ModelManagerSP.Model() + model.type = model_data.get("type") + model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {})) + if metadata := model_data.get("metadata"): + model.metadata = ModelParser._parse_artifact(metadata) return model @staticmethod - def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle: + def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle: model_bundle = custom.ModelManagerSP.ModelBundle() - - # Parse main driving model - models = [ - ModelParser._parse_model( - value["full_name"], - value["file_name"], - value["download_uri"], - custom.ModelManagerSP.Type.drive - ) - ] - - # Parse navigation model if exists - if value.get("download_uri_nav"): - models.append(ModelParser._parse_model( - value["full_name_nav"], - value["file_name_nav"], - value["download_uri_nav"], - custom.ModelManagerSP.Type.navigation - )) - - # Parse metadata model if exists - if value.get("download_uri_metadata"): - models.append(ModelParser._parse_model( - value["full_name_metadata"], - value["file_name_metadata"], - value["download_uri_metadata"], - custom.ModelManagerSP.Type.metadata - )) - - model_bundle.index = int(value["index"]) - model_bundle.internalName = key - model_bundle.displayName = value["display_name"] - model_bundle.models = models + model_bundle.index = int(bundle["index"]) + model_bundle.internalName = bundle["short_name"] + model_bundle.displayName = bundle["display_name"] + model_bundle.models = [ModelParser._parse_model(model) for model in bundle.get("models",[])] model_bundle.status = 0 - model_bundle.generation = int(value["generation"]) - model_bundle.environment = value["environment"] - model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe) - model_bundle.is20hz = value.get("is_20hz", False) + model_bundle.generation = int(bundle["generation"]) + model_bundle.environment = bundle["environment"] + model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe) + model_bundle.is20hz = bundle.get("is_20hz", False) + model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"]) return model_bundle @staticmethod def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]: - return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()] + found_bundles = [ModelParser._parse_bundle(bundle) for bundle in json_data.get("bundles", [])] + return [bundle for bundle in found_bundles if is_bundle_version_compatible(bundle.to_dict())] class ModelCache: @@ -122,7 +104,7 @@ class ModelCache: class ModelFetcher: """Handles fetching and caching of model data from remote source""" - MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json" + MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v3.json" def __init__(self, params: Params): self.params = params @@ -143,7 +125,7 @@ class ModelFetcher: cloudlog.exception("Error fetching models") raise - def get_available_models(self) -> list[custom.ModelManagerSP.ModelBundle]: + def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]: """Gets the list of available models, with smart cache handling""" cached_data, is_expired = self.model_cache.get() @@ -160,3 +142,16 @@ class ModelFetcher: cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback") return self.model_parser.parse_models(cached_data) + +if __name__ == "__main__": + params = Params() + model_fetcher = ModelFetcher(params) + bundles = model_fetcher.get_available_bundles() + for bundle in bundles: + for model in bundle.models: + # Print model details + print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}") + # Print artifact details + print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}") + # Print metadata details + print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}") diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index dbdef55900..20f58f8c59 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -8,7 +8,11 @@ See the LICENSE.md file in the root directory for more details. import hashlib import os from openpilot.common.params import Params -from cereal import custom, messaging +from cereal import custom +import json + +CURRENT_SELECTOR_VERSION = 2 +REQUIRED_MIN_SELECTOR_VERSION = 2 async def verify_file(file_path: str, expected_hash: str) -> bool: @@ -24,13 +28,36 @@ async def verify_file(file_path: str, expected_hash: str) -> bool: return sha256_hash.hexdigest().lower() == expected_hash.lower() +def is_bundle_version_compatible(bundle: dict) -> bool: + """ + Checks whether the model bundle is compatible with the current selector version constraints. + + The bundle specifies a `minimum_selector_version`, which defines the minimum selector version + required to load the model. This function ensures that: + + 1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`. + 2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`). + + This allows the selector to enforce both a minimum and maximum range of supported models, + even if a model would otherwise be compatible. + + :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle. + :type bundle: Dict + :return: True if the selector version is within the accepted range for the bundle; otherwise False. + :rtype: Bool + """ + return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION) + def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle: """Gets the active model bundle from cache""" if params is None: params = Params() - if active_bundle := params.get("ModelManager_ActiveBundle"): - return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle) + try: + if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle): + return custom.ModelManagerSP.ModelBundle(**active_bundle) + except Exception: + pass return None diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py index 5fbad6cd8e..630d6a8d77 100644 --- a/sunnypilot/models/manager.py +++ b/sunnypilot/models/manager.py @@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details. import asyncio import os import time +import json import aiohttp from openpilot.common.params import Params @@ -73,43 +74,54 @@ class ModelManagerSP: # Clean up start time after download completes del self._download_start_times[model.fileName] - async def _process_model(self, model, destination_path: str) -> None: + async def _process_artifact(self, artifact, destination_path: str) -> None: """Processes a single model download including verification""" - url = model.downloadUri.uri - expected_hash = model.downloadUri.sha256 - filename = model.fileName + if not artifact.downloadUri.uri: + return None + + url = artifact.downloadUri.uri + expected_hash = artifact.downloadUri.sha256 + filename = artifact.fileName full_path = os.path.join(destination_path, filename) try: # Check existing file if os.path.exists(full_path) and await verify_file(full_path, expected_hash): - model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached - model.downloadProgress.progress = 100 - model.downloadProgress.eta = 0 + artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached + artifact.downloadProgress.progress = 100 + artifact.downloadProgress.eta = 0 self._report_status() return # Download and verify - await self._download_file(url, full_path, model) + await self._download_file(url, full_path, artifact) if not await verify_file(full_path, expected_hash): raise ValueError(f"Hash validation failed for {filename}") - model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded - model.downloadProgress.eta = 0 + artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded + artifact.downloadProgress.eta = 0 self._report_status() except Exception as e: cloudlog.error(f"Error downloading {filename}: {str(e)}") if os.path.exists(full_path): os.remove(full_path) - model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed - model.downloadProgress.eta = 0 + artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed + artifact.downloadProgress.eta = 0 self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed self._report_status() # Clean up start time if it exists - self._download_start_times.pop(model.fileName, None) + self._download_start_times.pop(artifact.fileName, None) raise + async def _process_model(self, model, destination_path: str) -> None: + """Processes a single model download including verification""" + model_artifact = model.artifact + metadata_artifact = model.metadata + + await self._process_artifact(metadata_artifact, destination_path) + await self._process_artifact(model_artifact, destination_path) + def _report_status(self) -> None: """Reports current status through messaging system""" msg = messaging.new_message('modelManagerSP', valid=True) @@ -134,7 +146,7 @@ class ModelManagerSP: await asyncio.gather(*tasks) self.active_bundle = self.selected_bundle self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded - self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_bytes()) + self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict())) self.selected_bundle = None except Exception: @@ -154,7 +166,7 @@ class ModelManagerSP: while True: try: - self.available_models = self.model_fetcher.get_available_models() + self.available_models = self.model_fetcher.get_available_bundles() self.active_bundle = get_active_bundle(self.params) if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"): From 8c8b2c448801cdcfb4aa6513a0211390cc7aa012 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 May 2025 01:15:25 +0800 Subject: [PATCH 107/477] replay: fix potential timestamp parsing error in Route::load (#35117) Fix potential timestamp parsing error in Route::load --- tools/replay/route.cc | 6 ++++-- tools/replay/route.h | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index ff5a858e8c..98fa0e290e 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -50,9 +50,11 @@ bool Route::load() { return false; } + // Parse the timestamp from the route identifier (only applicable for old route formats). struct tm tm_time = {0}; - strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time); - date_time_ = mktime(&tm_time); + if (strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time)) { + date_time_ = mktime(&tm_time); + } bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); if (ret) { diff --git a/tools/replay/route.h b/tools/replay/route.h index 1806be5afa..fb9f1869f6 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -59,7 +59,7 @@ protected: RouteIdentifier route_ = {}; std::string data_dir_; std::map segments_; - std::time_t date_time_; + std::time_t date_time_ = 0; RouteLoadError err_ = RouteLoadError::None; }; From 8ee99523f4e9070a15b9edce6bc4fd5dde8c70aa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 May 2025 01:15:47 +0800 Subject: [PATCH 108/477] cleanup .gitignore (#35116) --- .gitignore | 2 -- 1 file changed, 2 deletions(-) diff --git a/.gitignore b/.gitignore index 834b463083..40438f5fd0 100644 --- a/.gitignore +++ b/.gitignore @@ -47,10 +47,8 @@ selfdrive/pandad/pandad cereal/services.h cereal/gen cereal/messaging/bridge -selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd -selfdrive/ui/translations/alerts_generated.h selfdrive/ui/translations/tmp selfdrive/test/longitudinal_maneuvers/out selfdrive/car/tests/cars_dump From f704d18a8b5c7a4428d3e28828d1eb1ac4cf04ee Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sun, 4 May 2025 10:16:35 -0700 Subject: [PATCH 109/477] feat(clip): title and metadata overlay (#35099) * wip * moar * ensure inter is installed * line len * refactor * dont need this * no longer than * show meta for 4s --- tools/clip/run.py | 78 ++++++++++++++++++++-------- tools/install_ubuntu_dependencies.sh | 1 + tools/lib/route.py | 7 +++ 3 files changed, 64 insertions(+), 22 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 97baa880ea..2384edc4bb 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -16,7 +16,7 @@ from typing import Literal from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR from openpilot.common.prefix import OpenpilotPrefix -from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached +from openpilot.tools.lib.route import Route DEFAULT_OUTPUT = 'output.mp4' DEMO_START = 90 @@ -26,7 +26,7 @@ FRAMERATE = 20 PIXEL_DEPTH = '24' RESOLUTION = '2160x1080' SECONDS_TO_WARM = 2 -PROC_WAIT_SECONDS = 5 +PROC_WAIT_SECONDS = 30 REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) @@ -52,6 +52,29 @@ def check_for_failure(proc: Popen): raise ChildProcessError(msg) +def escape_ffmpeg_text(value: str): + special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'} + value = value.replace('\\', '\\\\\\\\\\\\\\\\') + for char, escaped in special_chars.items(): + value = value.replace(char, escaped) + return value + + +def get_meta_text(route: Route): + metadata = route.get_metadata() + origin_parts = metadata['git_remote'].split('/') + origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown' + return ', '.join([ + f'openpilot v{metadata['version']}', + f'route: {metadata['fullname']}', + f'car: {metadata['platform']}', + f'origin: {origin}', + f'branch: {metadata['git_branch']}', + f'commit: {metadata['git_commit'][:7]}', + f'modified: {str(metadata['git_dirty']).lower()}', + ]) + + def parse_args(parser: ArgumentParser): args = parser.parse_args() if args.demo: @@ -74,20 +97,17 @@ def parse_args(parser: ArgumentParser): if args.start < SECONDS_TO_WARM: parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up') - # if using local files, don't worry about length check right now so we skip the network call - # TODO: derive segment count from local FS - if not args.data_dir: - try: - num_segs = get_max_seg_number_cached(SegmentRange(args.route)) - except Exception as e: - parser.error(f'failed to get route length: {e}') + try: + args.route = Route(args.route, data_dir=args.data_dir) + except Exception as e: + parser.error(f'failed to get route: {e}') - # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data - length = round(num_segs * 60) - if args.start >= length: - parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') - if args.end > length: - parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') + # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data + length = round(args.route.max_seg_number * 60) + if args.start >= length: + parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') + if args.end > length: + parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') return args @@ -119,6 +139,12 @@ def validate_route(route: str): return route +def validate_title(title: str): + if len(title) > 80: + raise ArgumentTypeError('title must be no longer than 80 chars') + return title + + def wait_for_frames(procs: list[Popen]): sm = SubMaster(['uiDebug']) no_frames_drawn = True @@ -129,20 +155,27 @@ def wait_for_frames(procs: list[Popen]): check_for_failure(proc) -def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int): - logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB') +def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: Route, out: str, start: int, end: int, target_mb: int, title: str | None): + logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') begin_at = max(start - SECONDS_TO_WARM, 0) duration = end - start - bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000)) + bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000)) # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision display = f':{randint(99, 999)}' + meta_text = get_meta_text(route) + overlays = [ + f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:box=1:boxcolor=black@0.33:boxborderw=7:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'" + ] + if title: + overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:box=1:boxcolor=black@0.33:boxborderw=10:x=(w-text_w)/2:y=53") + ffmpeg_cmd = [ 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23', - '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath, + '-filter:v', ','.join(overlays), '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), out ] replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] @@ -150,7 +183,7 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou replay_cmd.extend(['--data_dir', data_dir]) if quality == 'low': replay_cmd.append('--qcam') - replay_cmd.append(route) + replay_cmd.append(route.name.canonical_name) ui_cmd = [UI, '-platform', 'xcb'] xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] @@ -183,7 +216,7 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) for proc in procs: check_for_failure(proc) - logger.info(f'recording complete: {Path(output_filepath).resolve()}') + logger.info(f'recording complete: {Path(out).resolve()}') def main(): @@ -199,9 +232,10 @@ def main(): p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') p.add_argument('-s', '--start', help='start clipping at seconds', type=int) + p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: - clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size) + clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size, args.title) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) except Exception as e: diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index f33569704a..3d6fd2e7a9 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -33,6 +33,7 @@ function install_ubuntu_common_requirements() { git \ git-lfs \ ffmpeg \ + fonts-inter \ libavformat-dev \ libavcodec-dev \ libavdevice-dev \ diff --git a/tools/lib/route.py b/tools/lib/route.py index ddb8b0486e..831a1e2ee5 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -21,6 +21,7 @@ class Route: def __init__(self, name, data_dir=None): self._name = RouteName(name) self.files = None + self.metadata = None if data_dir is not None: self._segments = self._get_segments_local(data_dir) else: @@ -59,6 +60,12 @@ class Route: qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments} return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)] + def get_metadata(self): + if not self.metadata: + api = CommaApi(get_token()) + self.metadata = api.get('v1/route/' + self.name.canonical_name) + return self.metadata + # TODO: refactor this, it's super repetitive def _get_segments_remote(self): api = CommaApi(get_token()) From 87fae0c6f23948f58336947c23c593860076677b Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sun, 4 May 2025 10:16:48 -0700 Subject: [PATCH 110/477] fix(clip): longer timeout for ffmpeg to finish (#35092) From c33e5b3209b0c4f925b41f3c99f3a9867d8ba072 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 May 2025 23:28:12 +0800 Subject: [PATCH 111/477] python ui: wifi manager (#34814) * python wifi manager * fix ui * need auth callback * move to widgets * confirm forgot * add drag detection * improve keyboard & list * remove duplicate * typos * use gui_app render * refactor * cleanup * cleanup * shutdown * fix types * revert * scroll panel cleanup * reset is_dragging on mouse release * Revert "reset is_dragging on mouse release" This reverts commit ff5e51cf6f00848d93aa3ce0bab16602fea7a319. * unformat * cleanup * update state when connecting * forgotten callback * maybe fix? first tap didn't work * Revert "maybe fix? first tap didn't work" This reverts commit 739f0e3bd37323d10479b081a20d05c7fdff5495. * remove set_target_fps * Revert "remove set_target_fps" This reverts commit 96f74553ef6fa2ab2a4d1a07880175e7da628c9f. --------- Co-authored-by: Cameron Clough --- system/ui/lib/scroll_panel.py | 17 +- system/ui/lib/wifi_manager.py | 481 ++++++++++++++++++++++++++++++++++ system/ui/widgets/keyboard.py | 34 ++- system/ui/widgets/network.py | 172 ++++++++++++ 4 files changed, 692 insertions(+), 12 deletions(-) create mode 100644 system/ui/lib/wifi_manager.py create mode 100644 system/ui/widgets/network.py diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 0dc757ff6f..7dc2fdb917 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -4,6 +4,7 @@ from enum import IntEnum MOUSE_WHEEL_SCROLL_SPEED = 30 INERTIA_FRICTION = 0.95 # The rate at which the inertia slows down MIN_VELOCITY = 0.1 # Minimum velocity before stopping the inertia +DRAG_THRESHOLD = 5 # Pixels of movement to consider it a drag, not a click class ScrollState(IntEnum): @@ -16,10 +17,12 @@ class GuiScrollPanel: def __init__(self, show_vertical_scroll_bar: bool = False): self._scroll_state: ScrollState = ScrollState.IDLE self._last_mouse_y: float = 0.0 + self._start_mouse_y: float = 0.0 # Track the initial mouse position for drag detection self._offset = rl.Vector2(0, 0) self._view = rl.Rectangle(0, 0, 0, 0) self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar self._velocity_y = 0.0 # Velocity for inertia + self._is_dragging = False def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2: mouse_pos = rl.get_mouse_position() @@ -35,20 +38,27 @@ class GuiScrollPanel: self._scroll_state = ScrollState.DRAGGING_SCROLLBAR self._last_mouse_y = mouse_pos.y + self._start_mouse_y = mouse_pos.y # Record starting position self._velocity_y = 0.0 # Reset velocity when drag starts + self._is_dragging = False # Reset dragging flag if self._scroll_state != ScrollState.IDLE: if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): delta_y = mouse_pos.y - self._last_mouse_y + # Check if movement exceeds the drag threshold + total_drag = abs(mouse_pos.y - self._start_mouse_y) + if total_drag > DRAG_THRESHOLD: + self._is_dragging = True + if self._scroll_state == ScrollState.DRAGGING_CONTENT: self._offset.y += delta_y - else: + elif self._scroll_state == ScrollState.DRAGGING_SCROLLBAR: delta_y = -delta_y self._last_mouse_y = mouse_pos.y self._velocity_y = delta_y # Update velocity during drag - else: + elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): self._scroll_state = ScrollState.IDLE # Handle mouse wheel scrolling @@ -73,3 +83,6 @@ class GuiScrollPanel: self._offset.y = max(min(self._offset.y, 0), -max_scroll_y) return self._offset + + def is_click_valid(self) -> bool: + return self._scroll_state == ScrollState.IDLE and not self._is_dragging and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py new file mode 100644 index 0000000000..af533e9a2a --- /dev/null +++ b/system/ui/lib/wifi_manager.py @@ -0,0 +1,481 @@ +import asyncio +import threading +import time +import uuid +from collections.abc import Callable +from dataclasses import dataclass +from enum import IntEnum + +from dbus_next.aio import MessageBus +from dbus_next import BusType, Variant, Message +from dbus_next.errors import DBusError +from dbus_next.constants import MessageType +from openpilot.common.swaglog import cloudlog + +# NetworkManager constants +NM = "org.freedesktop.NetworkManager" +NM_PATH = '/org/freedesktop/NetworkManager' +NM_IFACE = 'org.freedesktop.NetworkManager' +NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings' +NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings' +NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection' +NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless' +NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties' +NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" + +NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 + +# NetworkManager device states +class NMDeviceState(IntEnum): + DISCONNECTED = 30 + PREPARE = 40 + NEED_AUTH = 60 + IP_CONFIG = 70 + ACTIVATED = 100 + +class SecurityType(IntEnum): + OPEN = 0 + WPA = 1 + WPA2 = 2 + WPA3 = 3 + UNSUPPORTED = 4 + +@dataclass +class NetworkInfo: + ssid: str + strength: int + is_connected: bool + security_type: SecurityType + path: str + bssid: str + # saved_path: str + + +@dataclass +class WifiManagerCallbacks: + need_auth: Callable[[], None] | None = None + activated: Callable[[], None] | None = None + forgotten: Callable[[], None] | None = None + + +class WifiManager: + def __init__(self, callbacks): + self.callbacks: WifiManagerCallbacks = callbacks + self.networks: list[NetworkInfo] = [] + self.bus: MessageBus = None + self.device_path: str = "" + self.device_proxy = None + self.saved_connections: dict[str, str] = {} + self.active_ap_path: str = "" + self.scan_task: asyncio.Task | None = None + self.running: bool = True + + async def connect(self) -> None: + """Connect to the DBus system bus.""" + try: + 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) + + self.active_ap_path = await self.get_active_access_point() + self.saved_connections = await self._get_saved_connections() + self.scan_task = asyncio.create_task(self._periodic_scan()) + except DBusError as e: + cloudlog.error(f"Failed to connect to DBus: {e}") + raise + except Exception as e: + cloudlog.error(f"Unexpected error during connect: {e}") + raise + + async def shutdown(self) -> None: + self.running = False + if self.scan_task: + self.scan_task.cancel() + try: + await self.scan_task + except asyncio.CancelledError: + pass + if self.bus: + await self.bus.disconnect() + + async def request_scan(self) -> None: + try: + interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) + await interface.call_request_scan({}) + except DBusError as e: + cloudlog.warning(f"Scan request failed: {str(e)}") + + async def get_active_access_point(self): + try: + props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE) + ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint') + return ap_path.value + except DBusError as e: + cloudlog.error(f"Error fetching active access point: {str(e)}") + return '' + + async def forget_connection(self, ssid: str) -> bool: + path = self.saved_connections.get(ssid) + if not path: + return False + + try: + nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) + await nm_iface.call_delete() + return True + except DBusError as e: + cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") + return False + + async def activate_connection(self, ssid: str) -> bool: + connection_path = self.saved_connections.get(ssid) + if not connection_path: + return False + try: + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + await nm_iface.call_activate_connection(connection_path, self.device_path, "/") + return True + except DBusError as e: + cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}") + return False + + async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: + """Connect to a selected Wi-Fi network.""" + try: + connection = { + 'connection': { + 'type': Variant('s', '802-11-wireless'), + 'uuid': Variant('s', str(uuid.uuid4())), + 'id': Variant('s', ssid), + 'autoconnect-retries': Variant('i', 0), + }, + '802-11-wireless': { + 'ssid': Variant('ay', ssid.encode('utf-8')), + 'hidden': Variant('b', is_hidden), + 'mode': Variant('s', 'infrastructure'), + }, + 'ipv4': {'method': Variant('s', 'auto')}, + 'ipv6': {'method': Variant('s', 'ignore')}, + } + + if bssid: + connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8')) + + if password: + connection['802-11-wireless-security'] = { + 'key-mgmt': Variant('s', 'wpa-psk'), + 'auth-alg': Variant('s', 'open'), + 'psk': Variant('s', password), + } + + 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: + cloudlog.error(f"Error connecting to network: {e}") + + def is_saved(self, ssid: str) -> bool: + return ssid in self.saved_connections + + async def _find_wifi_device(self) -> bool: + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + devices = await nm_iface.get_devices() + + for device_path in devices: + device = await self.bus.introspect(NM, device_path) + device_proxy = self.bus.get_proxy_object(NM, device_path, device) + device_interface = device_proxy.get_interface(NM_DEVICE_IFACE) + device_type = await device_interface.get_device_type() # type: ignore[attr-defined] + if device_type == 2: # Wi-Fi device + self.device_path = device_path + self.device_proxy = device_proxy + return True + + return False + + async def _periodic_scan(self): + while self.running: + try: + await self.request_scan() + await self._get_available_networks() + await asyncio.sleep(30) + except asyncio.CancelledError: + break + except DBusError as e: + cloudlog.error(f"Scan failed: {e}") + await asyncio.sleep(5) + + async def _setup_signals(self, device_path: str) -> None: + rules = [ + f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'", + f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'", + f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'", + f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'", + ] + for rule in rules: + await self._add_match_rule(rule) + + # Set up signal handlers + self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed) + self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed) + + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + settings_iface.on_new_connection(self._on_new_connection) + settings_iface.on_connection_removed(self._on_connection_removed) + + 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()) + elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: + self.active_ap_path = changed["ActiveAccessPoint"].value + asyncio.create_task(self._get_available_networks()) + + def _on_state_changed(self, new_state: int, old_state: int, reason: int): + print(f"State changed: {old_state} -> {new_state}, reason: {reason}") + if new_state == NMDeviceState.ACTIVATED: + if self.callbacks.activated: + self.callbacks.activated() + asyncio.create_task(self._update_connection_status()) + 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: + self.callbacks.need_auth() + + 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() + break + + async def _add_saved_connection(self, path: str) -> None: + """Add a new saved connection to the dictionary.""" + try: + settings = await self._get_connection_settings(path) + if ssid := self._extract_ssid(settings): + self.saved_connections[ssid] = path + except DBusError as e: + cloudlog.error(f"Failed to add connection {path}: {e}") + + def _extract_ssid(self, settings: dict) -> str | None: + """Extract SSID from connection settings.""" + 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( + Message( + message_type=MessageType.METHOD_CALL, + destination='org.freedesktop.DBus', + interface="org.freedesktop.DBus", + path='/org/freedesktop/DBus', + member='AddMatch', + signature='s', + body=[rule], + ) + ) + + assert reply.message_type == MessageType.METHOD_RETURN + return reply + + async def _get_available_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() + network_dict = {} + for ap_path in access_points: + try: + props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE) + properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint') + ssid_variant = properties['Ssid'].value + ssid = ''.join(chr(byte) for byte in ssid_variant) + if not ssid: + continue + + bssid = properties.get('HwAddress', Variant('s', '')).value + strength = properties['Strength'].value + flags = properties['Flags'].value + wpa_flags = properties['WpaFlags'].value + rsn_flags = properties['RsnFlags'].value + existing_network = network_dict.get(ssid) + if not existing_network or ((not existing_network.bssid and bssid) or (existing_network.strength < strength)): + network_dict[ssid] = NetworkInfo( + ssid=ssid, + strength=strength, + security_type=self._get_security_type(flags, wpa_flags, rsn_flags), + path=ap_path, + bssid=bssid, + is_connected=self.active_ap_path == ap_path, + ) + + except DBusError as e: + cloudlog.error(f"Error fetching networks: {e}") + except Exception as e: + cloudlog.error({e}) + + self.networks = sorted( + network_dict.values(), + key=lambda network: ( + not network.is_connected, + -network.strength, # Higher signal strength first + network.ssid.lower(), + ), + ) + + 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) + return await settings.call_get_settings() + except DBusError as e: + cloudlog.error(f"Failed to get settings for {path}: {str(e)}") + return {} + + async def _process_chunk(self, paths_chunk): + """Process a chunk of connection paths.""" + tasks = [self._get_connection_settings(path) for path in paths_chunk] + return await asyncio.gather(*tasks, return_exceptions=True) + + async def _get_saved_connections(self) -> dict[str, str]: + try: + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + connection_paths = await settings_iface.call_list_connections() + saved_ssids: dict[str, str] = {} + batch_size = 20 + for i in range(0, len(connection_paths), batch_size): + chunk = connection_paths[i : i + batch_size] + results = await self._process_chunk(chunk) + for path, config in zip(chunk, results, strict=True): + if isinstance(config, dict) and '802-11-wireless' in config: + if ssid := self._extract_ssid(config): + saved_ssids[ssid] = path + return saved_ssids + except DBusError as e: + cloudlog.error(f"Error fetching saved connections: {str(e)}") + return {} + + async def _get_interface(self, bus_name: str, path: str, name: str): + introspection = await self.bus.introspect(bus_name, path) + proxy = self.bus.get_proxy_object(bus_name, path, introspection) + return proxy.get_interface(name) + + def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: + """Determine the security type based on flags.""" + if flags == 0 and not (wpa_flags or rsn_flags): + return SecurityType.OPEN + if rsn_flags & 0x200: # SAE (WPA3 Personal) + return SecurityType.WPA3 + if rsn_flags: # RSN indicates WPA2 or higher + return SecurityType.WPA2 + if wpa_flags: # WPA flags indicate WPA + return SecurityType.WPA + return SecurityType.UNSUPPORTED + + +class WifiManagerWrapper: + def __init__(self): + self._manager: WifiManager | None = None + self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks() + + self._thread = threading.Thread(target=self._run, daemon=True) + self._loop: asyncio.EventLoop | None = None + self._running = False + + def set_callbacks(self, callbacks: WifiManagerCallbacks): + self._callbacks = callbacks + + def start(self) -> None: + if not self._running: + self._thread.start() + while self._thread is not None and not self._running: + time.sleep(0.1) + + def _run(self): + self._loop = asyncio.new_event_loop() + asyncio.set_event_loop(self._loop) + + try: + self._manager = WifiManager(self._callbacks) + self._running = True + self._loop.run_forever() + except Exception as e: + cloudlog.error(f"Error in WifiManagerWrapper thread: {e}") + finally: + if self._loop.is_running(): + self._loop.stop() + self._running = False + + def shutdown(self) -> None: + if self._running: + if self._manager is not None: + self._run_coroutine(self._manager.shutdown()) + if self._loop and self._loop.is_running(): + self._loop.call_soon_threadsafe(self._loop.stop) + if self._thread and self._thread.is_alive(): + self._thread.join(timeout=2.0) + self._running = False + + @property + def networks(self) -> list[NetworkInfo]: + """Get the current list of networks.""" + return self._manager.networks if self._manager else [] + + def is_saved(self, ssid: str) -> bool: + """Check if a network is saved.""" + return self._manager.is_saved(ssid) if self._manager else False + + def connect(self): + """Connect to DBus and start Wi-Fi scanning.""" + if not self._manager: + 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: + return + self._run_coroutine(self._manager.forget_connection(ssid)) + + def activate_connection(self, ssid: str): + """Activate an existing Wi-Fi connection.""" + if not self._manager: + return + self._run_coroutine(self._manager.activate_connection(ssid)) + + def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False): + """Connect to a Wi-Fi network.""" + if not self._manager: + return + self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden)) + + def _run_coroutine(self, coro): + """Run a coroutine in the async thread.""" + if not self._running or not self._loop: + cloudlog.error("WifiManager thread is not running") + return + asyncio.run_coroutine_threadsafe(coro, self._loop) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 4d1ad1b2cd..13fdb912b5 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -44,25 +44,28 @@ keyboard_layouts = { class Keyboard: def __init__(self, max_text_size: int = 255): self._layout = keyboard_layouts["lowercase"] - self._input_text = "" self._max_text_size = max_text_size + self._string_pointer = rl.ffi.new("char[]", max_text_size) + self._input_text = "" + self._clear() @property - def text(self) -> str: - return self._input_text - - def clear(self): - self._input_text = "" + def text(self): + result = rl.ffi.string(self._string_pointer).decode("utf-8") + self._clear() + return result def render(self, rect, title, sub_title): gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): - return -1 + self._clear() + return 0 # Text box for input - rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True) - + self._sync_string_pointer() + rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._string_pointer, self._max_text_size, True) + self._input_text = rl.ffi.string(self._string_pointer).decode("utf-8") h_space, v_space = 15, 15 row_y_start = rect.y + 300 # Starting Y position for the first row key_height = (rect.height - 300 - 3 * v_space) / 4 @@ -87,7 +90,7 @@ class Keyboard: else: self.handle_key_press(key) - return 0 + return -1 def handle_key_press(self, key): if key in (SHIFT_DOWN_KEY, ABC_KEY): @@ -102,3 +105,14 @@ class Keyboard: self._input_text = self._input_text[:-1] elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size: self._input_text += key + + def _clear(self): + self._input_text = '' + self._string_pointer[0] = b'\0' + + def _sync_string_pointer(self): + """Sync the C-string pointer with the internal Python string.""" + encoded = self._input_text.encode("utf-8")[:self._max_text_size - 1] # Leave room for the null terminator + buffer = rl.ffi.buffer(self._string_pointer) + buffer[:len(encoded)] = encoded + self._string_pointer[len(encoded)] = b'\0' # Null terminator diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py new file mode 100644 index 0000000000..59427b57b8 --- /dev/null +++ b/system/ui/widgets/network.py @@ -0,0 +1,172 @@ +from dataclasses import dataclass +from typing import Literal + +import pyray as rl +from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.widgets.keyboard import Keyboard +from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog + +NM_DEVICE_STATE_NEED_AUTH = 60 +ITEM_HEIGHT = 160 + + +@dataclass +class StateIdle: + action: Literal["idle"] = "idle" + +@dataclass +class StateConnecting: + network: NetworkInfo + action: Literal["connecting"] = "connecting" + +@dataclass +class StateNeedsAuth: + network: NetworkInfo + action: Literal["needs_auth"] = "needs_auth" + +@dataclass +class StateShowForgetConfirm: + network: NetworkInfo + action: Literal["show_forget_confirm"] = "show_forget_confirm" + +@dataclass +class StateForgetting: + network: NetworkInfo + action: Literal["forgetting"] = "forgetting" + +UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting + + +class WifiManagerUI: + def __init__(self, wifi_manager: WifiManagerWrapper): + self.state: UIState = StateIdle() + self.btn_width = 200 + self.scroll_panel = GuiScrollPanel() + self.keyboard = Keyboard() + + self.wifi_manager = wifi_manager + self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten)) + self.wifi_manager.start() + self.wifi_manager.connect() + + def render(self, rect: rl.Rectangle): + if not self.wifi_manager.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(rect, "Enter password", f"for {network.ssid}") + if result == 1: + self.connect_to_network(network, self.keyboard.text) + elif result == 0: + self.state = StateIdle() + + case StateShowForgetConfirm(network): + result = confirm_dialog(rect, 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) + + def _draw_network_list(self, rect: rl.Rectangle): + content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self.wifi_manager.networks) * ITEM_HEIGHT) + offset = self.scroll_panel.handle_scroll(rect, content_rect) + clicked = self.scroll_panel.is_click_valid() + + rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) + for i, network in enumerate(self.wifi_manager.networks): + y_offset = rect.y + i * ITEM_HEIGHT + offset.y + item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT) + if not rl.check_collision_recs(item_rect, rect): + continue + + self._draw_network_item(item_rect, network, clicked) + if i < len(self.wifi_manager.networks) - 1: + line_y = int(item_rect.y + item_rect.height - 1) + rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY) + + rl.end_scissor_mode() + + def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool): + label_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT) + state_rect = rl.Rectangle(rect.x + rect.width - self.btn_width * 2 - 150, rect.y, 300, ITEM_HEIGHT) + + gui_label(label_rect, network.ssid, 55) + + status_text = "" + if network.is_connected: + status_text = "Connected" + match self.state: + case StateConnecting(network=connecting): + if connecting.ssid == network.ssid: + status_text = "CONNECTING..." + case StateForgetting(network=forgetting): + if forgetting.ssid == network.ssid: + status_text = "FORGETTING..." + if status_text: + rl.gui_label(state_rect, status_text) + + # If the network is saved, show the "Forget" button + if self.wifi_manager.is_saved(network.ssid): + forget_btn_rect = rl.Rectangle( + rect.x + rect.width - self.btn_width, + rect.y + (ITEM_HEIGHT - 80) / 2, + self.btn_width, + 80, + ) + if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked: + self.state = StateShowForgetConfirm(network) + + if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked: + if not self.wifi_manager.is_saved(network.ssid): + self.state = StateNeedsAuth(network) + else: + self.connect_to_network(network) + + def connect_to_network(self, network: NetworkInfo, password=''): + self.state = StateConnecting(network) + if self.wifi_manager.is_saved(network.ssid) and not password: + self.wifi_manager.activate_connection(network.ssid) + else: + self.wifi_manager.connect_to_network(network.ssid, password) + + def forget_network(self, network: NetworkInfo): + self.state = StateForgetting(network) + self.wifi_manager.forget_connection(network.ssid) + + def _on_need_auth(self): + match self.state: + case StateConnecting(network): + self.state = StateNeedsAuth(network) + + def _on_activated(self): + if isinstance(self.state, StateConnecting): + self.state = StateIdle() + + def _on_forgotten(self): + if isinstance(self.state, StateForgetting): + self.state = StateIdle() + + +def main(): + gui_app.init_window("Wi-Fi Manager") + wifi_manager = WifiManagerWrapper() + wifi_ui = WifiManagerUI(wifi_manager) + + for _ in gui_app.render(): + wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100)) + + wifi_manager.shutdown() + gui_app.close() + + +if __name__ == "__main__": + main() From a8b9350103fe76a523a67ceff5719bff46803c39 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 5 May 2025 12:51:04 -0700 Subject: [PATCH 112/477] [bot] Update Python packages (#35125) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 70 ++++++++++++++++++++++++++-------------------------- 2 files changed, 36 insertions(+), 36 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b82e8e0122..de651d84e8 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b82e8e01225a2b9e0953f59d336b9d278bab9acf +Subproject commit de651d84e8514e58aaa6073b06327706b93f5b8a diff --git a/uv.lock b/uv.lock index eb43ede212..1d19dfd22e 100644 --- a/uv.lock +++ b/uv.lock @@ -149,16 +149,16 @@ wheels = [ [[package]] name = "azure-core" -version = "1.33.0" +version = "1.34.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "requests" }, { name = "six" }, { name = "typing-extensions" }, ] -sdist = { url = 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}, - { name = "farama-notifications" }, - { name = "numpy" }, - { name = "typing-extensions" }, + { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/90/69/70cd29e9fc4953d013b15981ee71d4c9ef4d8b2183e6ef2fe89756746dce/gymnasium-1.1.1.tar.gz", hash = "sha256:8bd9ea9bdef32c950a444ff36afc785e1d81051ec32d30435058953c20d2456d", size = 829326, upload-time = "2025-03-06T16:30:36.428Z" } wheels = [ @@ -964,22 +964,22 @@ name = "metadrive-simulator" version = "0.4.2.4" source = { url = 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b920e2a998eeb13e77fa383a53961b51a6247698 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 6 May 2025 07:48:15 +0800 Subject: [PATCH 115/477] tools: add --auto flag to replay and cabana for loading routes from auto source (#34863) * add flag to auto load a route from the most suitable source * split to functions * early return * add --auto to replay * README * cleanup * remove prefix * parse datetime * cleanup * improve help * do not modify logreader.py * fix seg_num * cleanup --- tools/auto_source.py | 17 ++++++++ tools/cabana/README.md | 2 + tools/cabana/cabana.cc | 4 +- tools/cabana/streams/replaystream.cc | 5 ++- tools/cabana/streams/replaystream.h | 2 +- tools/replay/README.md | 2 + tools/replay/main.cc | 14 ++++--- tools/replay/replay.cc | 4 +- tools/replay/replay.h | 2 +- tools/replay/route.cc | 58 +++++++++++++++++++++------- tools/replay/route.h | 6 ++- tools/replay/seg_mgr.h | 4 +- 12 files changed, 91 insertions(+), 29 deletions(-) create mode 100755 tools/auto_source.py diff --git a/tools/auto_source.py b/tools/auto_source.py new file mode 100755 index 0000000000..401929a9ad --- /dev/null +++ b/tools/auto_source.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import sys +from openpilot.tools.lib.logreader import LogReader + + +def main(): + if len(sys.argv) != 2: + print("Usage: python auto_source.py ") + sys.exit(1) + + log_path = sys.argv[1] + lr = LogReader(log_path, sort_by_time=True) + print("\n".join(lr.logreader_identifiers)) + + +if __name__ == "__main__": + main() diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 0b7c5bf3ee..7933098e34 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -12,6 +12,8 @@ Options: -h, --help Displays help on commandline options. --help-all Displays help including Qt specific options. --demo use a demo route instead of providing your own + --auto Auto load the route from the best available source (no video): + internal, openpilotci, comma_api, car_segments, testing_closet --qcam load qcamera --ecam load wide road camera --msgq read can messages from msgq diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index d140a323e1..97f178b1f3 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -23,6 +23,7 @@ int main(int argc, char *argv[]) { cmd_parser.addHelpOption(); cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai"); cmd_parser.addOption({"demo", "use a demo route instead of providing your own"}); + cmd_parser.addOption({"auto", "Auto load the route from the best available source (no video): internal, openpilotci, comma_api, car_segments, testing_closet"}); cmd_parser.addOption({"qcam", "load qcamera"}); cmd_parser.addOption({"ecam", "load wide road camera"}); cmd_parser.addOption({"dcam", "load driver camera"}); @@ -69,7 +70,8 @@ int main(int argc, char *argv[]) { } if (!route.isEmpty()) { auto replay_stream = std::make_unique(&app); - if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { + bool auto_source = cmd_parser.isSet("auto"); + if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) { return 0; } stream = replay_stream.release(); diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index ebe478ded7..b8cf1be299 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -7,6 +7,7 @@ #include #include "common/timing.h" +#include "common/util.h" #include "tools/cabana/streams/routes.h" ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { @@ -45,9 +46,9 @@ void ReplayStream::mergeSegments() { } } -bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { +bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) { replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, - {}, nullptr, replay_flags, data_dir.toStdString())); + {}, nullptr, replay_flags, data_dir.toStdString(), auto_source)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter([this](const Event *event) { return eventFilter(event); }); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index df1f2526a5..d429ed1f95 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -18,7 +18,7 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); void start() override { replay->start(); } - bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); + bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } bool liveStreaming() const override { return false; } diff --git a/tools/replay/README.md b/tools/replay/README.md index 719f7d2db9..8b4afb0acc 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -64,6 +64,8 @@ Options: -s, --start start from -x playback . between 0.2 - 3 --demo use a demo route instead of providing your own + --auto Auto load the route from the best available source (no video): + internal, openpilotci, comma_api, car_segments, testing_closet --data_dir local directory with routes --prefix set OPENPILOT_PREFIX --dcam load driver camera diff --git a/tools/replay/main.cc b/tools/replay/main.cc index b33b7fa263..38a1da292a 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -19,6 +19,8 @@ Options: -s, --start Start from -x, --playback Playback --demo Use a demo route instead of providing your own + --auto Auto load the route from the best available source (no video): + internal, openpilotci, comma_api, car_segments, testing_closet -d, --data_dir Local directory with routes -p, --prefix Set OPENPILOT_PREFIX --dcam Load driver camera @@ -39,6 +41,7 @@ struct ReplayConfig { std::string data_dir; std::string prefix; uint32_t flags = REPLAY_FLAG_NONE; + bool auto_source = false; int start_seconds = 0; int cache_segments = -1; float playback_speed = -1; @@ -52,6 +55,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { {"start", required_argument, nullptr, 's'}, {"playback", required_argument, nullptr, 'x'}, {"demo", no_argument, nullptr, 0}, + {"auto", no_argument, nullptr, 0}, {"data_dir", required_argument, nullptr, 'd'}, {"prefix", required_argument, nullptr, 'p'}, {"dcam", no_argument, nullptr, 0}, @@ -94,11 +98,9 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { case 'p': config.prefix = optarg; break; case 0: { std::string name = cli_options[option_index].name; - if (name == "demo") { - config.route = DEMO_ROUTE; - } else { - config.flags |= flag_map.at(name); - } + if (name == "demo") config.route = DEMO_ROUTE; + else if (name == "auto") config.auto_source = true; + else config.flags |= flag_map.at(name); break; } case 'h': std::cout << helpText; return false; @@ -136,7 +138,7 @@ int main(int argc, char *argv[]) { op_prefix = std::make_unique(config.prefix); } - Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir); + Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, config.auto_source); if (config.cache_segments > 0) { replay.setSegmentCacheLimit(config.cache_segments); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 80f586daa6..a8e5cd9d43 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -15,8 +15,8 @@ void notifyEvent(Callback &callback, Args &&...args) { } Replay::Replay(const std::string &route, std::vector allow, std::vector block, - SubMaster *sm, uint32_t flags, const std::string &data_dir) - : sm_(sm), flags_(flags), seg_mgr_(std::make_unique(route, flags, data_dir)) { + SubMaster *sm, uint32_t flags, const std::string &data_dir, bool auto_source) + : sm_(sm), flags_(flags), seg_mgr_(std::make_unique(route, flags, data_dir, auto_source)) { std::signal(SIGUSR1, interrupt_sleep_handler); if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 6a2c86ff02..5e868d2427 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -29,7 +29,7 @@ enum REPLAY_FLAGS { class Replay { public: Replay(const std::string &route, std::vector allow, std::vector block, SubMaster *sm = nullptr, - uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = ""); + uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "", bool auto_source = false); ~Replay(); bool load(); RouteLoadError lastRouteError() const { return route().lastError(); } diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 98fa0e290e..ba00828267 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -10,9 +10,8 @@ #include "tools/replay/replay.h" #include "tools/replay/util.h" -Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) { - route_ = parseRoute(route); -} +Route::Route(const std::string &route, const std::string &data_dir, bool auto_source) + : route_string_(route), data_dir_(data_dir), auto_source_(auto_source) {} RouteIdentifier Route::parseRoute(const std::string &str) { RouteIdentifier identifier = {}; @@ -44,7 +43,7 @@ RouteIdentifier Route::parseRoute(const std::string &str) { } bool Route::load() { - err_ = RouteLoadError::None; + route_ = parseRoute(route_string_); if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) { rInfo("invalid route format"); return false; @@ -56,17 +55,50 @@ bool Route::load() { date_time_ = mktime(&tm_time); } - bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); - if (ret) { - if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; - if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first; - for (auto it = segments_.begin(); it != segments_.end(); /**/) { - if (it->first < route_.begin_segment || it->first > route_.end_segment) { - it = segments_.erase(it); - } else { - ++it; + if (!loadSegments()) { + rInfo("Failed to load segments"); + return false; + } + + return true; +} + +bool Route::loadSegments() { + if (!auto_source_) { + bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); + if (ret) { + // Trim segments + if (route_.begin_segment > 0) { + segments_.erase(segments_.begin(), segments_.lower_bound(route_.begin_segment)); + } + if (route_.end_segment >= 0) { + segments_.erase(segments_.upper_bound(route_.end_segment), segments_.end()); } } + return !segments_.empty(); + } + return loadFromAutoSource(); +} + +bool Route::loadFromAutoSource() { + auto origin_prefix = getenv("OPENPILOT_PREFIX"); + if (origin_prefix) { + setenv("OPENPILOT_PREFIX", "", 1); + } + auto cmd = util::string_format("../auto_source.py \"%s\"", route_string_.c_str()); + auto log_files = split(util::check_output(cmd), '\n'); + if (origin_prefix) { + setenv("OPENPILOT_PREFIX", origin_prefix, 1); + } + + const static std::regex rx(R"(\/(\d+)\/)"); + for (int i = 0; i < log_files.size(); ++i) { + int seg_num = i; + std::smatch match; + if (std::regex_search(log_files[i], match, rx)) { + seg_num = std::stoi(match[1]); + } + addFileToSegment(seg_num, log_files[i]); } return !segments_.empty(); } diff --git a/tools/replay/route.h b/tools/replay/route.h index fb9f1869f6..0375252a19 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -40,7 +40,7 @@ struct SegmentFile { class Route { public: - Route(const std::string &route, const std::string &data_dir = {}); + Route(const std::string &route, const std::string &data_dir = {}, bool auto_source = false); bool load(); RouteLoadError lastError() const { return err_; } inline const std::string &name() const { return route_.str; } @@ -52,6 +52,8 @@ public: static RouteIdentifier parseRoute(const std::string &str); protected: + bool loadSegments(); + bool loadFromAutoSource(); bool loadFromLocal(); bool loadFromServer(int retries = 3); bool loadFromJson(const std::string &json); @@ -61,6 +63,8 @@ protected: std::map segments_; std::time_t date_time_ = 0; RouteLoadError err_ = RouteLoadError::None; + bool auto_source_ = false; + std::string route_string_; }; class Segment { diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h index 9158e41618..640169749e 100644 --- a/tools/replay/seg_mgr.h +++ b/tools/replay/seg_mgr.h @@ -20,8 +20,8 @@ public: bool isSegmentLoaded(int n) const { return segments.find(n) != segments.end(); } }; - SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "") - : flags_(flags), route_(route_name, data_dir), event_data_(std::make_shared()) {} + SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "", bool auto_source = false) + : flags_(flags), route_(route_name, data_dir, auto_source), event_data_(std::make_shared()) {} ~SegmentManager(); bool load(); From 3c58da5c84064191ced8ece01ffd0b7a0393440f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 5 May 2025 16:54:14 -0700 Subject: [PATCH 116/477] mimic agnos pyproject order --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 6db5f00621..bf43840d71 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -47,6 +47,7 @@ dependencies = [ # logging "pyzmq", "sentry-sdk", + "xattr", # used in place of 'os.getxattr' for macos compatibility # athena "PyJWT", @@ -64,7 +65,6 @@ dependencies = [ "psutil", "pycryptodome", # used in updated/casync, panda, body, and a test "setproctitle", - "xattr", # used in place of 'os.getxattr' for macos compatibility # logreader "zstandard", From 5c1f28591f8ff2e11b58ad8c99a4a450545a8783 Mon Sep 17 00:00:00 2001 From: Joey Date: Mon, 5 May 2025 17:07:27 -0700 Subject: [PATCH 117/477] remove dead link in SAFETY.md (#35122) * Update SAFETY.md remove broken link * Update SAFETY.md * Update docs/SAFETY.md --------- Co-authored-by: Shane Smiskol --- docs/SAFETY.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/SAFETY.md b/docs/SAFETY.md index 4b568728a7..18a450a395 100644 --- a/docs/SAFETY.md +++ b/docs/SAFETY.md @@ -25,9 +25,9 @@ ensuring two main safety requirements. by stepping on the brake pedal or by pressing the cancel button. 2. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained - to operate within reasonable limits[^1]. + to operate within reasonable limits[^1]. -For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety). +For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety). **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. From ddb19cc0742a8f7cbf6e71fdd00dfbb5c7a80139 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 10:21:23 -0700 Subject: [PATCH 118/477] op: better adb SSH (#35135) * op: better adb SSH * fix --- tools/adb_shell.sh | 8 -------- tools/op.sh | 2 +- tools/scripts/adb_ssh.sh | 7 +++++++ 3 files changed, 8 insertions(+), 9 deletions(-) delete mode 100755 tools/adb_shell.sh create mode 100755 tools/scripts/adb_ssh.sh diff --git a/tools/adb_shell.sh b/tools/adb_shell.sh deleted file mode 100755 index f757f7d4d0..0000000000 --- a/tools/adb_shell.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env expect -spawn adb shell -expect "#" -send "cd data/openpilot\r" -send "export TERM=xterm-256color\r" -send "su comma\r" -send "clear\r" -interact diff --git a/tools/op.sh b/tools/op.sh index 8a8faaf237..25a4670cd1 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -275,7 +275,7 @@ function op_venv() { function op_adb() { op_before_cmd - op_run_command tools/adb_shell.sh + op_run_command tools/scripts/adb_ssh.sh } function op_check() { diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh new file mode 100755 index 0000000000..43c8e07de6 --- /dev/null +++ b/tools/scripts/adb_ssh.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash +set -e + +# this is a little nicer than "adb shell" since +# "adb shell" doesn't do full terminal emulation +adb forward tcp:2222 tcp:22 +ssh comma@localhost -p 2222 From 9622b6f8bd434f21ec85a5034e062218a57f9659 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 7 May 2025 01:25:51 +0800 Subject: [PATCH 119/477] ui(raylib): add a simple toggle component (#35128) * simple toggle * Update system/ui/lib/toggle.py Co-authored-by: Adeeb Shihadeh * cleanup --------- Co-authored-by: Adeeb Shihadeh --- system/ui/lib/toggle.py | 53 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 system/ui/lib/toggle.py diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py new file mode 100644 index 0000000000..e72faef11c --- /dev/null +++ b/system/ui/lib/toggle.py @@ -0,0 +1,53 @@ +import pyray as rl + +ON_COLOR = rl.GREEN +OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) +KNOB_COLOR = rl.WHITE +BG_HEIGHT = 60 +KNOB_HEIGHT = 80 +WIDTH = 160 + + +class Toggle: + def __init__(self, x, y, initial_state=False): + self._state = initial_state + self._rect = rl.Rectangle(x, y, WIDTH, KNOB_HEIGHT) + + 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): + self._state = not self._state + + def get_state(self): + return self._state + + def render(self): + self._draw_background() + self._draw_knob() + + 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) + + 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) + + +if __name__ == "__main__": + from openpilot.system.ui.lib.application import gui_app + + gui_app.init_window("Text toggle example") + toggle = Toggle(100, 100) + for _ in gui_app.render(): + toggle.handle_input() + toggle.render() + From 662877c6f3585493d0fa1f378ab402afd3353bc1 Mon Sep 17 00:00:00 2001 From: Nayan Date: Tue, 6 May 2025 13:38:06 -0400 Subject: [PATCH 120/477] models: Consolidate model helpers & get_model_path filename fix (#884) consolidate run_helpers.py & helpers.py bugfix for get_model_path --- sunnypilot/modeld/modeld.py | 2 +- sunnypilot/modeld/runners/run_helpers.py | 97 ------------------------ sunnypilot/models/helpers.py | 88 ++++++++++++++++++++- 3 files changed, 88 insertions(+), 99 deletions(-) delete mode 100644 sunnypilot/modeld/runners/run_helpers.py diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py index a58a567100..744b90465b 100755 --- a/sunnypilot/modeld/modeld.py +++ b/sunnypilot/modeld/modeld.py @@ -23,7 +23,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.sunnypilot.modeld.constants import ModelConstants from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext -from openpilot.sunnypilot.modeld.runners.run_helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants +from openpilot.sunnypilot.models.helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants PROCESS_NAME = "selfdrive.modeld.modeld_snpe" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py deleted file mode 100644 index 3e6b280ae1..0000000000 --- a/sunnypilot/modeld/runners/run_helpers.py +++ /dev/null @@ -1,97 +0,0 @@ -""" -Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - -This file is part of sunnypilot and is licensed under the MIT License. -See the LICENSE.md file in the root directory for more details. -""" - -import os -import pickle -import numpy as np - -from cereal import custom -from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose -from openpilot.sunnypilot.modeld.runners import ModelRunner -from openpilot.sunnypilot.models.helpers import get_active_bundle -from openpilot.system.hardware import PC -from openpilot.system.hardware.hw import Paths -from pathlib import Path - -USE_ONNX = os.getenv('USE_ONNX', PC) - -CUSTOM_MODEL_PATH = Paths.model_root() -METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl' - -ModelManager = custom.ModelManagerSP - - -def _get_model(): - if bundle := get_active_bundle(): - drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo) - return drive_model - - return None - -def get_model_path(): - if USE_ONNX: - return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'} - - if model := _get_model(): - return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.fileName}"} - - return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'} - - -def load_metadata(): - metadata_path = METADATA_PATH - - if model := _get_model(): - metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" - - with open(metadata_path, 'rb') as f: - return pickle.load(f) - - -def prepare_inputs(model_metadata) -> dict[str, np.ndarray]: - # img buffers are managed in openCL transform code so we don't pass them as inputs - inputs = { - k: np.zeros(v, dtype=np.float32).flatten() - for k, v in model_metadata['input_shapes'].items() - if 'img' not in k - } - - return inputs - - -def load_meta_constants(model_metadata): - """ - Determines and loads the appropriate meta model class based on the metadata provided. The function checks - specific keys and conditions within the provided metadata dictionary to identify the corresponding meta - model class to return. - - :param model_metadata: Dictionary containing metadata about the model. It includes - details such as input shapes, output slices, and other configurations for identifying - metadata-dependent meta model classes. - :type model_metadata: dict - :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider) - based on the conditions and metadata provided. - :rtype: type - """ - meta = Meta # Default Meta - - if 'sim_pose' in model_metadata['input_shapes'].keys(): - # Meta for models with sim_pose input - meta = MetaSimPose - else: - # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models - meta_slice = model_metadata['output_slices']['meta'] - meta_tf_slice = slice(5868, 5921, None) - - if ( - meta_slice.start == meta_tf_slice.start and - meta_slice.stop == meta_tf_slice.stop and - meta_slice.step == meta_tf_slice.step - ): - meta = MetaTombRaider - - return meta diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index 20f58f8c59..7bcf1a148a 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -7,13 +7,28 @@ See the LICENSE.md file in the root directory for more details. import hashlib import os +import pickle +import numpy as np +import json + from openpilot.common.params import Params from cereal import custom -import json +from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose +from openpilot.sunnypilot.modeld.runners import ModelRunner +from openpilot.system.hardware import PC +from openpilot.system.hardware.hw import Paths +from pathlib import Path CURRENT_SELECTOR_VERSION = 2 REQUIRED_MIN_SELECTOR_VERSION = 2 +USE_ONNX = os.getenv('USE_ONNX', PC) + +CUSTOM_MODEL_PATH = Paths.model_root() +METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl' + +ModelManager = custom.ModelManagerSP + async def verify_file(file_path: str, expected_hash: str) -> bool: """Verifies file hash against expected hash""" @@ -98,3 +113,74 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom. params.put("ModelRunnerTypeCache", str(int(runner_type))) return runner_type + +def _get_model(): + if bundle := get_active_bundle(): + drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo) + return drive_model + + return None + +def get_model_path(): + if USE_ONNX: + return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'} + + if model := _get_model(): + return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"} + + return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'} + + +def load_metadata(): + metadata_path = METADATA_PATH + + if model := _get_model(): + metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" + + with open(metadata_path, 'rb') as f: + return pickle.load(f) + + +def prepare_inputs(model_metadata) -> dict[str, np.ndarray]: + # img buffers are managed in openCL transform code so we don't pass them as inputs + inputs = { + k: np.zeros(v, dtype=np.float32).flatten() + for k, v in model_metadata['input_shapes'].items() + if 'img' not in k + } + + return inputs + + +def load_meta_constants(model_metadata): + """ + Determines and loads the appropriate meta model class based on the metadata provided. The function checks + specific keys and conditions within the provided metadata dictionary to identify the corresponding meta + model class to return. + + :param model_metadata: Dictionary containing metadata about the model. It includes + details such as input shapes, output slices, and other configurations for identifying + metadata-dependent meta model classes. + :type model_metadata: dict + :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider) + based on the conditions and metadata provided. + :rtype: type + """ + meta = Meta # Default Meta + + if 'sim_pose' in model_metadata['input_shapes'].keys(): + # Meta for models with sim_pose input + meta = MetaSimPose + else: + # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models + meta_slice = model_metadata['output_slices']['meta'] + meta_tf_slice = slice(5868, 5921, None) + + if ( + meta_slice.start == meta_tf_slice.start and + meta_slice.stop == meta_tf_slice.stop and + meta_slice.step == meta_tf_slice.step + ): + meta = MetaTombRaider + + return meta From 58bc8e3b43884a186c2054d258b0637aafbb7c7a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 10:51:15 -0700 Subject: [PATCH 121/477] op: more robust openpilot finding (#35136) --- tools/op.sh | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 25a4670cd1..93e774a2ac 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -52,6 +52,7 @@ function op_run_command() { # be default, assume openpilot dir is in current directory OPENPILOT_ROOT=$(pwd) function op_get_openpilot_dir() { + # First try traversing up the directory tree while [[ "$OPENPILOT_ROOT" != '/' ]]; do if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then @@ -59,6 +60,14 @@ function op_get_openpilot_dir() { fi OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" done + + # Fallback to hardcoded directories if not found + for dir in "$HOME/openpilot" "/data/openpilot"; do + if [[ -f "$dir/launch_openpilot.sh" ]]; then + OPENPILOT_ROOT="$dir" + return 0 + fi + done } function op_install_post_commit() { @@ -378,11 +387,6 @@ function op_default() { echo " op is only a wrapper for existing scripts, tools, and commands." echo " op will always show you what it will run on your system." echo "" - echo " op will try to find your openpilot directory in the following order:" - echo " 1: use the directory specified with the --dir option" - echo " 2: use the current working directory" - echo " 3: go up the file tree non-recursively" - echo "" echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " echo "" echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}" From 97bad78553746f6c1f1c0217ebb34e8446f4171d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 14:29:16 -0700 Subject: [PATCH 122/477] bump opendbc --- RELEASES.md | 1 + opendbc_repo | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 3ff80ca4dc..5730877f94 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -4,6 +4,7 @@ Version 0.9.9 (2025-05-15) * New training architecture supervised by MLSIM * Steering actuator delay is now learned online * Tesla Model 3 and Y support thanks to lukasloetkolben! +* Lexus RC 2023 support thanks to nelsonjchen! * Coming soon * New Honda models * Bigger vision model diff --git a/opendbc_repo b/opendbc_repo index de651d84e8..1754a76924 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit de651d84e8514e58aaa6073b06327706b93f5b8a +Subproject commit 1754a769240f170b9033d802be549bd69e16b6c0 From 2393e0d27d2bc42c9d79cfd9966bab5dd31a48d7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 6 May 2025 14:54:24 -0700 Subject: [PATCH 123/477] update CARS doc --- docs/CARS.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c22568ce2e..75917241d6 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,11 +4,12 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 304 Supported Cars +# 306 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -186,6 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| From e64be675e32bfae07c433c7cb03ba537c810cab8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 14:57:35 -0700 Subject: [PATCH 124/477] don't need to assert, CI updates this --- selfdrive/car/tests/test_docs.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 43c30eb64d..6e13d55b29 100644 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -4,7 +4,7 @@ from openpilot.common.basedir import BASEDIR from opendbc.car.docs import generate_cars_md, get_all_car_docs from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff -from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE +from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE class TestCarDocs: @@ -13,11 +13,7 @@ class TestCarDocs: cls.all_cars = get_all_car_docs() def test_generator(self): - generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) - with open(CARS_MD_OUT) as f: - current_cars_md = f.read() - - assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation" + generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) def test_docs_diff(self): dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") From b4003120422b586c379c12c071609d1a068cb885 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 6 May 2025 20:37:09 -0700 Subject: [PATCH 125/477] agnos 12 (#35133) * new * all * prod * both * 12 * version * update --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 24 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ 3 files changed, 38 insertions(+), 38 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index aff451e541..9ce5013240 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="11.13" + export AGNOS_VERSION="12" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 1a3cd382a9..9d56c95fb4 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,29 +56,29 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", - "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", - "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", + "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" + "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", - "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", - "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "size": 4404019200, + "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img.xz", + "hash": "9b2b6df2ebc381404eef4a1765bf2657fb69b995d270d0c577bdaa5932e846fb", + "hash_raw": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", + "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", + "ondevice_hash": "3ff6c83006a739c11fea2c78347f2206f6050a7587ee355f4935846fdfdb5385", "alt": { - "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", - "size": 4404019200 + "hash": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", + "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img", + "size": 5368709120 } } ] \ No newline at end of file diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 4e24b229d4..15d41cc8ab 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", - "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", - "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", + "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - 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"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz", - "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2", - "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93.img.xz", + "hash": "e25657872471bd6a7e2c71eda2306d365098b458ebd5a834d002b84c5654bb7b", + "hash_raw": "6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e" + "ondevice_hash": "2d24d20e9fbdcc8b098990970738465a5f537611559d69fa81095d03ac44ac51" } -] +] \ No newline at end of file From bbf37ae5c7e95f84f7460b20ce898a5ce0e20a6a Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Wed, 7 May 2025 07:09:59 +0300 Subject: [PATCH 126/477] Reapply "Mypy: Got passing on macos (#34591)" (#35126) * Mypy: Got passing on macos (#34591) * Mypy: Got mypy passing on macos * common/realtime.py refactor * Mypy: mypy passing on darwin * Refactor: Removed else: pass statement * Refactor: Removed unnecessary check * added xattr to pyproject * loggerd: switched to xatter module * loggerd: removed unused module in xattr_cache.py * UV: update uv.lock * Update system/athena/athenad.py Co-authored-by: Maxime Desroches * athenad: fixed blank lines * loggerd: refactor of xattr_cache * cleanup --------- Co-authored-by: Maxime Desroches * fix getxattr no attribute on macOS * try fixing missing ENOATTR on Linux --------- Co-authored-by: BrainLess <116778989+BrainLessPea@users.noreply.github.com> Co-authored-by: Maxime Desroches --- common/realtime.py | 5 +++-- system/athena/athenad.py | 7 +++++-- system/loggerd/xattr_cache.py | 11 ++++++----- 3 files changed, 14 insertions(+), 9 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 82176a00a6..57926b4c4f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -1,6 +1,7 @@ """Utilities for reading real time clocks and keeping soft real time constraints.""" import gc import os +import sys import time from setproctitle import getproctitle @@ -28,13 +29,13 @@ class Priority: def set_core_affinity(cores: list[int]) -> None: - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setaffinity(0, cores) def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 5813bc90a5..fb546fa40f 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -776,8 +776,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s # offroad, we can expect to time out in 30 + (10 * 3) = 60s # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + if sys.platform == 'linux': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + elif sys.platform == 'darwin': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index d3220118ac..39bb172059 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,16 +1,17 @@ -import os import errno +import xattr + _cached_attributes: dict[tuple, bytes | None] = {} def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: - response = os.getxattr(path, attr_name) + response = xattr.getxattr(path, attr_name) except OSError as e: - # ENODATA means attribute hasn't been set - if e.errno == errno.ENODATA: + # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set + if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR): response = None else: raise @@ -19,4 +20,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None: def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: _cached_attributes.pop((path, attr_name), None) - return os.setxattr(path, attr_name, attr_value) + xattr.setxattr(path, attr_name, attr_value) From aa1b7907086b5c1fe5e7b07c92e5aa6090a40c23 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 6 May 2025 21:38:50 -0700 Subject: [PATCH 127/477] revert agnos 12 --- common/realtime.py | 5 +-- launch_env.sh | 2 +- system/athena/athenad.py | 7 +--- system/hardware/tici/agnos.json | 24 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ system/loggerd/xattr_cache.py | 11 +++--- 6 files changed, 47 insertions(+), 52 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 57926b4c4f..82176a00a6 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -1,7 +1,6 @@ """Utilities for reading real time clocks and keeping soft real time constraints.""" import gc import os -import sys import time from setproctitle import getproctitle @@ -29,13 +28,13 @@ class Priority: def set_core_affinity(cores: list[int]) -> None: - if sys.platform == 'linux' and not PC: + if not PC: os.sched_setaffinity(0, cores) def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - if sys.platform == 'linux' and not PC: + if not PC: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/launch_env.sh b/launch_env.sh index 9ce5013240..aff451e541 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" + export AGNOS_VERSION="11.13" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/athena/athenad.py b/system/athena/athenad.py index fb546fa40f..5813bc90a5 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -776,11 +776,8 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s # offroad, we can expect to time out in 30 + (10 * 3) = 60s # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused - if sys.platform == 'linux': - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - elif sys.platform == 'darwin': - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 9d56c95fb4..1a3cd382a9 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,29 +56,29 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", - "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", - 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"hash": "f9e949b03e224a507bcaae2b37790b2ec9c2941afdff5ffca9f5f1aeec81713a", - "hash_raw": "19287b0f0e3efc5dce1b1b686b2be02bb9ba1d80d896bbff605671afe389651c", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz", + "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec", + "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "ae80936894bd134cc23cca12aa325f24b2a217163d34c4fab65ef8f0c5448418" + "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93.img.xz", - "hash": "e25657872471bd6a7e2c71eda2306d365098b458ebd5a834d002b84c5654bb7b", - "hash_raw": "6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz", + "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2", + "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "2d24d20e9fbdcc8b098990970738465a5f537611559d69fa81095d03ac44ac51" + "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e" } -] \ No newline at end of file +] diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index 39bb172059..d3220118ac 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,17 +1,16 @@ +import os import errno -import xattr - _cached_attributes: dict[tuple, bytes | None] = {} def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: - response = xattr.getxattr(path, attr_name) + response = os.getxattr(path, attr_name) except OSError as e: - # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set - if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR): + # ENODATA means attribute hasn't been set + if e.errno == errno.ENODATA: response = None else: raise @@ -20,4 +19,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None: def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: _cached_attributes.pop((path, attr_name), None) - xattr.setxattr(path, attr_name, attr_value) + return os.setxattr(path, attr_name, attr_value) From 7c16e653470d099fd674682f8d49e50a8522492c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 7 May 2025 23:39:05 +0800 Subject: [PATCH 128/477] loggerd: remove redundant Params Construction (#35138) remove redundant Params Construction --- system/loggerd/loggerd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 953ae1df32..2d2d4640ed 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -203,7 +203,7 @@ void handle_user_flag(LoggerdState *s) { // mark route for uploading Params params; - std::string routes = Params().get("AthenadRecentlyViewedRoutes"); + std::string routes = params.get("AthenadRecentlyViewedRoutes"); params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName()); prev_segment = s->logger.segment(); From 433e7268f5356b9cb08be0a95ccbf54bcafaec25 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 7 May 2025 18:12:01 +0200 Subject: [PATCH 129/477] Log register errors as errors (#35141) log register errors as errors --- selfdrive/pandad/pandad.cc | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index db7dd387e0..fbf4e206ae 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -456,7 +456,12 @@ void pandad_run(std::vector &pandas) { for (auto *panda : pandas) { std::string log = panda->serial_read(); if (!log.empty()) { - LOGD("%s", log.c_str()); + if (log.find("Register 0x") != std::string::npos) { + // Log register divergent faults as errors + LOGE("%s", log.c_str()); + } else { + LOGD("%s", log.c_str()); + } } } From dcca094ad83664b7ff8e01f7d0d1ed40e315a8e3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 May 2025 15:29:41 -0700 Subject: [PATCH 130/477] Tesla: forward stock LKAS while disengaged (#35150) * bump * update docs * bump --- docs/CARS.md | 15 ++++++++++----- opendbc_repo | 2 +- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 75917241d6..55871eba2f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,13 +4,13 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 306 Supported Cars +# 311 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -33,17 +33,22 @@ A supported vehicle is one that just works when you install a comma device. All |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 1754a76924..03b74b1f56 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 1754a769240f170b9033d802be549bd69e16b6c0 +Subproject commit 03b74b1f56830a18de91d5380d2508ce8c803eb8 From 2e0fa3f82720154a9078802653673124be9eb30a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 May 2025 16:26:20 -0700 Subject: [PATCH 131/477] Tesla: allow enabling in tight curves (#35147) * bump * revert steer limit timer * alert for stock lkas * add enum * same as ldw * bump * draft * bump * bump * rm * why here?1 * bump to master --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 03b74b1f56..c856a2c0bd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 03b74b1f56830a18de91d5380d2508ce8c803eb8 +Subproject commit c856a2c0bd2b3c75f86a73b051c0c4cc7159559e diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index bbecc6e688..dc37519be1 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -191,7 +191,7 @@ class CarSpecificEvents: events.add(EventName.accFaulted) if CS.steeringPressed: events.add(EventName.steerOverride) - if CS.steeringDisengage: + if CS.steeringDisengage and not CS_prev.steeringDisengage: events.add(EventName.steerDisengage) if CS.brakePressed and CS.standstill: events.add(EventName.preEnableStandstill) From 36ff474bc812474b1fd15b1c5c58252563034fea Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 16:44:20 -0700 Subject: [PATCH 132/477] remove `numpy.core` usage (#35152) fix --- system/hardware/tici/tests/test_power_draw.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 669889a2ae..fd65ecd5cd 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -56,10 +56,10 @@ class TestPowerDraw: def valid_msg_count(self, proc, msg_counts): msgs_received = sum(msg_counts[msg] for msg in proc.msgs) msgs_expected = self.get_expected_messages(proc) - return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2) + return np.isclose(msgs_expected, msgs_received, rtol=.02, atol=2) def valid_power_draw(self, proc, used): - return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol) + return np.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol) def tabulate_msg_counts(self, msgs_and_power): msg_counts = defaultdict(int) From 0fb4aafa35896e831bd58a636a9a1bb4a1442743 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 7 May 2025 18:06:41 -0700 Subject: [PATCH 133/477] Tomb Raider 7 (#35114) * Revert "Revert TR (#35110)" This reverts commit df4f2955dc16325472322522b12a8db5347f52fa. * eb5f884a-10ad-49fd-ae5c-e2818c26e568/400 * 1cc828ab-95e5-4620-aa07-b98918b4268d/400 * 5790a2c1-b487-4bef-a3c3-db1fcd5a756d/400 * raw plan --- selfdrive/controls/lib/longitudinal_planner.py | 15 ++++++++++++--- selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 14 +++++++++----- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 ++++++------- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 37 insertions(+), 25 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9d71faeca2..4219e80f33 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mpc.mode == 'acc': + if self.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -160,8 +160,17 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) + output_a_target_e2e = sm['modelV2'].action.desiredAcceleration + output_should_stop_e2e = sm['modelV2'].action.shouldStop + + if self.mode == 'acc': + output_a_target = output_a_target_mpc + self.output_should_stop = output_should_stop_mpc + else: + output_a_target = min(output_a_target_mpc, output_a_target_e2e) + self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a91c6395c7..36bd724d01 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose = modelV2.temporalPose + #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 5e1acdea0e..84d7760dce 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -41,8 +41,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.0 -LONG_SMOOTH_SECONDS = 0.0 +LAT_SMOOTH_SECONDS = 0.1 +LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 @@ -55,7 +55,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2], + plan[:,Plan.ORIENTATION_RATE][:,2], + ModelConstants.T_IDXS, + v_ego, + lat_action_t) if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: @@ -172,7 +176,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3601bbb5da..5bd77bb958 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 sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 -size 15966721 +oid sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18 +size 15588463 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index aee6d8f1bf..0a7b4a803d 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 sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 -size 34882971 +oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e +size 46265585 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 810c44ccb9..783572d436 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,6 +88,12 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -95,17 +101,10 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1ae4c4a1a8..3dd3eab25f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file From 380f383e2e46cecfe491d559fe7656ad0b0bee9e Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 7 May 2025 18:13:53 -0700 Subject: [PATCH 134/477] ci: enable cache by default (#35121) * enable cache for Mac brew and scons * bump * save cache by default, explicitly opt-out * Delete bump-ci --------- Co-authored-by: Maxime Desroches --- .github/workflows/auto-cache/action.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml index fadd422b6e..377b1eedcd 100644 --- a/.github/workflows/auto-cache/action.yaml +++ b/.github/workflows/auto-cache/action.yaml @@ -12,7 +12,7 @@ inputs: required: true save: description: 'whether to save the cache' - default: 'false' + default: 'true' required: false outputs: cache-hit: From 2451d70408a8e289be69acfe4b1a155800a0cd4e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 18:21:53 -0700 Subject: [PATCH 135/477] AGNOS 12 (#35151) agnos 12 --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 24 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ 3 files changed, 38 insertions(+), 38 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index aff451e541..9ce5013240 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="11.13" + export AGNOS_VERSION="12" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 1a3cd382a9..06f4d47be8 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,29 +56,29 @@ }, { "name": "boot", - 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"ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e" + "ondevice_hash": "fdfcf6bbca51faf601ec4da1dea1e4c21094d2db5d76945814fe5101716cbae1" } -] +] \ No newline at end of file From 47ed90c6cfe0147b35354dd9a1a07050060163a2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 19:11:37 -0700 Subject: [PATCH 136/477] Reapply "Mypy: Got passing on macos (#34591)" (#35126) (#35153) * Mypy: Got passing on macos (#34591) * Mypy: Got mypy passing on macos * common/realtime.py refactor * Mypy: mypy passing on darwin * Refactor: Removed else: pass statement * Refactor: Removed unnecessary check * added xattr to pyproject * loggerd: switched to xatter module * loggerd: removed unused module in xattr_cache.py * UV: update uv.lock * Update system/athena/athenad.py * athenad: fixed blank lines * loggerd: refactor of xattr_cache * cleanup --------- * fix getxattr no attribute on macOS * try fixing missing ENOATTR on Linux --------- Co-authored-by: Andrei Radulescu Co-authored-by: BrainLess <116778989+BrainLessPea@users.noreply.github.com> --- common/realtime.py | 5 +++-- system/athena/athenad.py | 7 +++++-- system/loggerd/xattr_cache.py | 11 ++++++----- 3 files changed, 14 insertions(+), 9 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 82176a00a6..57926b4c4f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -1,6 +1,7 @@ """Utilities for reading real time clocks and keeping soft real time constraints.""" import gc import os +import sys import time from setproctitle import getproctitle @@ -28,13 +29,13 @@ class Priority: def set_core_affinity(cores: list[int]) -> None: - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setaffinity(0, cores) def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 5813bc90a5..fb546fa40f 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -776,8 +776,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s # offroad, we can expect to time out in 30 + (10 * 3) = 60s # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + if sys.platform == 'linux': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + elif sys.platform == 'darwin': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index d3220118ac..39bb172059 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,16 +1,17 @@ -import os import errno +import xattr + _cached_attributes: dict[tuple, bytes | None] = {} def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: - response = os.getxattr(path, attr_name) + response = xattr.getxattr(path, attr_name) except OSError as e: - # ENODATA means attribute hasn't been set - if e.errno == errno.ENODATA: + # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set + if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR): response = None else: raise @@ -19,4 +20,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None: def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: _cached_attributes.pop((path, attr_name), None) - return os.setxattr(path, attr_name, attr_value) + xattr.setxattr(path, attr_name, attr_value) From 52669b6ad2ff025b73b4a10bc45f3066e0adefb8 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 20:34:08 -0700 Subject: [PATCH 137/477] AGNOS 12.1 (#35154) 12.1 --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++---- system/hardware/tici/all-partitions.json | 36 ++++++++++++------------ 3 files changed, 25 insertions(+), 25 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 9ce5013240..73a7a89789 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" + export AGNOS_VERSION="12.1" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 06f4d47be8..a415851a10 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,17 +67,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img.xz", - "hash": "92c2694de1c10aa7445f3b3a2f687f4a24f46c33202b1250e7909d1cb55c5c04", - "hash_raw": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz", + "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939", + "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "e88bece575f5515327b522f6fea8689842a62af8deace08bce8a640cc1ea8837", + "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc", "alt": { - "hash": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img", + "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img", "size": 5368709120 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index cee5e7142f..be303b7f90 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -350,51 +350,51 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img.xz", - "hash": "92c2694de1c10aa7445f3b3a2f687f4a24f46c33202b1250e7909d1cb55c5c04", - "hash_raw": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz", + "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939", + "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - 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"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fbcc9d296d63ac675f310b7785d94b44f5ef22c0304a3a0f7c2441f4bb910ca7.img.xz", - "hash": "44c3bab2ea45ac565bfd39cc64156a802c98b2dcb737bb2e7b0db2004b2872ca", - "hash_raw": "fbcc9d296d63ac675f310b7785d94b44f5ef22c0304a3a0f7c2441f4bb910ca7", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282.img.xz", + "hash": "fa471703be0f0647617d183312d5209d23407f1628e4ab0934e6ec54b1a6b263", + "hash_raw": "fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "fdfcf6bbca51faf601ec4da1dea1e4c21094d2db5d76945814fe5101716cbae1" + "ondevice_hash": "0b5b2402c9caa1ed7b832818e66580c974251e735bda91f2f226c41499d5616e" } ] \ No newline at end of file From f123e7ed7572355ebca588f5d506bd5ee52e9614 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 8 May 2025 22:19:28 +0800 Subject: [PATCH 138/477] CI: add system/ui to UI labeler (#35157) add system/ui to UI labeler --- .github/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index db1f976da8..861c2efdbd 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -12,7 +12,7 @@ simulation: ui: - changed-files: - - any-glob-to-all-files: 'selfdrive/ui/**' + - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}' tools: - changed-files: From e7f7675458baceeb20074f5ded16fc94d473cbf8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 8 May 2025 23:09:44 +0800 Subject: [PATCH 139/477] micd: fix thread safety by adding locking for shared state (#35148) * fix thread safety by adding locking for shared state * Update system/micd.py --------- Co-authored-by: Cameron Clough --- system/micd.py | 33 ++++++++++++++++++++------------- 1 file changed, 20 insertions(+), 13 deletions(-) diff --git a/system/micd.py b/system/micd.py index af1aa31360..38f3225f55 100755 --- a/system/micd.py +++ b/system/micd.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import numpy as np from functools import cache +import threading from cereal import messaging from openpilot.common.realtime import Ratekeeper @@ -52,12 +53,18 @@ class Mic: self.sound_pressure_weighted = 0 self.sound_pressure_level_weighted = 0 - def update(self): - msg = messaging.new_message('microphone', valid=True) - msg.microphone.soundPressure = float(self.sound_pressure) - msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted) + self.lock = threading.Lock() - msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted) + def update(self): + with self.lock: + sound_pressure = self.sound_pressure + sound_pressure_weighted = self.sound_pressure_weighted + sound_pressure_level_weighted = self.sound_pressure_level_weighted + + msg = messaging.new_message('microphone', valid=True) + msg.microphone.soundPressure = float(sound_pressure) + msg.microphone.soundPressureWeighted = float(sound_pressure_weighted) + msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted) self.pm.send('microphone', msg) self.rk.keep_time() @@ -69,17 +76,17 @@ class Mic: Logged A-weighted equivalents are rough approximations of the human-perceived loudness. """ + with self.lock: + self.measurements = np.concatenate((self.measurements, indata[:, 0])) - self.measurements = np.concatenate((self.measurements, indata[:, 0])) + while self.measurements.size >= FFT_SAMPLES: + measurements = self.measurements[:FFT_SAMPLES] - while self.measurements.size >= FFT_SAMPLES: - measurements = self.measurements[:FFT_SAMPLES] + self.sound_pressure, _ = calculate_spl(measurements) + measurements_weighted = apply_a_weighting(measurements) + self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) - self.sound_pressure, _ = calculate_spl(measurements) - measurements_weighted = apply_a_weighting(measurements) - self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) - - self.measurements = self.measurements[FFT_SAMPLES:] + self.measurements = self.measurements[FFT_SAMPLES:] @retry(attempts=7, delay=3) def get_stream(self, sd): From 73ee0c022f240eb30f28578620a09459c0ae3afc Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 May 2025 16:18:01 +0100 Subject: [PATCH 140/477] Reapply "ui(raylib): create BaseWindow (#35074)" (#35077) * Reapply "ui(raylib): create BaseWindow (#35074)" This reverts commit 83b84a5bec719c3e8cc1501d56344d95d4a9c4f4. * correct title * error msg * cloudlog --- system/ui/lib/window.py | 58 +++++++++++++++++++++++++++++++++++++++++ system/ui/spinner.py | 42 ++++------------------------- system/ui/text.py | 45 ++++---------------------------- 3 files changed, 68 insertions(+), 77 deletions(-) create mode 100644 system/ui/lib/window.py diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py new file mode 100644 index 0000000000..989a3b0284 --- /dev/null +++ b/system/ui/lib/window.py @@ -0,0 +1,58 @@ +import threading +import time +import os +from typing import Generic, Protocol, TypeVar +from openpilot.common.swaglog import cloudlog +from openpilot.system.ui.lib.application import gui_app + + +class RendererProtocol(Protocol): + def render(self): ... + + +R = TypeVar("R", bound=RendererProtocol) + + +class BaseWindow(Generic[R]): + def __init__(self, title: str): + self._title = title + self._renderer: R | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def _create_renderer(self) -> R: + raise NotImplementedError() + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window(self._title) + self._renderer = self._create_renderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + self._renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + cloudlog.warning(f"Failed to join {self._title} thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 5da96c73f9..119bdba3e7 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -6,6 +6,7 @@ import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text # Constants @@ -85,16 +86,12 @@ class SpinnerRenderer: FONT_SIZE, 0.0, rl.WHITE) -class Spinner: +class Spinner(BaseWindow[SpinnerRenderer]): def __init__(self): - self._renderer: SpinnerRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() + super().__init__("Spinner") - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return SpinnerRenderer() def update(self, spinner_text: str): if self._renderer is not None: @@ -103,35 +100,6 @@ class Spinner: def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Spinner") - self._renderer = renderer = SpinnerRenderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join spinner thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with Spinner() as s: diff --git a/system/ui/text.py b/system/ui/text.py index e57ae45d9a..33e8167c64 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 -import os import re -import threading import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow MARGIN = 50 SPACING = 40 @@ -74,52 +73,18 @@ class TextWindowRenderer: return ret -class TextWindow: +class TextWindow(BaseWindow[TextWindowRenderer]): def __init__(self, text: str): self._text = text + super().__init__("Text") - self._renderer: TextWindowRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return TextWindowRenderer(self._text) def wait_for_exit(self): while self._thread.is_alive(): time.sleep(0.01) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Text") - self._renderer = renderer = TextWindowRenderer(self._text) - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join text window thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with TextWindow(DEMO_TEXT): From 33849245d8025786c97881a8c132989023bb62b7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 8 May 2025 23:31:06 +0800 Subject: [PATCH 141/477] uploader.py: fix empty string handing in AthenadRecentlyViewedRoutes parameter (#35139) Fix empty strings in AthenadRecentlyViewedRoutes parameter --- system/loggerd/uploader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index c1bf804880..6e6df6114e 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -89,7 +89,7 @@ class Uploader: def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]: r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") - requested_routes = [] if r is None else r.split(",") + requested_routes = [] if r is None else [route for route in r.split(",") if route] for logdir in listdir_by_creation(self.root): path = os.path.join(self.root, logdir) From 037695af4a1a17d37a22595ad139781616857209 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 8 May 2025 16:04:59 -0400 Subject: [PATCH 142/477] Car interface: pass into setup interfaces on init (#887) * Car interface: pass into setup interfaces on init * more * should be after --- selfdrive/car/card.py | 2 +- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/controls/lib/tests/test_latcontrol.py | 2 +- sunnypilot/selfdrive/car/interfaces.py | 13 ++++++++----- .../controls/lib/nnlc/tests/test_fingerprint.py | 2 +- .../controls/lib/nnlc/tests/test_load_model.py | 2 +- .../selfdrive/controls/lib/nnlc/tests/test_nnlc.py | 2 +- 7 files changed, 14 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2326f6fbc7..fa4b10e0d1 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -108,7 +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) - sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params) + 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 self.CP_SP = self.CI.CP_SP diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index fdb823f5f8..75e5467b7e 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -45,9 +45,9 @@ class TestCarInterfaces: alpha_long=args['alpha_long'], 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) - sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp) car_params = car_params.as_reader() car_interface = CarInterface(car_params, car_params_sp) + sunnypilot_interfaces.setup_interfaces(car_interface) assert car_params assert car_params_sp assert car_interface diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 3bf9be9d92..727f68195f 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -23,7 +23,7 @@ class TestLatControl: CP = CarInterface.get_non_essential_params(car_name) CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name) CI = CarInterface(CP, CP_SP) - sunnypilot_interfaces.setup_interfaces(CP, CP_SP) + sunnypilot_interfaces.setup_interfaces(CI) CP_SP = convert_to_capnp(CP_SP) VM = VehicleModel(CP) diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index 5fac76c283..2c27e960e9 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -26,8 +26,8 @@ def log_fingerprint(CP: structs.CarParams) -> None: sentry.capture_fingerprint(CP.carFingerprint, CP.brand) -def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None, - enabled: bool = False) -> None: +def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, + params: Params = None, enabled: bool = False) -> None: if params is None: params = Params() @@ -40,7 +40,7 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str enabled = params.get_bool("NeuralNetworkLateralControl") if enabled: - CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning) + CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning) CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name @@ -61,8 +61,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, CP.radarUnavailable = False -def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None): - _initialize_neural_network_lateral_control(CP, CP_SP, params) +def setup_interfaces(CI: CarInterfaceBase, params: Params = None): + CP = CI.CP + CP_SP = CI.CP_SP + + _initialize_neural_network_lateral_control(CI, CP, CP_SP, params) _initialize_radar_tracks(CP, CP_SP, params) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py index 97f927502a..0f016ccaf0 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py @@ -24,7 +24,7 @@ class TestNNLCFingerprintBase: CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name) CI = CarInterface(CP, CP_SP) - sunnypilot_interfaces.setup_interfaces(CP, CP_SP, Params()) + sunnypilot_interfaces.setup_interfaces(CI, Params()) return CI diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py index 38fd994831..af7077d1c6 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py @@ -22,7 +22,7 @@ class TestNNTorqueModel: CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name) CI = CarInterface(CP, CP_SP) - sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params) + sunnypilot_interfaces.setup_interfaces(CI, params) CP_SP = convert_to_capnp(CP_SP) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py index 4e2649f2ff..699327cd81 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py @@ -51,7 +51,7 @@ class TestNeuralNetworkLateralControl: CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name) CI = CarInterface(CP, CP_SP) - sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params) + sunnypilot_interfaces.setup_interfaces(CI, params) CP_SP = convert_to_capnp(CP_SP) VM = VehicleModel(CP) From 4bbbe3d2d1ff67eb6f16adb15115c554389d8f12 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 May 2025 22:22:53 +0100 Subject: [PATCH 143/477] ui(raylib): revert fps to 60 (#35163) bump default fps --- system/ui/lib/application.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index a3e209c394..eae5962277 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -7,7 +7,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -DEFAULT_FPS = 30 +DEFAULT_FPS = 60 FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions From dde9c703f35509e6ebd46cee92fc75b955b1f252 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 May 2025 05:31:00 +0800 Subject: [PATCH 144/477] cabana: optimize get_raw_value() function for CAN signal extraction (#35137) optimize get_raw_value() for CAN signal extraction --- tools/cabana/dbc/dbc.cc | 41 ++++++++++++++++++++++++++--------------- 1 file changed, 26 insertions(+), 15 deletions(-) diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index ba979f258c..e9c869fce7 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -180,25 +180,36 @@ bool cabana::Signal::operator==(const cabana::Signal &other) const { // helper functions double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) { - int64_t val = 0; + const int msb_byte = sig.msb / 8; + if (msb_byte >= (int)data_size) return 0; - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; + const int lsb_byte = sig.lsb / 8; + uint64_t val = 0; - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - val |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; + // Fast path: signal fits in a single byte + if (msb_byte == lsb_byte) { + val = (data[msb_byte] >> (sig.lsb & 7)) & ((1ULL << sig.size) - 1); + } else { + // Multi-byte case: signal spans across multiple bytes + int bits = sig.size; + int i = msb_byte; + const int step = sig.is_little_endian ? -1 : 1; + while (i >= 0 && i < (int)data_size && bits > 0) { + const int msb = (i == msb_byte) ? sig.msb & 7 : 7; + const int lsb = (i == lsb_byte) ? sig.lsb & 7 : 0; + const int nbits = msb - lsb + 1; + val = (val << nbits) | ((data[i] >> lsb) & ((1ULL << nbits) - 1)); + bits -= nbits; + i += step; + } } - if (sig.is_signed) { - val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + + // Sign extension (if needed) + if (sig.is_signed && (val & (1ULL << (sig.size - 1)))) { + val |= ~((1ULL << sig.size) - 1); } - return val * sig.factor + sig.offset; + + return static_cast(val) * sig.factor + sig.offset; } void updateMsbLsb(cabana::Signal &s) { From ff63d177238705a4b81cc6fc98c0e8a023c1d45a Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 00:46:18 -0400 Subject: [PATCH 145/477] ui: emit panel refresh signal from Platform Selector (#891) --- .../qt/offroad/settings/vehicle/platform_selector.cc | 1 + .../sunnypilot/qt/offroad/settings/vehicle/platform_selector.h | 3 +++ 2 files changed, 4 insertions(+) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc index d4950bf2a8..83fa0b1698 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc @@ -62,6 +62,7 @@ void PlatformSelector::refresh(bool _offroad) { } } setEnabled(true); + emit refreshPanel(); offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h index 8a61832009..3d912f822c 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h @@ -19,6 +19,9 @@ public: public slots: void refresh(bool _offroad); +signals: + void refreshPanel(); + private: void searchPlatforms(const QString &query); void setPlatform(const QString &platform = ""); From 72f09ec9f5a8bd8695c9dc50bd5fe9bfccc3d9b1 Mon Sep 17 00:00:00 2001 From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Date: Thu, 8 May 2025 22:06:45 -0700 Subject: [PATCH 146/477] Hyundai: custom longitudinal tuning (#658) * Maybe I was asleep but somehow it worked. * Maybe I was asleep but somehow it worked. * 70/30 split * 60/35 split * 67:33 split * use Sqrt for tiny values to increase factor. Oh, also add a test file. * use Sqrt for tiny values to increase factor. Oh, also add a test file. * use Sqrt for tiny values to increase factor. Oh, also add a test file. * Raise these to restart tests * Raise these to restart tests * Update jerk calculation mimicking j_ego math. * README.md * Update timestep * Fix test * Readability * Lower time * Add higher limits for CANFD * Send these as a floating object. update comments to add TODO msg. * Conditional flags * yes its a little weird but heres why: ` "aReqValue": long_state.accel_value if enabled else a_val` its only to not have merge conflicts with syncs from this file, because if not enabled a_val is already at 0 anyways. * Make it easier to read * Chronological order * Trigger rebuild * This is an internal test on my end. Disregard, for now * fw version for my car... * remove fw version as that was a test * bump submodules * refactor that while passing internal tests * bump safety mutation test * all should match 50 Hz * bump safety mutation test * match stock behavior for accel * do our own clipping * apply upper/lower dynamically * bump test * bump test * Higher lower limit * move desired accel force zero in tuning controller * bump * bump * abs it here * fix logic * make sure it resets to 0, enforced in safety * Test a few things * Higher jerk for VOACC * Elantra specific * raise `off` to stock * bump opendbc test * allow jerk calculations at all times * bump * bump * match aReqVale * we dont need such high accel jerk when above 20m/s. This is cruise control, not a racecar. * 0.45 default long actuator delay * align type hint * add lower jerk multiplier for HYUNDAI_IONIQ * Change min jerk * should be float * Change min jerk * Change min jerk upper * Change max jerk upper * Change max jerk upper * Change max jerk upper * step + threshold + first order filter to smooth * constants * nah * multiplier to 1.5 * step updates for parabolic accel/braking * step updates for parabolic accel/braking * even less * test multiplier * Merge remote-tracking branch 'sunnypilot/opendbc/master-new' into HKG-long-tune * back to default delay for now * update test * update config * update test * update config.py * update test * Remove stoppingDecelRate **No need for this anymore** * multiplier to 1.0 * Variable lower dependency * Variable lower dependency * Variable lower jerk minimum * Variable lower jerk minimum planned_accel -> desired_acel * Revert some scaling * .01 here * .01 here * try even smoother stopping * missed a `tuning` here that instead calls itself to inf. * what is math * Red Diff * Red Diff * bring some back * bring some back * stronger when needed * something simple * simplify more * simplify more * dont use future * whoops * why * reset * Refactor longitudinal controller for better jerk handling Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic. * Refactor longitudinal controller for better jerk handling Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic. * Refactor longitudinal controller for better jerk handling Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic. * Adjust lower_jerk interpolation for improved accuracy * Lowered the acceleration error threshold from -0.01 to -0.001 * Adjust jerk interpolation thresholds for Hyundai tuning. Updated the interpolation range for smaller acceleration errors. * Move it up * -.03 not -.05 * radarUnavailable = higher limit patch * Commit the real change * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * Updated the interpolation values and logic for lower_jerk to refine acceleration behavior. * THIS. THIS WILL STOP FOR LEADS * Higher for VOACC * Higher for VOACC * Rename `make_jerk` to `calculate_jerk` in test cases. * Adjust jerk tuning for Hyundai longitudinal control Updated the interpolation table for lower jerk values to improve deceleration handling. This adjustment refines control behavior during higher deceleration requests. * Updated the interpolation breakpoint from -0.03 to -0.025 * Adjust longitudinal control jerk tuning for smoother response Updated interpolation values in the jerk tuning logic to improve acceleration smoothing in Hyundai longitudinal control. These changes aim to provide a more consistent and predictable driving experience, particularly during deceleration scenarios. * Handle radar unavailability in longitudinal tuning check * Introduce `toggleDisableMsg` to streamline determining toggle states and descriptions. * `sunnypilot` * `Refactor longitudinal control acceleration and jerk handling` Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies. * `Refactor longitudinal control acceleration and jerk handling` Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies. * Simplify test to be straight to the point. * Adjust upper_speed_factor and integrate ramp_update logic * Adjust upper_speed_factor and integrate ramp_update logic * Adjust upper_speed_factor and integrate ramp_update logic * Refine acceleration and jerk tuning logic. * greater than 0 * bump * bring back ramp update for jerk upper * Update opendbc_repo * Revert "Update opendbc_repo" This reverts commit b790387c9080b3a553694fbae850e9aa8bb6e125. * bump * bump * bump * using count seems to work better * Refine jerk tuning logic and expand test coverage * bump vals * fix logic * Adjust jerk tuning parameters for Hyundai longitudinal control * retry lfs check * bump submodule * Fix acceleration blending and enhance test coverage * Update lower_jerk breakpoints * bump * Adjust lower jerk parameters and include accel_cmd condition * Adjust vars * "Adjust Hyundai longitudinal jerk limits and tuning logic" * Adjust jerk limits and tuning logic for better control * Update Hyundai longitudinal tuning and add dynamic jerk logic Refactored longitudinal configuration to include "lookahead" parameters and revised "jerk_limits" for improved tuning flexibility. Implemented dynamic jerk adaptation logic (Gen1) for smoother braking and acceleration transitions. * Adjust Hyundai longitudinal control parameters for tuning * bump to original branch * QSize Policy to stretch toggle to screen size * bump * completely blocked xD * Sunnypilot -> openpilot * Whitespace * Clean up toggle name * Still allow ramp while in standstill for EV * Adjust Kia Niro EV tuning parameters for smoother control * self.cp.flags * bump submodule * bump * Remove ramp for lower desired jerk * update README.md * update README.md * Adjust lookahead_jerk_lower_v values in Hyundai longitudinal config. * update tuning * Update tune one last time to vals from device which are much smoother. * Accel error * bump * fix * rename flag and slight cleanup * start ui stuff * long_state -> tuning * Prep for clean up * small changes * less in main * no longer * format * bump * init panel * expose signal for other panels to interact with * split into its own * unused * move around * actually modify CP_SP * fix offroad transition * rename * back * don't update unless we're looking at it * move around * use min length * do this * whoops * move * bump * bump * this is fine * bump --------- Co-authored-by: Jason Wen Co-authored-by: DevTekVE Co-authored-by: royjr --- common/params_keys.h | 1 + opendbc_repo | 2 +- selfdrive/ui/sunnypilot/SConscript | 1 + .../settings/vehicle/hyundai_settings.cc | 84 +++++++++++++++++++ .../settings/vehicle/hyundai_settings.h | 32 +++++++ .../qt/offroad/settings/vehicle_panel.cc | 25 ++++++ .../qt/offroad/settings/vehicle_panel.h | 14 +++- sunnypilot/selfdrive/car/interfaces.py | 19 ++++- system/manager/manager.py | 1 + 9 files changed, 175 insertions(+), 4 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h diff --git a/common/params_keys.h b/common/params_keys.h index 575dcc2adc..97f23d5108 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -164,6 +164,7 @@ inline static std::unordered_map keys = { {"BackupManager_RestoreVersion", PERSISTENT}, // sunnypilot car specific params + {"HyundaiLongitudinalTuning", PERSISTENT}, {"HyundaiRadarTracks", PERSISTENT}, {"HyundaiRadarTracksConfirmed", PERSISTENT}, {"HyundaiRadarTracksPersistent", PERSISTENT}, diff --git a/opendbc_repo b/opendbc_repo index 029bc6abc4..95fc304727 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 029bc6abc43e497fd361bbcbb9efb92e43353c5b +Subproject commit 95fc304727483d0d7f18f7df348d941046e046f2 diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 4ff3f70477..82a257523e 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -50,6 +50,7 @@ network_src = [ ] vehicle_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc", "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc", ] diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc new file mode 100644 index 0000000000..08d76f5927 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc @@ -0,0 +1,84 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + std::vector tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") }; + longitudinalTuningToggle = new ButtonParamControlSP( + "HyundaiLongitudinalTuning", + tr("Custom Longitudinal Tuning"), + tr("Select a tuning mode.\n" + "Off: no custom tuning applied.\n" + "Dynamic: on-the-spot adjustments using dynamic calculations.\n" + "Predictive: adjusts based on anticipated ACC variation."), + "", + tuning_texts, + 500 + ); + longitudinalTuningToggle->showDescription(); + longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription()); + list->addItem(longitudinalTuningToggle); + + QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +QString HyundaiSettings::toggleDisableMsg() const { + if (!has_longitudinal_control) { + return tr("This feature can only be used with openpilot longitudinal control enabled."); + } + + if (!offroad) { + return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option."); + } + + return QString(); +} + +void HyundaiSettings::showEvent(QShowEvent *event) { + updateSettings(offroad); +} + +void HyundaiSettings::updateSettings(bool _offroad) { + if (!isVisible()) { + return; + } + + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + has_longitudinal_control = hasLongitudinalControl(CP); + + QString longitudinal_tuning_disabled_msg = toggleDisableMsg(); + if (!longitudinal_tuning_disabled_msg.isEmpty()) { + longitudinalTuningToggle->setEnabled(false); + longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg); + } else { + longitudinalTuningToggle->setEnabled(true); + longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString()); + } + + longitudinalTuningToggle->showDescription(); + } else { + has_longitudinal_control = false; + longitudinalTuningToggle->setEnabled(false); + } + + offroad = _offroad; +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h new file mode 100644 index 0000000000..3137a0d1b9 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h @@ -0,0 +1,32 @@ +/** + * 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/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class HyundaiSettings : public QWidget { + Q_OBJECT + +public: + explicit HyundaiSettings(QWidget *parent = nullptr); + void showEvent(QShowEvent *event) override; + +public slots: + void updateSettings(bool _offroad); + +private: + Params params; + bool offroad = false; + bool has_longitudinal_control = false; + + ButtonParamControlSP *longitudinalTuningToggle = nullptr; + QString toggleDisableMsg() const; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc index cc3e6df183..bc9f645f3b 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc @@ -7,6 +7,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { @@ -18,11 +19,16 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { vlayout->setContentsMargins(50, 20, 50, 20); platformSelector = new PlatformSelector(); + QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings); list->addItem(platformSelector); ScrollViewSP *scroller = new ScrollViewSP(list, this); vlayout->addWidget(scroller); + hyundaiSettings = new HyundaiSettings(this); + vlayout->addWidget(hyundaiSettings); + hyundaiSettings->setVisible(false); + QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel); main_layout->addWidget(vehicleScreen); @@ -36,5 +42,24 @@ void VehiclePanel::showEvent(QShowEvent *event) { void VehiclePanel::updatePanel(bool _offroad) { platformSelector->refresh(_offroad); + updateBrandSettings(); + offroad = _offroad; } + +void VehiclePanel::updateBrandSettings() { + if (!isVisible()) { + return; + } + + resetBrandSettings(); + + QString brand = platformSelector->getPlatformBundle("brand").toString(); + if (brand == "hyundai") { + hyundaiSettings->setVisible(true); + } +} + +void VehiclePanel::resetBrandSettings() { + hyundaiSettings->setVisible(false); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h index f6265da7a6..5548ff7181 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h @@ -9,6 +9,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h" class VehiclePanel : public QFrame { @@ -22,8 +23,17 @@ public slots: void updatePanel(bool _offroad); private: + void resetBrandSettings(); + QStackedLayout* main_layout = nullptr; QWidget* vehicleScreen = nullptr; - PlatformSelector *platformSelector = nullptr; - bool offroad; + PlatformSelector* platformSelector = nullptr; + + // brand panels + HyundaiSettings* hyundaiSettings = nullptr; + + bool offroad = false; + +private slots: + void updateBrandSettings(); }; diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index 2c27e960e9..f2019f5ed7 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -11,6 +11,7 @@ from opendbc.car.car_helpers import can_fingerprint from opendbc.car.interfaces import CarInterfaceBase from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC +from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog @@ -25,6 +26,21 @@ def log_fingerprint(CP: structs.CarParams) -> None: else: sentry.capture_fingerprint(CP.carFingerprint, CP.brand) +def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, + params: Params = None) -> None: + if params is None: + params = Params() + + # Hyundai Custom Longitudinal Tuning + if CP.brand == 'hyundai': + hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0) + if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC: + CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value + if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE: + CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value + + CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP) + def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None, enabled: bool = False) -> None: @@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, CP.radarUnavailable = False -def setup_interfaces(CI: CarInterfaceBase, params: Params = None): +def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: CP = CI.CP CP_SP = CI.CP_SP + _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params) _initialize_neural_network_lateral_control(CI, CP, CP_SP, params) _initialize_radar_tracks(CP, CP_SP, params) diff --git a/system/manager/manager.py b/system/manager/manager.py index fde85f0f7c..90df415a8c 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -45,6 +45,7 @@ def manager_init() -> None: ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), ("DynamicExperimentalControl", "0"), + ("HyundaiLongitudinalTuning", "0"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), ("MadsPauseLateralOnBrake", "0"), From 4a094ef56f07fb1226b13636bffa17614131e9ed Mon Sep 17 00:00:00 2001 From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Date: Thu, 8 May 2025 22:19:35 -0700 Subject: [PATCH 147/477] Models: Enable support for liveDelay in modeld_v2 (#879) Enable support for liveDelay in modeld_v2 --- sunnypilot/modeld_v2/modeld.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index 9a90e21cb5..e0f38c59ac 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -26,6 +26,7 @@ from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner PROCESS_NAME = "selfdrive.modeld.modeld" +LAT_SMOOTH_SECONDS = 0.0 class FrameMeta: @@ -163,7 +164,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) publish_state = PublishState() params = Params() @@ -188,8 +189,8 @@ def main(demo=False): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("modeld got CarParams: %s", CP.brand) - # TODO this needs more thought, use .2s extra for now to estimate other delays - steer_delay = CP.steerActuatorDelay + .2 + # Enable lagd support for modeld_v2 + steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS DH = DesireHelper() From f09a3b32d1b0a7d997b5ac76df048bce20ed8499 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 9 May 2025 01:35:10 -0400 Subject: [PATCH 148/477] UI: Fix Padding on `OptionControlSP` (#886) fix padding Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/qt/widgets/controls.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc index 09ab5417ed..551907c612 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc @@ -118,7 +118,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con if (!title.isEmpty()) { title_label = new QPushButton(title); title_label->setFixedHeight(120); - title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0"); + title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 0 0 0 0"); main_layout->addWidget(title_label, 1); connect(title_label, &QPushButton::clicked, [=]() { From 6de9526d4d316b1269613ee95b9d62a5cbfff043 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 9 May 2025 05:37:59 -0400 Subject: [PATCH 149/477] bug: fix braking issue while experimental and using old model (#881) * Fixes an issue on the long planner since Tomb Raider models, where the models are now meant to output the acceleration target and the "should stop" instead of it being calculated. However, older models (particularly those running on modeld_v2 from SP) do not output this. Leading to a "coasting" situation instead of braking when only e2e is used which is totally wrong. --- selfdrive/controls/lib/longitudinal_planner.py | 4 ++++ sunnypilot/models/helpers.py | 2 +- sunnypilot/selfdrive/controls/lib/longitudinal_planner.py | 2 ++ 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4e842f8d1b..377ce7c2cb 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -178,6 +178,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP): output_a_target = min(output_a_target_mpc, output_a_target_e2e) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc + if not self.is_stock: + # To support non Tomb Raider models + output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc + for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1]) diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index 7bcf1a148a..e6001f2642 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -19,7 +19,7 @@ from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths from pathlib import Path -CURRENT_SELECTOR_VERSION = 2 +CURRENT_SELECTOR_VERSION = 3 REQUIRED_MIN_SELECTOR_VERSION = 2 USE_ONNX = os.getenv('USE_ONNX', PC) diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py index 56f32373d5..9f0c503fb4 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details. from cereal import messaging, custom from opendbc.car import structs +from openpilot.sunnypilot.models.helpers import get_active_model_runner from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState @@ -15,6 +16,7 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen class LongitudinalPlannerSP: def __init__(self, CP: structs.CarParams, mpc): self.dec = DynamicExperimentalController(CP, mpc) + self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock def get_mpc_mode(self) -> str | None: if not self.dec.active(): From 908ea361264a85e8feda127133023996cce75bb3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 May 2025 23:23:37 +0800 Subject: [PATCH 150/477] ui(raylib): add thread-safe property access to WifiManagerWrapper (#35162) * Add thread-safe property access to WifiManagerWrapper * cleanup * type-safe manager, always specify default * import --------- Co-authored-by: Cameron Clough --- system/ui/lib/wifi_manager.py | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index af533e9a2a..990e1d14a1 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,10 +1,12 @@ import asyncio +import concurrent.futures import threading import time import uuid from collections.abc import Callable from dataclasses import dataclass from enum import IntEnum +from typing import TypeVar from dbus_next.aio import MessageBus from dbus_next import BusType, Variant, Message @@ -12,6 +14,8 @@ from dbus_next.errors import DBusError from dbus_next.constants import MessageType from openpilot.common.swaglog import cloudlog +T = TypeVar("T") + # NetworkManager constants NM = "org.freedesktop.NetworkManager" NM_PATH = '/org/freedesktop/NetworkManager' @@ -437,11 +441,11 @@ class WifiManagerWrapper: @property def networks(self) -> list[NetworkInfo]: """Get the current list of networks.""" - return self._manager.networks if self._manager else [] + return self._run_coroutine_sync(lambda manager: manager.networks.copy(), default=[]) def is_saved(self, ssid: str) -> bool: """Check if a network is saved.""" - return self._manager.is_saved(ssid) if self._manager else False + return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) def connect(self): """Connect to DBus and start Wi-Fi scanning.""" @@ -479,3 +483,22 @@ class WifiManagerWrapper: cloudlog.error("WifiManager thread is not running") return asyncio.run_coroutine_threadsafe(coro, self._loop) + + def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T: + """Run a function synchronously in the async thread.""" + if not self._running or not self._loop or not self._manager: + return default + future = concurrent.futures.Future[T]() + + def wrapper(manager: WifiManager) -> None: + try: + future.set_result(func(manager)) + except Exception as e: + future.set_exception(e) + + try: + self._loop.call_soon_threadsafe(wrapper, self._manager) + return future.result(timeout=1.0) + except Exception as e: + cloudlog.error(f"WifiManagerWrapper property access failed: {e}") + return default From 179da5d0075ad61cd2ce0dbd55c2d9f6a8106790 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 12:57:58 -0400 Subject: [PATCH 151/477] Update Python packages (#893) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 95fc304727..36461557c4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 95fc304727483d0d7f18f7df348d941046e046f2 +Subproject commit 36461557c47176b16a081ea40195bc327a34d97f From 68c593db5f1c9677eee71dd2f7b66dc7f6e02ba0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 14:53:56 -0400 Subject: [PATCH 152/477] Revert "Hyundai: custom longitudinal tuning" (#892) * Revert "Hyundai: custom longitudinal tuning (#658)" This reverts commit 72f09ec9f5a8bd8695c9dc50bd5fe9bfccc3d9b1. * bump * Revert "bump" This reverts commit a437f3538db4720d797e3af7df8363898d410a7e. * bump --- common/params_keys.h | 1 - selfdrive/ui/sunnypilot/SConscript | 1 - .../settings/vehicle/hyundai_settings.cc | 84 ------------------- .../settings/vehicle/hyundai_settings.h | 32 ------- .../qt/offroad/settings/vehicle_panel.cc | 25 ------ .../qt/offroad/settings/vehicle_panel.h | 14 +--- sunnypilot/selfdrive/car/interfaces.py | 19 +---- system/manager/manager.py | 1 - 8 files changed, 3 insertions(+), 174 deletions(-) delete mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc delete mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h diff --git a/common/params_keys.h b/common/params_keys.h index 97f23d5108..575dcc2adc 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -164,7 +164,6 @@ inline static std::unordered_map keys = { {"BackupManager_RestoreVersion", PERSISTENT}, // sunnypilot car specific params - {"HyundaiLongitudinalTuning", PERSISTENT}, {"HyundaiRadarTracks", PERSISTENT}, {"HyundaiRadarTracksConfirmed", PERSISTENT}, {"HyundaiRadarTracksPersistent", PERSISTENT}, diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 82a257523e..4ff3f70477 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -50,7 +50,6 @@ network_src = [ ] vehicle_panel_qt_src = [ - "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc", "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc", ] diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc deleted file mode 100644 index 08d76f5927..0000000000 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc +++ /dev/null @@ -1,84 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ - -#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" - -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - -HyundaiSettings::HyundaiSettings(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - std::vector tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") }; - longitudinalTuningToggle = new ButtonParamControlSP( - "HyundaiLongitudinalTuning", - tr("Custom Longitudinal Tuning"), - tr("Select a tuning mode.\n" - "Off: no custom tuning applied.\n" - "Dynamic: on-the-spot adjustments using dynamic calculations.\n" - "Predictive: adjusts based on anticipated ACC variation."), - "", - tuning_texts, - 500 - ); - longitudinalTuningToggle->showDescription(); - longitudinalTuningToggle->setProperty("originalDesc", longitudinalTuningToggle->getDescription()); - list->addItem(longitudinalTuningToggle); - - QObject::connect(uiState(), &UIState::offroadTransition, this, &HyundaiSettings::updateSettings); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -QString HyundaiSettings::toggleDisableMsg() const { - if (!has_longitudinal_control) { - return tr("This feature can only be used with openpilot longitudinal control enabled."); - } - - if (!offroad) { - return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option."); - } - - return QString(); -} - -void HyundaiSettings::showEvent(QShowEvent *event) { - updateSettings(offroad); -} - -void HyundaiSettings::updateSettings(bool _offroad) { - if (!isVisible()) { - return; - } - - auto cp_bytes = params.get("CarParamsPersistent"); - if (!cp_bytes.empty()) { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); - cereal::CarParams::Reader CP = cmsg.getRoot(); - - has_longitudinal_control = hasLongitudinalControl(CP); - - QString longitudinal_tuning_disabled_msg = toggleDisableMsg(); - if (!longitudinal_tuning_disabled_msg.isEmpty()) { - longitudinalTuningToggle->setEnabled(false); - longitudinalTuningToggle->setDescription(longitudinal_tuning_disabled_msg); - } else { - longitudinalTuningToggle->setEnabled(true); - longitudinalTuningToggle->setDescription(longitudinalTuningToggle->property("originalDesc").toString()); - } - - longitudinalTuningToggle->showDescription(); - } else { - has_longitudinal_control = false; - longitudinalTuningToggle->setEnabled(false); - } - - offroad = _offroad; -} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h deleted file mode 100644 index 3137a0d1b9..0000000000 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h +++ /dev/null @@ -1,32 +0,0 @@ -/** - * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - * - * This file is part of sunnypilot and is licensed under the MIT License. - * See the LICENSE.md file in the root directory for more details. - */ - -#pragma once - -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/sunnypilot/ui.h" -#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" - -class HyundaiSettings : public QWidget { - Q_OBJECT - -public: - explicit HyundaiSettings(QWidget *parent = nullptr); - void showEvent(QShowEvent *event) override; - -public slots: - void updateSettings(bool _offroad); - -private: - Params params; - bool offroad = false; - bool has_longitudinal_control = false; - - ButtonParamControlSP *longitudinalTuningToggle = nullptr; - QString toggleDisableMsg() const; -}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc index bc9f645f3b..cc3e6df183 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc @@ -7,7 +7,6 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" -#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { @@ -19,16 +18,11 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { vlayout->setContentsMargins(50, 20, 50, 20); platformSelector = new PlatformSelector(); - QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings); list->addItem(platformSelector); ScrollViewSP *scroller = new ScrollViewSP(list, this); vlayout->addWidget(scroller); - hyundaiSettings = new HyundaiSettings(this); - vlayout->addWidget(hyundaiSettings); - hyundaiSettings->setVisible(false); - QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel); main_layout->addWidget(vehicleScreen); @@ -42,24 +36,5 @@ void VehiclePanel::showEvent(QShowEvent *event) { void VehiclePanel::updatePanel(bool _offroad) { platformSelector->refresh(_offroad); - updateBrandSettings(); - offroad = _offroad; } - -void VehiclePanel::updateBrandSettings() { - if (!isVisible()) { - return; - } - - resetBrandSettings(); - - QString brand = platformSelector->getPlatformBundle("brand").toString(); - if (brand == "hyundai") { - hyundaiSettings->setVisible(true); - } -} - -void VehiclePanel::resetBrandSettings() { - hyundaiSettings->setVisible(false); -} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h index 5548ff7181..f6265da7a6 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h @@ -9,7 +9,6 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" -#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h" class VehiclePanel : public QFrame { @@ -23,17 +22,8 @@ public slots: void updatePanel(bool _offroad); private: - void resetBrandSettings(); - QStackedLayout* main_layout = nullptr; QWidget* vehicleScreen = nullptr; - PlatformSelector* platformSelector = nullptr; - - // brand panels - HyundaiSettings* hyundaiSettings = nullptr; - - bool offroad = false; - -private slots: - void updateBrandSettings(); + PlatformSelector *platformSelector = nullptr; + bool offroad; }; diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index f2019f5ed7..2c27e960e9 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -11,7 +11,6 @@ from opendbc.car.car_helpers import can_fingerprint from opendbc.car.interfaces import CarInterfaceBase from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC -from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog @@ -26,21 +25,6 @@ def log_fingerprint(CP: structs.CarParams) -> None: else: sentry.capture_fingerprint(CP.carFingerprint, CP.brand) -def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, - params: Params = None) -> None: - if params is None: - params = Params() - - # Hyundai Custom Longitudinal Tuning - if CP.brand == 'hyundai': - hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0) - if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC: - CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value - if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE: - CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value - - CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP) - def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None, enabled: bool = False) -> None: @@ -77,11 +61,10 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, CP.radarUnavailable = False -def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: +def setup_interfaces(CI: CarInterfaceBase, params: Params = None): CP = CI.CP CP_SP = CI.CP_SP - _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params) _initialize_neural_network_lateral_control(CI, CP, CP_SP, params) _initialize_radar_tracks(CP, CP_SP, params) diff --git a/system/manager/manager.py b/system/manager/manager.py index 90df415a8c..fde85f0f7c 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -45,7 +45,6 @@ def manager_init() -> None: ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), ("DynamicExperimentalControl", "0"), - ("HyundaiLongitudinalTuning", "0"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), ("MadsPauseLateralOnBrake", "0"), From 1f312e16d492473a4d252c603f04ec7aff71cfd4 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 9 May 2025 15:13:52 -0400 Subject: [PATCH 153/477] messaging: cleanup zero-frequency service initialization (#35145) * messaging: fix bug with relaxed checks under simulation * refactor * cleanup * fix bug * Revert "fix bug" This reverts commit ea31f3ee83676c5b8ffe57500881557f7586998c. * that did need to be different * fix bug, add test coverage * retry CI --- cereal/messaging/__init__.py | 26 +++++++++---------- cereal/messaging/tests/test_pub_sub_master.py | 6 ++++- 2 files changed, 17 insertions(+), 15 deletions(-) diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 8ad956b61b..b03285f80a 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -145,12 +145,16 @@ class SubMaster: self.updated = {s: False for s in services} self.recv_time = {s: 0. for s in services} self.recv_frame = {s: 0 for s in services} - self.alive = {s: False for s in services} - self.freq_ok = {s: False for s in services} self.sock = {} self.data = {} - self.valid = {} - self.logMonoTime = {} + self.logMonoTime = {s: 0 for s in services} + + # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks + on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services} + self.static_freq_services = set(s for s in services if not on_demand[s]) + self.alive = {s: on_demand[s] for s in services} + self.freq_ok = {s: on_demand[s] for s in services} + self.valid = {s: on_demand[s] for s in services} self.freq_tracker: Dict[str, FrequencyTracker] = {} self.poller = Poller() @@ -177,8 +181,6 @@ class SubMaster: data = new_message(s, 0) # lists self.data[s] = getattr(data.as_reader(), s) - self.logMonoTime[s] = 0 - self.valid[s] = False self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll) def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader: @@ -215,14 +217,10 @@ class SubMaster: self.logMonoTime[s] = msg.logMonoTime self.valid[s] = msg.valid - for s in self.services: - if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation: - # alive if delay is within 10x the expected frequency - self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) - self.freq_ok[s] = self.freq_tracker[s].valid - else: - self.freq_ok[s] = True - self.alive[s] = self.seen[s] if self.simulation else True + for s in self.static_freq_services: + # alive if delay is within 10x the expected frequency; checks relaxed in simulator + self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation) + self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation def all_alive(self, service_list: Optional[List[str]] = None) -> bool: return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive) diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py index e9bc7a85cb..e47e713393 100644 --- a/cereal/messaging/tests/test_pub_sub_master.py +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -6,6 +6,7 @@ import cereal.messaging as messaging from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \ random_bytes, random_carstate, assert_carstate, \ zmq_sleep +from cereal.services import SERVICE_LIST class TestSubMaster: @@ -26,7 +27,9 @@ class TestSubMaster: sm = messaging.SubMaster(socks) assert sm.frame == -1 assert not any(sm.updated.values()) - assert not any(sm.alive.values()) + assert not any(sm.seen.values()) + on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services} + assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services) assert all(t == 0. for t in sm.recv_time.values()) assert all(f == 0 for f in sm.recv_frame.values()) assert all(t == 0 for t in sm.logMonoTime.values()) @@ -83,6 +86,7 @@ class TestSubMaster: "cameraOdometry": (20, 10), "liveCalibration": (4, 4), "carParams": (None, None), + "userFlag": (None, None), } for service, (max_freq, min_freq) in checks.items(): From 32167e02c0f9a3d6910061d453bfb0c5a63add2d Mon Sep 17 00:00:00 2001 From: David <49467229+TheSecurityDev@users.noreply.github.com> Date: Fri, 9 May 2025 14:57:00 -0500 Subject: [PATCH 154/477] ui: show alert when user flag (bookmark) pressed (#34920) * feat: Show alert on user flag event * feat: Temporarily update border status on user flag to match connect timeline * Revert "feat: Temporarily update border status on user flag to match connect timeline" This reverts commit f1da6a4f5f555d4db50b47fb68ce74ae7737b8af. * feat: Increase alert duration to 1.5 seconds * remove audible alert for bookmark event * refactor: Use NormalPermamentAlert for user flag alert * fix: Update userFlag enum value in OnroadEvent struct * fix: Handle userFlag event even in dashcam mode * don't need to ignore that anymore * remove 'userFlag' from ignore list --------- Co-authored-by: Jason Young --- cereal/log.capnp | 1 + selfdrive/selfdrived/events.py | 5 ++++- selfdrive/selfdrived/selfdrived.py | 10 +++++++--- 3 files changed, 12 insertions(+), 4 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 6b5398405c..5c5ceb5635 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -127,6 +127,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { espActive @90; personalityChanged @91; aeb @92; + userFlag @95; soundsUnavailableDEPRECATED @47; } diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index c187ed474a..6293deb2af 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -894,7 +894,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # causing the connection to the panda to be lost EventName.usbError: { ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"), - ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""), + ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"), ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"), }, @@ -982,6 +982,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.WARNING: personality_changed_alert, }, + EventName.userFlag: { + ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5), + }, } diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index face7dab29..c888551777 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -77,7 +77,7 @@ class SelfdriveD: self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \ + 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, ignore_alive=ignore, ignore_avg_freq=ignore, ignore_valid=ignore, frequency=int(1/DT_CTRL)) @@ -159,7 +159,11 @@ class SelfdriveD: self.events.add(EventName.selfdriveInitializing) return - # no more events while in dashcam mode + # Check for user flag (bookmark) press + if self.sm.updated['userFlag']: + self.events.add(EventName.userFlag) + + # Don't add any more events while in dashcam mode if self.CP.passive: return @@ -365,7 +369,7 @@ class SelfdriveD: if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) - # decrement personality on distance button press + # Decrement personality on distance button press if self.CP.openpilotLongitudinalControl: if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents): self.personality = (self.personality - 1) % 3 From 80f21949a31861a3d9c4467caa7a856a125d83a9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 17:42:31 -0400 Subject: [PATCH 155/477] ui: Adjust stretch factor for `ListWidgetSP` (#896) --- selfdrive/ui/sunnypilot/qt/widgets/controls.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index d1edaf8621..0565690b20 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -360,7 +360,7 @@ public: outer_layout.addLayout(&inner_layout); inner_layout.setMargin(0); inner_layout.setSpacing(25); // default spacing is 25 - outer_layout.addStretch(); + outer_layout.addStretch(1); } inline void addItem(QWidget *w) { inner_layout.addWidget(w); } inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); } From db855d56d307d0eb935e96c87254771955ed86b0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 May 2025 15:18:52 -0700 Subject: [PATCH 156/477] Log Hexagon DSP temperature (#35166) * add hexagon dsp temp * log * whoops --- cereal/log.capnp | 1 + system/hardware/base.py | 1 + system/hardware/tici/hardware.py | 1 + 3 files changed, 3 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 5c5ceb5635..9ab51e0b77 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -490,6 +490,7 @@ struct DeviceState @0xa4d8b5af2aa492eb { # device thermals cpuTempC @26 :List(Float32); gpuTempC @27 :List(Float32); + dspTempC @49 :Float32; memoryTempC @28 :Float32; nvmeTempC @35 :List(Float32); modemTempC @36 :List(Float32); diff --git a/system/hardware/base.py b/system/hardware/base.py index 1e3b94e44e..90b42b2f1f 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -33,6 +33,7 @@ class ThermalZone: class ThermalConfig: cpu: list[ThermalZone] | None = None gpu: list[ThermalZone] | None = None + dsp: ThermalZone | None = None pmic: list[ThermalZone] | None = None memory: ThermalZone | None = None intake: ThermalZone | None = None diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index ffa852403f..694d42f4d6 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -335,6 +335,7 @@ class Tici(HardwareBase): return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] + [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)], gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")], + dsp=ThermalZone("compute-hvx-usr"), memory=ThermalZone("ddr-usr"), pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")], intake=intake, From ca23bb90cd509c3da0ae861e01e79be17415deb6 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 18:29:33 -0400 Subject: [PATCH 157/477] ui: Platform Selector updates (#897) * init * more * description * init them to true * back to false * fix * add description update colors fix stretch * yellow & orange are too similar - use blue * slight updates * dynamic description * split it out * more --------- Co-authored-by: nayan8teen --- .../settings/vehicle/platform_selector.cc | 49 ++++++++++++++++--- .../settings/vehicle/platform_selector.h | 36 ++++++++++++++ 2 files changed, 79 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc index 83fa0b1698..21c9a44cb4 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc @@ -43,37 +43,74 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") { } }); + main_layout->addStretch(0); refresh(offroad); } void PlatformSelector::refresh(bool _offroad) { QString name = getPlatformBundle("name").toString(); + platform = unrecognized_str; + QString platform_color = YELLOW_PLATFORM; + if (!name.isEmpty()) { - setValue(name); + platform = name; + platform_color = BLUE_PLATFORM; + brand = getPlatformBundle("brand").toString(); setText(tr("REMOVE")); } else { setText(tr("SEARCH")); + + platform = unrecognized_str; + brand = ""; auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); - setValue(QString::fromStdString(CP.getCarFingerprint().cStr())); + + platform = QString::fromStdString(CP.getCarFingerprint().cStr()); + + for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) { + if (it.value()["platform"].toString() == platform) { + platform = it.key(); + brand = it.value()["brand"].toString(); + break; + } + } + + if (platform == "MOCK") { + platform = unrecognized_str; + } else { + platform_color = GREEN_PLATFORM; + } } } + setValue(platform, platform_color); setEnabled(true); emit refreshPanel(); offroad = _offroad; + + FingerprintStatus cur_status; + if (platform_color == GREEN_PLATFORM) { + cur_status = FingerprintStatus::AUTO_FINGERPRINT; + } else if (platform_color == BLUE_PLATFORM) { + cur_status = FingerprintStatus::MANUAL_FINGERPRINT; + } else { + cur_status = FingerprintStatus::UNRECOGNIZED; + } + + setDescription(platformDescription(cur_status)); + showDescription(); } -void PlatformSelector::setPlatform(const QString &platform) { - QVariantMap platform_data = platforms[platform]; +void PlatformSelector::setPlatform(const QString &_platform) { + QVariantMap platform_data = platforms[_platform]; const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") : tr("This setting will take effect once the device enters offroad state."); const QString msg = QString("%1

%2") - .arg(platform, offroad_msg); + .arg(_platform, offroad_msg); QString content("

" + tr("Vehicle Selector") + "


" "

" + msg + "

"); @@ -81,7 +118,7 @@ void PlatformSelector::setPlatform(const QString &platform) { if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) { QJsonObject json_bundle; json_bundle["platform"] = platform_data["platform"].toString(); - json_bundle["name"] = platform; + json_bundle["name"] = _platform; json_bundle["make"] = platform_data["make"].toString(); json_bundle["brand"] = platform_data["brand"].toString(); json_bundle["model"] = platform_data["model"].toString(); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h index 3d912f822c..9867371ef6 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h @@ -9,6 +9,16 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +static const QString GREEN_PLATFORM = "#00F100"; +static const QString BLUE_PLATFORM = "#0086E9"; +static const QString YELLOW_PLATFORM = "#FFD500"; + +enum class FingerprintStatus { + AUTO_FINGERPRINT, + MANUAL_FINGERPRINT, + UNRECOGNIZED, +}; + class PlatformSelector : public ButtonControl { Q_OBJECT @@ -16,6 +26,9 @@ public: PlatformSelector(); QVariant getPlatformBundle(const QString &key); + QString platform; + QString brand; + public slots: void refresh(bool _offroad); @@ -29,4 +42,27 @@ private: Params params; bool offroad; + + QString unrecognized_str = tr("Unrecognized Vehicle"); + + static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) { + QString auto_str = "🟢 - " + tr("Fingerprinted automatically"); + QString manual_str = "🔵 - " + tr("Manually selected"); + QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected"); + + if (status == FingerprintStatus::AUTO_FINGERPRINT) { + auto_str = "" + auto_str + ""; + } else if (status == FingerprintStatus::MANUAL_FINGERPRINT) { + manual_str = "" + manual_str + ""; + } else { + unrecognized_str = "" + unrecognized_str + ""; + } + + return QString("%1
%2

%3
%4
%5") + .arg(tr("Select vehicle to force fingerprint manually.")) + .arg(tr("Colors represent fingerprint status:")) + .arg(auto_str) + .arg(manual_str) + .arg(unrecognized_str); + } }; From e89d65b51644bd86c2f09f0a2298c4f65c36a497 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 22:08:32 -0400 Subject: [PATCH 158/477] ui: fix screens for UI Preview (#899) * ui: fix screens for UI Preview * try a delay --- selfdrive/ui/tests/test_ui/run.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 064ef14a73..9d078fdd9e 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -37,7 +37,7 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys( "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None) def setup_homescreen(click, pm: PubMaster, scroll=None): - pass + time.sleep(UI_DELAY) def setup_settings_device(click, pm: PubMaster, scroll=None): click(100, 100) @@ -61,6 +61,7 @@ def setup_settings_software(click, pm: PubMaster, scroll=None): time.sleep(UI_DELAY) def setup_settings_firehose(click, pm: PubMaster, scroll=None): + setup_settings_device(click, pm) scroll(-400, 278, 962) click(278, 862) @@ -151,7 +152,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None): def setup_driver_camera(click, pm: PubMaster, scroll=None): setup_settings_device(click, pm) - click(1720, 620) + click(1720, 825) DATA['deviceState'].deviceState.started = False setup_onroad(click, pm) DATA['deviceState'].deviceState.started = True From e5ac7d5b571b93b7caf03fbb293eed935d59e0eb Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 9 May 2025 22:19:14 -0400 Subject: [PATCH 159/477] UI: Support inline layout for `ButtonParamControlSP` (#888) * support inline layout for ButtonParamControlSP * final --------- Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/qt/widgets/controls.h | 43 +++++++++++++++---- 1 file changed, 34 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index 0565690b20..21c317eac6 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -219,7 +219,7 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR { public: ButtonParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const std::vector &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) { + const std::vector &button_texts, const int minimum_button_width = 300, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) { const QString style = R"( QPushButton { border-radius: 20px; @@ -246,6 +246,19 @@ public: key = param.toStdString(); int value = atoi(params.get(key).c_str()); + if (inline_layout) { + button_param_layout->setMargin(0); + button_param_layout->setSpacing(0); + if (!title.isEmpty()) { + main_layout->removeWidget(title_label); + hlayout->addWidget(title_label, 1); + } + if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) { + main_layout->removeItem(spacingItem); + spacingItem = nullptr; + } + } + button_group = new QButtonGroup(this); button_group->setExclusive(true); for (int i = 0; i < button_texts.size(); i++) { @@ -254,12 +267,18 @@ public: button->setChecked(i == value); button->setStyleSheet(style); button->setMinimumWidth(minimum_button_width); - if (i == 0) hlayout->addSpacing(2); - hlayout->addWidget(button); + if (i == 0) button_param_layout->addSpacing(2); + button_param_layout->addWidget(button); button_group->addButton(button, i); } - hlayout->setAlignment(Qt::AlignLeft); + button_param_layout->setAlignment(Qt::AlignLeft); + if (is_inline_layout) { + QFrame *container = new QFrame; + container->setLayout(button_param_layout); + container->setStyleSheet("background-color: #393939; border-radius: 20px;"); + hlayout->addWidget(container); + } QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { params.put(key, std::to_string(id)); @@ -314,6 +333,10 @@ public: protected: void paintEvent(QPaintEvent *event) override { + if (is_inline_layout) { + return; + } + QPainter p(this); p.setRenderHint(QPainter::Antialiasing); @@ -348,6 +371,8 @@ private: std::vector button_texts; bool button_group_enabled = true; + bool is_inline_layout; + QHBoxLayout *button_param_layout = is_inline_layout ? new QHBoxLayout() : hlayout; }; class ListWidgetSP : public QWidget { @@ -416,8 +441,8 @@ class OptionControlSP : public AbstractControlSP_SELECTOR { Q_OBJECT private: - bool isInlineLayout; - QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout; + bool is_inline_layout; + QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout; struct MinMaxValue { int min_value; @@ -438,7 +463,7 @@ private: public: OptionControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) { + const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) { const QString style = R"( QPushButton { border-radius: 20px; @@ -513,7 +538,7 @@ public: } optionSelectorLayout->setAlignment(Qt::AlignLeft); - if (isInlineLayout) { + if (is_inline_layout) { QFrame *container = new QFrame; container->setLayout(optionSelectorLayout); container->setStyleSheet("background-color: #393939; border-radius: 20px;"); @@ -540,7 +565,7 @@ public: protected: void paintEvent(QPaintEvent *event) override { - if (isInlineLayout) { + if (is_inline_layout) { return; } From f4c7b04682fca619d630546903949764093106d9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 22:40:23 -0400 Subject: [PATCH 160/477] ui: encapsulate always enabled buttons into a list in Device panel (#900) * fix style handling * vector them * another pr --------- Co-authored-by: nayan8teen --- .../ui/sunnypilot/qt/offroad/settings/device_panel.cc | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index 3e613e1022..70ead6e282 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -112,9 +112,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { addItem(power_group_layout); + std::vector always_enabled_btns = { + rebootBtn, + poweroffBtn, + offroadBtn, + }; + QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { for (auto btn : findChildren()) { - if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) { + bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end(); + + if (!always_enabled) { btn->setEnabled(offroad); } } From 897a2bcedce0e4b88cab91b965c4dad1a7353242 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 9 May 2025 22:50:52 -0400 Subject: [PATCH 161/477] ui: update Quiet Mode button behavior (#880) * fix style handling * vector them --------- Co-authored-by: Jason Wen --- .../qt/offroad/settings/device_panel.cc | 1 + selfdrive/ui/sunnypilot/qt/widgets/controls.h | 19 +++++-------------- 2 files changed, 6 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index 70ead6e282..e6855c4b4e 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -116,6 +116,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { rebootBtn, poweroffBtn, offroadBtn, + buttons["quietModeBtn"], }; QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index 21c317eac6..2a1bc20ac1 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -658,16 +658,6 @@ public: } } -protected: - // Override mouse release event to handle style updates smoothly - void mouseReleaseEvent(QMouseEvent *event) override { - if (!key.empty()) { - bool next_state = !params.getBool(key); - updateStyle(next_state); - } - QPushButton::mouseReleaseEvent(event); - } - private: std::string key = ""; Params params; @@ -676,13 +666,14 @@ private: QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }"; QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }"; - QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }"; - QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }"; + QString btn_off_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }"; + QString btn_on_pressed_style = "QPushButton:pressed { background-color: #1E8FFF; }"; + QString btn_disabled_style = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }"; void updateStyle(bool enabled) { QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style; - - setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype); + QString pressed_style = enabled ? btn_on_pressed_style : btn_off_pressed_style; + setStyleSheet(buttonStyle + enabled_style + pressed_style + btn_disabled_style); } }; From 13965bdf0bda5ad1ef0b7faa6011bc8e3274fc17 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Fri, 9 May 2025 19:59:44 -0700 Subject: [PATCH 162/477] docs: clarify process to connect to 3/3X over ADB (#35090) * three * codespell being smart with me --------- Co-authored-by: Maxime Desroches --- docs/assets/three-back.svg | 3 +++ docs/how-to/connect-to-comma.md | 6 +++++- pyproject.toml | 2 +- 3 files changed, 9 insertions(+), 2 deletions(-) create mode 100644 docs/assets/three-back.svg diff --git a/docs/assets/three-back.svg b/docs/assets/three-back.svg new file mode 100644 index 0000000000..4dfeeeb46a --- /dev/null +++ b/docs/assets/three-back.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a5245f9458982b608fee67fc689d899ca638a405ff62bf9db5e4978b177ef3e +size 121394 diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index 469ef81672..cbaccaae6a 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -32,9 +32,13 @@ For doing development work on device, it's recommended to use [SSH agent forward ## ADB -In order to use ADB on your device, you'll need to enable it in the device's settings. +In order to use ADB on your device, you'll need to perform the following steps using the image below for reference: +![comma 3/3x back](../assets/three-back.svg) + +* Plug your device into constant power using port 2, letting the device boot up * Enable ADB in your device's settings +* Plug in your device to your PC using port 1 * Connect to your device * `adb shell` over USB * `adb connect` over WiFi diff --git a/pyproject.toml b/pyproject.toml index bf43840d71..20bfebd938 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -171,7 +171,7 @@ quiet-level = 3 # if you've got a short variable name that's getting flagged, add it here ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl" builtin = "clear,rare,informal,code,names,en-GB_to_en-US" -skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*" +skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*" [tool.mypy] python_version = "3.11" From fb934247a28a439de23735024ec8074587c0c416 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 May 2025 23:09:27 -0400 Subject: [PATCH 163/477] ui: brand settings for Vehicle panel (#898) * init * brand factory * more * mazda * nissan * rivian * subaru * tesla * toyota * volkswagen * do this * stretch here --- selfdrive/ui/sunnypilot/SConscript | 19 +++++- .../vehicle/brand_settings_factory.cc | 62 +++++++++++++++++++ .../settings/vehicle/brand_settings_factory.h | 18 ++++++ .../vehicle/brand_settings_interface.cc | 8 +++ .../vehicle/brand_settings_interface.h | 21 +++++++ .../qt/offroad/settings/vehicle/brands.h | 21 +++++++ .../settings/vehicle/chrysler_settings.cc | 31 ++++++++++ .../settings/vehicle/chrysler_settings.h | 27 ++++++++ .../offroad/settings/vehicle/ford_settings.cc | 31 ++++++++++ .../offroad/settings/vehicle/ford_settings.h | 27 ++++++++ .../offroad/settings/vehicle/gm_settings.cc | 31 ++++++++++ .../qt/offroad/settings/vehicle/gm_settings.h | 27 ++++++++ .../settings/vehicle/honda_settings.cc | 31 ++++++++++ .../offroad/settings/vehicle/honda_settings.h | 27 ++++++++ .../settings/vehicle/hyundai_settings.cc | 31 ++++++++++ .../settings/vehicle/hyundai_settings.h | 27 ++++++++ .../settings/vehicle/mazda_settings.cc | 31 ++++++++++ .../offroad/settings/vehicle/mazda_settings.h | 27 ++++++++ .../settings/vehicle/nissan_settings.cc | 31 ++++++++++ .../settings/vehicle/nissan_settings.h | 27 ++++++++ .../settings/vehicle/rivian_settings.cc | 31 ++++++++++ .../settings/vehicle/rivian_settings.h | 27 ++++++++ .../settings/vehicle/subaru_settings.cc | 31 ++++++++++ .../settings/vehicle/subaru_settings.h | 27 ++++++++ .../settings/vehicle/tesla_settings.cc | 31 ++++++++++ .../offroad/settings/vehicle/tesla_settings.h | 27 ++++++++ .../settings/vehicle/toyota_settings.cc | 31 ++++++++++ .../settings/vehicle/toyota_settings.h | 27 ++++++++ .../settings/vehicle/volkswagen_settings.cc | 31 ++++++++++ .../settings/vehicle/volkswagen_settings.h | 27 ++++++++ .../qt/offroad/settings/vehicle_panel.cc | 27 +++++++- .../qt/offroad/settings/vehicle_panel.h | 9 ++- 32 files changed, 877 insertions(+), 4 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 4ff3f70477..379adfcede 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -50,11 +50,28 @@ network_src = [ ] vehicle_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc", + "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc", "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc", ] +brand_settings_qt_src = [ + "sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc", + "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc", +] + sp_widgets_src = widgets_src + network_src -sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src +sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src sp_qt_util = qt_util Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util") diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc new file mode 100644 index 0000000000..08b137d270 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc @@ -0,0 +1,62 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h" + +static const QStringList supportedBrands = { + "chrysler", + "ford", + "gm", + "honda", + "hyundai", + "mazda", + "nissan", + "rivian", + "subaru" + "tesla", + "toyota", + "volkswagen", +}; + +BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) { + if (brand == "chrysler") + return new ChryslerSettings(parent); + if (brand == "ford") + return new FordSettings(parent); + if (brand == "gm") + return new GMSettings(parent); + if (brand == "honda") + return new HondaSettings(parent); + if (brand == "hyundai") + return new HyundaiSettings(parent); + if (brand == "mazda") + return new MazdaSettings(parent); + if (brand == "nissan") + return new NissanSettings(parent); + if (brand == "rivian") + return new RivianSettings(parent); + if (brand == "subaru") + return new SubaruSettings(parent); + if (brand == "tesla") + return new TeslaSettings(parent); + if (brand == "toyota") + return new ToyotaSettings(parent); + if (brand == "volkswagen") + return new VolkswagenSettings(parent); + + // Default empty settings if brand not supported + return nullptr; +} + +bool BrandSettingsFactory::isBrandSupported(const QString& brand) { + return supportedBrands.contains(brand); +} + +QStringList BrandSettingsFactory::getSupportedBrands() { + return supportedBrands; +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h new file mode 100644 index 0000000000..b4dc9fc81b --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h @@ -0,0 +1,18 @@ +/** + * 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/vehicle/brand_settings_interface.h" + +class BrandSettingsFactory { + +public: + static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr); + static bool isBrandSupported(const QString& brand); + static QStringList getSupportedBrands(); +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc new file mode 100644 index 0000000000..4c49207270 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc @@ -0,0 +1,8 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h new file mode 100644 index 0000000000..2b6c57ae91 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h @@ -0,0 +1,21 @@ +/** + * 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 + +class BrandSettingsInterface : public QWidget { + Q_OBJECT + +public: + explicit BrandSettingsInterface(QWidget *parent = nullptr) : QWidget(parent) {} + virtual ~BrandSettingsInterface() = default; + + virtual void updatePanel(bool offroad) = 0; + virtual void updateSettings() = 0; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h new file mode 100644 index 0000000000..795dba5739 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h @@ -0,0 +1,21 @@ +/** + * 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/vehicle/chrysler_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h" diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc new file mode 100644 index 0000000000..0912a7afd8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void ChryslerSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void ChryslerSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h new file mode 100644 index 0000000000..20a6235542 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class ChryslerSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit ChryslerSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc new file mode 100644 index 0000000000..eaae5a621a --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void FordSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void FordSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h new file mode 100644 index 0000000000..1d97651bab --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class FordSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit FordSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc new file mode 100644 index 0000000000..1aa4ccf938 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void GMSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void GMSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h new file mode 100644 index 0000000000..35988d95e1 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class GMSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit GMSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc new file mode 100644 index 0000000000..1efdb747f3 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void HondaSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void HondaSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h new file mode 100644 index 0000000000..e494e8001d --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class HondaSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit HondaSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc new file mode 100644 index 0000000000..7e4ea4326c --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void HyundaiSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void HyundaiSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h new file mode 100644 index 0000000000..0f065124fe --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class HyundaiSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit HyundaiSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc new file mode 100644 index 0000000000..330afdc48c --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void MazdaSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void MazdaSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h new file mode 100644 index 0000000000..3d109fbe9e --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class MazdaSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit MazdaSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc new file mode 100644 index 0000000000..0faa6836fa --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void NissanSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void NissanSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h new file mode 100644 index 0000000000..397a17e97b --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class NissanSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit NissanSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc new file mode 100644 index 0000000000..401048ee51 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void RivianSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void RivianSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h new file mode 100644 index 0000000000..bf83f5966f --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class RivianSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit RivianSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc new file mode 100644 index 0000000000..7a021ef4c6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void SubaruSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void SubaruSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h new file mode 100644 index 0000000000..bdf7835595 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class SubaruSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit SubaruSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc new file mode 100644 index 0000000000..d811f19913 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void TeslaSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void TeslaSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h new file mode 100644 index 0000000000..5c40324dc2 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class TeslaSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit TeslaSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc new file mode 100644 index 0000000000..13b4435d17 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void ToyotaSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void ToyotaSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h new file mode 100644 index 0000000000..46c8ef9827 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class ToyotaSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit ToyotaSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc new file mode 100644 index 0000000000..457776f50a --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h" + +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + ListWidget *list = new ListWidget(this, false); + + main_layout->addWidget(new ScrollViewSP(list, this)); +} + +void VolkswagenSettings::updatePanel(bool _offroad) { + updateSettings(); + + offroad = _offroad; +} + +void VolkswagenSettings::updateSettings() { + if (!isVisible()) { + return; + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h new file mode 100644 index 0000000000..c74123e7b2 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#pragma once + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class VolkswagenSettings : public BrandSettingsInterface { + Q_OBJECT + +public: + explicit VolkswagenSettings(QWidget *parent = nullptr); + void updatePanel(bool _offroad); + void updateSettings(); + +private: + bool offroad = false; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc index cc3e6df183..7ba5790acb 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc @@ -7,6 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h" #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { @@ -18,11 +20,14 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { vlayout->setContentsMargins(50, 20, 50, 20); platformSelector = new PlatformSelector(); + QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings); list->addItem(platformSelector); ScrollViewSP *scroller = new ScrollViewSP(list, this); vlayout->addWidget(scroller); + currentBrandSettings = nullptr; + QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel); main_layout->addWidget(vehicleScreen); @@ -35,6 +40,26 @@ void VehiclePanel::showEvent(QShowEvent *event) { void VehiclePanel::updatePanel(bool _offroad) { platformSelector->refresh(_offroad); - + updateBrandSettings(); offroad = _offroad; } + +void VehiclePanel::updateBrandSettings() { + if (!isVisible()) { + return; + } + + if (currentBrandSettings) { + vehicleScreen->layout()->removeWidget(currentBrandSettings); + delete currentBrandSettings; + currentBrandSettings = nullptr; + } + + if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) { + currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this); + if (currentBrandSettings) { + vehicleScreen->layout()->addWidget(currentBrandSettings); + currentBrandSettings->updatePanel(offroad); + } + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h index f6265da7a6..5fc03d3d68 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h @@ -9,6 +9,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h" class VehiclePanel : public QFrame { @@ -24,6 +25,10 @@ public slots: private: QStackedLayout* main_layout = nullptr; QWidget* vehicleScreen = nullptr; - PlatformSelector *platformSelector = nullptr; - bool offroad; + PlatformSelector* platformSelector = nullptr; + BrandSettingsInterface* currentBrandSettings = nullptr; + bool offroad = false; + +private slots: + void updateBrandSettings(); }; From 6142a52de7a5749ca3797c4bda794ef7223e065f Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 10 May 2025 09:46:54 +0200 Subject: [PATCH 164/477] models: aligning naming on modeld_v2 with upstream naming (#903) Refactor variable names for clarity in 20Hz model logic. Renamed `full_features_20Hz` to `full_features_buffer` and `desire_20Hz` to `full_desire` for better readability and consistency. This improves code maintainability and aligns variable names with their intended purpose. --- sunnypilot/modeld_v2/modeld.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index e0f38c59ac..a52d844aeb 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -53,8 +53,8 @@ class ModelState: self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) if self.model_runner.is_20hz: - self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) - self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) + self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) + self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) # img buffers are managed in openCL transform code self.numpy_inputs = {} @@ -66,7 +66,7 @@ class ModelState: if self.model_runner.is_20hz: num_elements = self.numpy_inputs['features_buffer'].shape[1] step_size = int(-100 / num_elements) - self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1] + self.full_features_buffer_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1] self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2]) def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, @@ -77,9 +77,9 @@ class ModelState: self.prev_desire[:] = inputs['desire'] if self.model_runner.is_20hz: - self.desire_20Hz[:-1] = self.desire_20Hz[1:] - self.desire_20Hz[-1] = new_desire - self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2) + self.full_desire[:-1] = self.full_desire[1:] + self.full_desire[-1] = new_desire + self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2) else: length = inputs['desire'].shape[0] self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:] @@ -102,9 +102,9 @@ class ModelState: outputs = self.model_runner.run_model() if self.model_runner.is_20hz: - self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] - self.full_features_20Hz[-1] = outputs['hidden_state'][0, :] - self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs] + self.full_features_buffer[:-1] = self.full_features_buffer[1:] + self.full_features_buffer[-1] = outputs['hidden_state'][0, :] + self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.full_features_buffer_idxs] else: feature_len = outputs['hidden_state'].shape[1] self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:] From 08efc252ecb9685c3f772b582a0b4c41c7f1d2bb Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 10 May 2025 12:34:58 -0400 Subject: [PATCH 165/477] ui: fix supported brand settings list (#905) --- .../qt/offroad/settings/vehicle/brand_settings_factory.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc index 08b137d270..bebc6c3032 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc @@ -17,7 +17,7 @@ static const QStringList supportedBrands = { "mazda", "nissan", "rivian", - "subaru" + "subaru", "tesla", "toyota", "volkswagen", From 8d06444bdda6b89b36e07fceb1c4514ca50089b6 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 10 May 2025 12:46:02 -0400 Subject: [PATCH 166/477] ui: consolidate panel updates at a single location (#904) * init * minimize changes for all brands * more * even less diff * more less * wow srsly --- .../vehicle/brand_settings_interface.cc | 13 ++++++++++ .../vehicle/brand_settings_interface.h | 13 +++++++--- .../settings/vehicle/chrysler_settings.cc | 17 ------------ .../settings/vehicle/chrysler_settings.h | 3 +-- .../offroad/settings/vehicle/ford_settings.cc | 17 ------------ .../offroad/settings/vehicle/ford_settings.h | 3 +-- .../offroad/settings/vehicle/gm_settings.cc | 17 ------------ .../qt/offroad/settings/vehicle/gm_settings.h | 3 +-- .../settings/vehicle/honda_settings.cc | 17 ------------ .../offroad/settings/vehicle/honda_settings.h | 3 +-- .../settings/vehicle/hyundai_settings.cc | 17 ------------ .../settings/vehicle/hyundai_settings.h | 6 +---- .../settings/vehicle/mazda_settings.cc | 17 ------------ .../offroad/settings/vehicle/mazda_settings.h | 3 +-- .../settings/vehicle/nissan_settings.cc | 17 ------------ .../settings/vehicle/nissan_settings.h | 3 +-- .../settings/vehicle/rivian_settings.cc | 17 ------------ .../settings/vehicle/rivian_settings.h | 3 +-- .../settings/vehicle/subaru_settings.cc | 17 ------------ .../settings/vehicle/subaru_settings.h | 3 +-- .../settings/vehicle/tesla_settings.cc | 17 ------------ .../offroad/settings/vehicle/tesla_settings.h | 3 +-- .../settings/vehicle/toyota_settings.cc | 17 ------------ .../settings/vehicle/toyota_settings.h | 3 +-- .../settings/vehicle/volkswagen_settings.cc | 17 ------------ .../settings/vehicle/volkswagen_settings.h | 3 +-- .../qt/offroad/settings/vehicle_panel.cc | 26 ++++++++++--------- .../qt/offroad/settings/vehicle_panel.h | 4 +-- 28 files changed, 51 insertions(+), 248 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc index 4c49207270..03921c01a3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc @@ -6,3 +6,16 @@ */ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h" + +BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + list = new ListWidget(this, false); + main_layout->addWidget(list); +} + +void BrandSettingsInterface::updatePanel(bool _offroad) { + offroad = _offroad; + updateSettings(); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h index 2b6c57ae91..4aff123177 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h @@ -7,15 +7,22 @@ #pragma once -#include +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" class BrandSettingsInterface : public QWidget { Q_OBJECT public: - explicit BrandSettingsInterface(QWidget *parent = nullptr) : QWidget(parent) {} + explicit BrandSettingsInterface(QWidget *parent = nullptr); virtual ~BrandSettingsInterface() = default; - virtual void updatePanel(bool offroad) = 0; + void updatePanel(bool _offroad); virtual void updateSettings() = 0; + +protected: + ListWidget *list = nullptr; + Params params; + bool offroad = false; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc index 0912a7afd8..fd8fc423fe 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void ChryslerSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void ChryslerSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h index 20a6235542..ab84bec16a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h @@ -19,8 +19,7 @@ class ChryslerSettings : public BrandSettingsInterface { public: explicit ChryslerSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc index eaae5a621a..96564cb8a9 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void FordSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void FordSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h index 1d97651bab..468bd6b7dd 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h @@ -19,8 +19,7 @@ class FordSettings : public BrandSettingsInterface { public: explicit FordSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc index 1aa4ccf938..060a28424b 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void GMSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void GMSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h index 35988d95e1..211563ab61 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h @@ -19,8 +19,7 @@ class GMSettings : public BrandSettingsInterface { public: explicit GMSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc index 1efdb747f3..ca18fa7240 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void HondaSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void HondaSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h index e494e8001d..e41602dc11 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h @@ -19,8 +19,7 @@ class HondaSettings : public BrandSettingsInterface { public: explicit HondaSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc index 7e4ea4326c..693a185cde 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void HyundaiSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void HyundaiSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h index 0f065124fe..edf495844d 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h @@ -19,9 +19,5 @@ class HyundaiSettings : public BrandSettingsInterface { public: explicit HyundaiSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); - -private: - bool offroad = false; + void updateSettings() override; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc index 330afdc48c..b8b8825f27 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void MazdaSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void MazdaSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h index 3d109fbe9e..cbbc38de7f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h @@ -19,8 +19,7 @@ class MazdaSettings : public BrandSettingsInterface { public: explicit MazdaSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc index 0faa6836fa..3c21943622 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void NissanSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void NissanSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h index 397a17e97b..d6eabac0bf 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h @@ -19,8 +19,7 @@ class NissanSettings : public BrandSettingsInterface { public: explicit NissanSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc index 401048ee51..92cf3dcd6c 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void RivianSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void RivianSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h index bf83f5966f..be25d01b37 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h @@ -19,8 +19,7 @@ class RivianSettings : public BrandSettingsInterface { public: explicit RivianSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc index 7a021ef4c6..47c4057f44 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void SubaruSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void SubaruSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h index bdf7835595..a715951ad9 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h @@ -19,8 +19,7 @@ class SubaruSettings : public BrandSettingsInterface { public: explicit SubaruSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc index d811f19913..50ab023021 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void TeslaSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void TeslaSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h index 5c40324dc2..37f2936cdf 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h @@ -19,8 +19,7 @@ class TeslaSettings : public BrandSettingsInterface { public: explicit TeslaSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc index 13b4435d17..c416177916 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void ToyotaSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void ToyotaSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h index 46c8ef9827..9fc18a2a65 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h @@ -19,8 +19,7 @@ class ToyotaSettings : public BrandSettingsInterface { public: explicit ToyotaSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc index 457776f50a..59f0aab727 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc @@ -7,25 +7,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h" -#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" - VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - ListWidget *list = new ListWidget(this, false); - - main_layout->addWidget(new ScrollViewSP(list, this)); -} - -void VolkswagenSettings::updatePanel(bool _offroad) { - updateSettings(); - - offroad = _offroad; } void VolkswagenSettings::updateSettings() { - if (!isVisible()) { - return; - } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h index c74123e7b2..25d3a07faf 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h @@ -19,8 +19,7 @@ class VolkswagenSettings : public BrandSettingsInterface { public: explicit VolkswagenSettings(QWidget *parent = nullptr); - void updatePanel(bool _offroad); - void updateSettings(); + void updateSettings() override; private: bool offroad = false; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc index 7ba5790acb..5c00e746f8 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc @@ -12,26 +12,27 @@ #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) { - main_layout = new QStackedLayout(this); - ListWidget *list = new ListWidget(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(50, 20, 50, 20); - vehicleScreen = new QWidget(this); - QVBoxLayout *vlayout = new QVBoxLayout(vehicleScreen); - vlayout->setContentsMargins(50, 20, 50, 20); + ListWidget *list = new ListWidget(this); platformSelector = new PlatformSelector(); QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings); list->addItem(platformSelector); + brandSettingsContainer = new QWidget(this); + brandSettingsContainerLayout = new QVBoxLayout(brandSettingsContainer); + brandSettingsContainerLayout->setContentsMargins(0, 0, 0, 0); + brandSettingsContainerLayout->setSpacing(0); + list->addItem(brandSettingsContainer); + ScrollViewSP *scroller = new ScrollViewSP(list, this); - vlayout->addWidget(scroller); + main_layout->addWidget(scroller); currentBrandSettings = nullptr; QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel); - - main_layout->addWidget(vehicleScreen); - main_layout->setCurrentWidget(vehicleScreen); } void VehiclePanel::showEvent(QShowEvent *event) { @@ -39,9 +40,9 @@ void VehiclePanel::showEvent(QShowEvent *event) { } void VehiclePanel::updatePanel(bool _offroad) { + offroad = _offroad; platformSelector->refresh(_offroad); updateBrandSettings(); - offroad = _offroad; } void VehiclePanel::updateBrandSettings() { @@ -50,7 +51,7 @@ void VehiclePanel::updateBrandSettings() { } if (currentBrandSettings) { - vehicleScreen->layout()->removeWidget(currentBrandSettings); + brandSettingsContainerLayout->removeWidget(currentBrandSettings); delete currentBrandSettings; currentBrandSettings = nullptr; } @@ -58,7 +59,8 @@ void VehiclePanel::updateBrandSettings() { if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) { currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this); if (currentBrandSettings) { - vehicleScreen->layout()->addWidget(currentBrandSettings); + currentBrandSettings->setContentsMargins(0, 0, 0, 0); + brandSettingsContainerLayout->addWidget(currentBrandSettings); currentBrandSettings->updatePanel(offroad); } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h index 5fc03d3d68..a170aa87c3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h @@ -23,10 +23,10 @@ public slots: void updatePanel(bool _offroad); private: - QStackedLayout* main_layout = nullptr; - QWidget* vehicleScreen = nullptr; PlatformSelector* platformSelector = nullptr; BrandSettingsInterface* currentBrandSettings = nullptr; + QWidget* brandSettingsContainer = nullptr; + QVBoxLayout* brandSettingsContainerLayout = nullptr; bool offroad = false; private slots: From bf6123c4ada8534bf4104d1a2f4abf84d65cb6fc Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 10 May 2025 12:58:08 -0400 Subject: [PATCH 167/477] Reapply "Hyundai: custom longitudinal tuning" (#894) * Reapply "Hyundai: custom longitudinal tuning" (#892) This reverts commit 68c593db5f1c9677eee71dd2f7b66dc7f6e02ba0. * fix panel behavior * dynamic description * try to merge and use the same scrollview * fix for all to update * dynamic update and fix description * minimize changes for all brands * init * minimize changes for all brands * more * even less diff * more * even less diff * more less * wow srsly * more less * wow srsly --- common/params_keys.h | 1 + .../settings/vehicle/hyundai_settings.cc | 43 +++++++++++++++++++ .../settings/vehicle/hyundai_settings.h | 42 ++++++++++++++++++ sunnypilot/selfdrive/car/interfaces.py | 19 +++++++- system/manager/manager.py | 1 + 5 files changed, 105 insertions(+), 1 deletion(-) diff --git a/common/params_keys.h b/common/params_keys.h index 575dcc2adc..97f23d5108 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -164,6 +164,7 @@ inline static std::unordered_map keys = { {"BackupManager_RestoreVersion", PERSISTENT}, // sunnypilot car specific params + {"HyundaiLongitudinalTuning", PERSISTENT}, {"HyundaiRadarTracks", PERSISTENT}, {"HyundaiRadarTracksConfirmed", PERSISTENT}, {"HyundaiRadarTracksPersistent", PERSISTENT}, diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc index 693a185cde..5f0010ac33 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc @@ -8,7 +8,50 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h" HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) { + std::vector tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") }; + longitudinalTuningToggle = new ButtonParamControl( + "HyundaiLongitudinalTuning", + tr("Custom Longitudinal Tuning"), + "", + "", + tuning_texts, + 500 + ); + QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings); + list->addItem(longitudinalTuningToggle); + longitudinalTuningToggle->showDescription(); } void HyundaiSettings::updateSettings() { + auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str()); + + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + has_longitudinal_control = hasLongitudinalControl(CP); + } else { + has_longitudinal_control = false; + } + + LongitudinalTuningOption longitudinal_tuning_option; + if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) { + longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE; + } else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) { + longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC; + } else { + longitudinal_tuning_option = LongitudinalTuningOption::OFF; + } + + bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control; + QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option); + if (longitudinal_tuning_disabled) { + longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control); + } + + longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled); + longitudinalTuningToggle->setDescription(longitudinal_tuning_description); + longitudinalTuningToggle->showDescription(); } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h index edf495844d..c94d40cfde 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h @@ -14,10 +14,52 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +enum class LongitudinalTuningOption { + OFF, + DYNAMIC, + PREDICTIVE, +}; + class HyundaiSettings : public BrandSettingsInterface { Q_OBJECT public: explicit HyundaiSettings(QWidget *parent = nullptr); void updateSettings() override; + +private: + bool has_longitudinal_control = false; + ButtonParamControl *longitudinalTuningToggle = nullptr; + + static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) { + if (!_has_longitudinal_control) { + return tr("This feature can only be used with openpilot longitudinal control enabled."); + } + + if (!_offroad) { + return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option."); + } + + return QString(); + } + + static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) { + QString off_str = tr("Off: Uses default tuning"); + QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed"); + QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments"); + + if (option == LongitudinalTuningOption::PREDICTIVE) { + predictive_str = "" + predictive_str + ""; + } else if (option == LongitudinalTuningOption::DYNAMIC) { + dynamic_str = "" + dynamic_str + ""; + } else { + off_str = "" + off_str + ""; + } + + return QString("%1

%2
%3
%4
") + .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.")) + .arg(off_str) + .arg(dynamic_str) + .arg(predictive_str); + } }; diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index 2c27e960e9..f2019f5ed7 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -11,6 +11,7 @@ from opendbc.car.car_helpers import can_fingerprint from opendbc.car.interfaces import CarInterfaceBase from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC +from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog @@ -25,6 +26,21 @@ def log_fingerprint(CP: structs.CarParams) -> None: else: sentry.capture_fingerprint(CP.carFingerprint, CP.brand) +def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, + params: Params = None) -> None: + if params is None: + params = Params() + + # Hyundai Custom Longitudinal Tuning + if CP.brand == 'hyundai': + hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0) + if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC: + CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value + if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE: + CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value + + CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP) + def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None, enabled: bool = False) -> None: @@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, CP.radarUnavailable = False -def setup_interfaces(CI: CarInterfaceBase, params: Params = None): +def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: CP = CI.CP CP_SP = CI.CP_SP + _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params) _initialize_neural_network_lateral_control(CI, CP, CP_SP, params) _initialize_radar_tracks(CP, CP_SP, params) diff --git a/system/manager/manager.py b/system/manager/manager.py index fde85f0f7c..90df415a8c 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -45,6 +45,7 @@ def manager_init() -> None: ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), ("DynamicExperimentalControl", "0"), + ("HyundaiLongitudinalTuning", "0"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), ("MadsPauseLateralOnBrake", "0"), From 3b94e6f92f922135d05d3d72c150f5d3b65819b0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 00:59:42 +0800 Subject: [PATCH 168/477] system/ui: add tethering support to WifiManager (#35167) add tethering support to WifiManager --- system/ui/lib/wifi_manager.py | 160 ++++++++++++++++++++++++++++++++++ 1 file changed, 160 insertions(+) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 990e1d14a1..ff18092364 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -12,6 +12,7 @@ from dbus_next.aio import MessageBus from dbus_next import BusType, Variant, Message from dbus_next.errors import DBusError from dbus_next.constants import MessageType +from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog T = TypeVar("T") @@ -29,6 +30,9 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 +TETHERING_IP_ADDRESS = "192.168.43.1" +DEFAULT_TETHERING_PASSWORD = "12345678" + # NetworkManager device states class NMDeviceState(IntEnum): DISCONNECTED = 30 @@ -72,6 +76,7 @@ class WifiManager: self.saved_connections: dict[str, str] = {} self.active_ap_path: str = "" self.scan_task: asyncio.Task | None = None + self._tethering_ssid = "weedle-" + Params().get("DongleId", encoding="utf-8") self.running: bool = True async def connect(self) -> None: @@ -83,6 +88,7 @@ class WifiManager: 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() self.scan_task = asyncio.create_task(self._periodic_scan()) except DBusError as e: @@ -199,6 +205,160 @@ class WifiManager: return False + async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool: + """Create a WiFi tethering connection.""" + if len(password) < 8: + print("Tethering password must be at least 8 characters") + return False + + try: + # First, check if a hotspot connection already exists + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + connection_paths = await settings_iface.call_list_connections() + + # Look for an existing hotspot connection + for path in connection_paths: + try: + settings = await self._get_connection_settings(path) + conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value + wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value + + if conn_type == '802-11-wireless' and wifi_mode == 'ap': + # Extract the SSID to check + connection_ssid = self._extract_ssid(settings) + if connection_ssid == ssid: + return True + except DBusError: + continue + + connection = { + 'connection': { + 'id': Variant('s', 'Hotspot'), + 'uuid': Variant('s', str(uuid.uuid4())), + 'type': Variant('s', '802-11-wireless'), + 'interface-name': Variant('s', 'wlan0'), + 'autoconnect': Variant('b', False), + }, + '802-11-wireless': { + 'band': Variant('s', 'bg'), + 'mode': Variant('s', 'ap'), + 'ssid': Variant('ay', ssid.encode('utf-8')), + }, + '802-11-wireless-security': { + 'group': Variant('as', ['ccmp']), + 'key-mgmt': Variant('s', 'wpa-psk'), + 'pairwise': Variant('as', ['ccmp']), + 'proto': Variant('as', ['rsn']), + 'psk': Variant('s', password), + }, + 'ipv4': { + 'method': Variant('s', 'shared'), + 'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]), + 'gateway': Variant('s', TETHERING_IP_ADDRESS), + 'never-default': Variant('b', True), + }, + 'ipv6': { + 'method': Variant('s', 'ignore'), + }, + } + + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + new_connection = await settings_iface.call_add_connection(connection) + print(f"Added tethering connection with path: {new_connection}") + return True + except DBusError as e: + print(f"Failed to add tethering connection: {e}") + return False + except Exception as e: + print(f"Unexpected error adding tethering connection: {e}") + return False + + async def get_tethering_password(self) -> str: + """Get the current tethering password.""" + try: + hotspot_path = self.saved_connections.get(self._tethering_ssid) + if hotspot_path: + conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) + secrets = await conn_iface.call_get_secrets('802-11-wireless-security') + if secrets and '802-11-wireless-security' in secrets: + psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value + return str(psk) if psk is not None else "" + return "" + except DBusError as e: + print(f"Failed to get tethering password: {e}") + return "" + except Exception as e: + print(f"Unexpected error getting tethering password: {e}") + return "" + + async def set_tethering_password(self, password: str) -> bool: + """Set the tethering password.""" + if len(password) < 8: + cloudlog.error("Tethering password must be at least 8 characters") + return False + + try: + hotspot_path = self.saved_connections.get(self._tethering_ssid) + if not hotspot_path: + print("No hotspot connection found") + return False + + # Update the connection settings with new password + settings = await self._get_connection_settings(hotspot_path) + if '802-11-wireless-security' not in settings: + settings['802-11-wireless-security'] = {} + settings['802-11-wireless-security']['psk'] = Variant('s', password) + + # Apply changes + conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) + await conn_iface.call_update(settings) + + # Check if connection is active and restart if needed + is_active = False + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + active_connections = await nm_iface.get_active_connections() + + for conn_path in active_connections: + props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) + conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') + if conn_id_path.value == hotspot_path: + is_active = True + await nm_iface.call_deactivate_connection(conn_path) + break + + if is_active: + await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/") + + print("Tethering password updated successfully") + return True + except DBusError as e: + print(f"Failed to set tethering password: {e}") + return False + except Exception as e: + print(f"Unexpected error setting tethering password: {e}") + return False + + async def is_tethering_active(self) -> bool: + """Check if tethering is active for the specified SSID.""" + try: + hotspot_path = self.saved_connections.get(self._tethering_ssid) + if not hotspot_path: + return False + + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + active_connections = await nm_iface.get_active_connections() + + for conn_path in active_connections: + props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) + conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') + + if conn_id_path.value == hotspot_path: + return True + + return False + except Exception: + return False + async def _periodic_scan(self): while self.running: try: From 7147c2695447492a6b456674a4dd1b30b344084e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 01:00:28 +0800 Subject: [PATCH 169/477] system/ui: fix WIFI authentication callback and connection tracking (#35169) fix authentication callback and state handling --- system/ui/lib/wifi_manager.py | 22 +++++++++++++++++++--- system/ui/widgets/network.py | 11 ++++++++--- 2 files changed, 27 insertions(+), 6 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index ff18092364..d3d9bb4414 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -61,7 +61,7 @@ class NetworkInfo: @dataclass class WifiManagerCallbacks: - need_auth: Callable[[], None] | None = None + need_auth: Callable[[str], None] | None = None activated: Callable[[], None] | None = None forgotten: Callable[[], None] | None = None @@ -78,6 +78,7 @@ class WifiManager: self.scan_task: asyncio.Task | None = None self._tethering_ssid = "weedle-" + Params().get("DongleId", encoding="utf-8") self.running: bool = True + self._current_connection_ssid: str | None = None async def connect(self) -> None: """Connect to the DBus system bus.""" @@ -133,6 +134,9 @@ 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 + del self.saved_connections[ssid] return True except DBusError as e: cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") @@ -153,6 +157,7 @@ class WifiManager: async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: """Connect to a selected Wi-Fi network.""" try: + self._current_connection_ssid = ssid connection = { 'connection': { 'type': Variant('s', '802-11-wireless'), @@ -182,8 +187,8 @@ 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: + self._current_connection_ssid = None cloudlog.error(f"Error connecting to network: {e}") def is_saved(self, ssid: str) -> bool: @@ -403,11 +408,22 @@ class WifiManager: if self.callbacks.activated: self.callbacks.activated() asyncio.create_task(self._update_connection_status()) + 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: - self.callbacks.need_auth() + if self._current_connection_ssid: + self.callbacks.need_auth(self._current_connection_ssid) + else: + # Try to find the network from active_ap_path + for network in self.networks: + if network.path == self.active_ap_path: + self.callbacks.need_auth(network.ssid) + break + else: + # Couldn't identify the network that needs auth + cloudlog.error("Network needs authentication but couldn't identify which one") def _on_new_connection(self, path: str) -> None: """Callback for NewConnection signal.""" diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 59427b57b8..0e9ad349b6 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -142,10 +142,15 @@ class WifiManagerUI: self.state = StateForgetting(network) self.wifi_manager.forget_connection(network.ssid) - def _on_need_auth(self): + def _on_need_auth(self, ssid): match self.state: - case StateConnecting(network): - self.state = StateNeedsAuth(network) + 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) def _on_activated(self): if isinstance(self.state, StateConnecting): From eaa595958c15f958cb248fb9287672e201cbd369 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 05:22:06 +0800 Subject: [PATCH 170/477] system/ui: prevent duplicate WiFi connections when retrying with new password (#35174) Prevent duplicate WiFi connections when retrying with new password --- system/ui/lib/wifi_manager.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index d3d9bb4414..29d3231d5f 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -136,7 +136,10 @@ class WifiManager: await nm_iface.call_delete() if self._current_connection_ssid == ssid: self._current_connection_ssid = None - del self.saved_connections[ssid] + + if ssid in self.saved_connections: + del self.saved_connections[ssid] + return True except DBusError as e: cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") @@ -158,6 +161,17 @@ class WifiManager: """Connect to a selected Wi-Fi network.""" try: self._current_connection_ssid = ssid + + if ssid in self.saved_connections: + # Forget old connection if new password provided + if password: + await self.forget_connection(ssid) + await asyncio.sleep(0.2) # NetworkManager delay + else: + # Just activate existing connection + await self.activate_connection(ssid) + return + connection = { 'connection': { 'type': Variant('s', '802-11-wireless'), From 6c1edca8061342754794dafd1522172700837419 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 10 May 2025 18:51:37 -0400 Subject: [PATCH 171/477] MADS: use low velocity threshold for silent wrong gear checks (#901) * MADS: use low velocity threshold for silent wrong gear checks * higher --- sunnypilot/mads/mads.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 2d7d41b4bc..d27e2f1fcb 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -72,7 +72,7 @@ class ModularAssistiveDrivingSystem: if self.events.has(EventName.seatbeltNotLatched): replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched) transition_paused_state() - if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse): + if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse): replace_event(EventName.wrongGear, EventNameSP.silentWrongGear) transition_paused_state() if self.events.has(EventName.reverseGear): From 921b51f56fdddfc4f075e3dff3f7f2a7fe3ed5a7 Mon Sep 17 00:00:00 2001 From: Nayan Date: Sat, 10 May 2025 19:01:37 -0400 Subject: [PATCH 172/477] ui: display actual fingerprint name with auto-fingerprint (#906) use platform directly Co-authored-by: Jason Wen --- .../qt/offroad/settings/vehicle/platform_selector.cc | 8 -------- 1 file changed, 8 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc index 21c9a44cb4..f31e8e3290 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc @@ -70,14 +70,6 @@ void PlatformSelector::refresh(bool _offroad) { platform = QString::fromStdString(CP.getCarFingerprint().cStr()); - for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) { - if (it.value()["platform"].toString() == platform) { - platform = it.key(); - brand = it.value()["brand"].toString(); - break; - } - } - if (platform == "MOCK") { platform = unrecognized_str; } else { From 4ceb1ecd190e3ede31da4a636723b1bb72196313 Mon Sep 17 00:00:00 2001 From: Nayan Date: Sat, 10 May 2025 19:10:15 -0400 Subject: [PATCH 173/477] ui: fix description margins on `AbstractControlSP_SELECTOR` (#902) fix margins for description on AbstractControlSP_SELECTOR Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/qt/widgets/controls.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc index 551907c612..d873913b57 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc @@ -148,7 +148,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con // description description = new QLabel(desc); - description->setContentsMargins(0, 20, 40, 20); + description->setContentsMargins(40, 20, 40, 20); description->setStyleSheet("font-size: 40px; color: grey"); description->setWordWrap(true); description->setVisible(false); From 3a4c74b67d0e293622d5cfcca2f54cce1dc73f96 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 10 May 2025 21:47:24 -0400 Subject: [PATCH 174/477] Revert "ui: display actual fingerprint name with auto-fingerprint" (#907) Revert "ui: display actual fingerprint name with auto-fingerprint (#906)" This reverts commit 921b51f56fdddfc4f075e3dff3f7f2a7fe3ed5a7. --- .../qt/offroad/settings/vehicle/platform_selector.cc | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc index f31e8e3290..21c9a44cb4 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc @@ -70,6 +70,14 @@ void PlatformSelector::refresh(bool _offroad) { platform = QString::fromStdString(CP.getCarFingerprint().cStr()); + for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) { + if (it.value()["platform"].toString() == platform) { + platform = it.key(); + brand = it.value()["brand"].toString(); + break; + } + } + if (platform == "MOCK") { platform = unrecognized_str; } else { From 5c9ce2a042a20d4c058525bc73b00045fb947921 Mon Sep 17 00:00:00 2001 From: Nayan Date: Sat, 10 May 2025 23:35:02 -0400 Subject: [PATCH 175/477] ui: display actual fingerprint name with auto-fingerprint (#908) * use platform directly * Revert "use platform directly" This reverts commit b71c315d308a5f8f7cd2091de9ce405fcc51074d. * update brand from platform package --- .../sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc index 21c9a44cb4..0d4dde681f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc @@ -72,7 +72,6 @@ void PlatformSelector::refresh(bool _offroad) { for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) { if (it.value()["platform"].toString() == platform) { - platform = it.key(); brand = it.value()["brand"].toString(); break; } From f1760e63d39d1be2ed470364e435b2cd981c8e45 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 15:26:25 +0800 Subject: [PATCH 176/477] system/ui: performance optimizations for WiFi Manager with cached network data (#35170) Performance optimizations for WiFi Manager with cached network data --- system/ui/lib/wifi_manager.py | 15 ++++++++++----- system/ui/widgets/network.py | 22 ++++++++++++++-------- 2 files changed, 24 insertions(+), 13 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 29d3231d5f..00649b146b 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,5 +1,6 @@ import asyncio import concurrent.futures +import copy import threading import time import uuid @@ -56,6 +57,7 @@ class NetworkInfo: security_type: SecurityType path: str bssid: str + is_saved: bool = False # saved_path: str @@ -64,6 +66,7 @@ class WifiManagerCallbacks: need_auth: Callable[[str], None] | None = None activated: Callable[[], None] | None = None forgotten: Callable[[], None] | None = None + networks_updated: Callable[[list[NetworkInfo]], None] | None = None class WifiManager: @@ -452,6 +455,8 @@ class WifiManager: del self.saved_connections[ssid] if self.callbacks.forgotten: self.callbacks.forgotten() + # Update network list to reflect the removed saved connection + asyncio.create_task(self._update_connection_status()) break async def _add_saved_connection(self, path: str) -> None: @@ -460,6 +465,7 @@ 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() except DBusError as e: cloudlog.error(f"Failed to add connection {path}: {e}") @@ -517,6 +523,7 @@ class WifiManager: path=ap_path, bssid=bssid, is_connected=self.active_ap_path == ap_path, + is_saved=ssid in self.saved_connections ) except DBusError as e: @@ -533,6 +540,9 @@ class WifiManager: ), ) + if self.callbacks.networks_updated: + self.callbacks.networks_updated(copy.deepcopy(self.networks)) + async def _get_connection_settings(self, path): """Fetch connection settings for a specific connection path.""" try: @@ -628,11 +638,6 @@ class WifiManagerWrapper: self._thread.join(timeout=2.0) self._running = False - @property - def networks(self) -> list[NetworkInfo]: - """Get the current list of networks.""" - return self._run_coroutine_sync(lambda manager: manager.networks.copy(), default=[]) - def is_saved(self, ssid: str) -> bool: """Check if a network is saved.""" return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0e9ad349b6..14f4017925 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -48,13 +48,15 @@ class WifiManagerUI: self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard() + self._networks: list[NetworkInfo] = [] + self.wifi_manager = wifi_manager - self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten)) + self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten, self._on_network_updated)) self.wifi_manager.start() self.wifi_manager.connect() def render(self, rect: rl.Rectangle): - if not self.wifi_manager.networks: + if not self._networks: gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) return @@ -77,19 +79,19 @@ class WifiManagerUI: self._draw_network_list(rect) def _draw_network_list(self, rect: rl.Rectangle): - content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self.wifi_manager.networks) * ITEM_HEIGHT) + content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) offset = self.scroll_panel.handle_scroll(rect, content_rect) clicked = self.scroll_panel.is_click_valid() rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) - for i, network in enumerate(self.wifi_manager.networks): + for i, network in enumerate(self._networks): y_offset = rect.y + i * ITEM_HEIGHT + offset.y item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT) if not rl.check_collision_recs(item_rect, rect): continue self._draw_network_item(item_rect, network, clicked) - if i < len(self.wifi_manager.networks) - 1: + if i < len(self._networks) - 1: line_y = int(item_rect.y + item_rect.height - 1) rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY) @@ -115,7 +117,7 @@ class WifiManagerUI: rl.gui_label(state_rect, status_text) # If the network is saved, show the "Forget" button - if self.wifi_manager.is_saved(network.ssid): + if network.is_saved: forget_btn_rect = rl.Rectangle( rect.x + rect.width - self.btn_width, rect.y + (ITEM_HEIGHT - 80) / 2, @@ -126,22 +128,26 @@ class WifiManagerUI: self.state = StateShowForgetConfirm(network) if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked: - if not self.wifi_manager.is_saved(network.ssid): + if not network.is_saved: self.state = StateNeedsAuth(network) else: self.connect_to_network(network) def connect_to_network(self, network: NetworkInfo, password=''): self.state = StateConnecting(network) - if self.wifi_manager.is_saved(network.ssid) and not password: + if network.is_saved and not password: self.wifi_manager.activate_connection(network.ssid) else: self.wifi_manager.connect_to_network(network.ssid, password) def forget_network(self, network: NetworkInfo): self.state = StateForgetting(network) + network.is_saved = False self.wifi_manager.forget_connection(network.ssid) + def _on_network_updated(self, networks: list[NetworkInfo]): + self._networks = networks + def _on_need_auth(self, ssid): match self.state: case StateConnecting(ssid): From bbeb37d7266a98ba88abda27e869e8178a41aafb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 15:43:23 +0800 Subject: [PATCH 177/477] system/ui: add MultiOptionDialog for selection from scrollable lists (#35176) * add MultiOptionDialog for selection from scrollable lists * mv --------- Co-authored-by: Cameron Clough --- system/ui/lib/button.py | 21 ++++++-- system/ui/widgets/option_dialog.py | 81 ++++++++++++++++++++++++++++++ 2 files changed, 98 insertions(+), 4 deletions(-) create mode 100644 system/ui/widgets/option_dialog.py diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 034189275f..1857fd21cc 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -10,6 +10,12 @@ class ButtonStyle(IntEnum): TRANSPARENT = 3 # For buttons with transparent background and border +class TextAlignment(IntEnum): + LEFT = 0 + CENTER = 1 + RIGHT = 2 + + DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255) BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) @@ -38,6 +44,8 @@ def gui_button( button_style: ButtonStyle = ButtonStyle.NORMAL, is_enabled: bool = True, border_radius: int = 10, # Corner rounding in pixels + text_alignment: TextAlignment = TextAlignment.CENTER, + text_padding: int = 20, # Padding for left/right alignment ) -> int: result = 0 @@ -58,11 +66,16 @@ def gui_button( rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE) font = gui_app.font(font_weight) - # Center text in the button text_size = rl.measure_text_ex(font, text, font_size, 0) - text_pos = rl.Vector2( - rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2 - ) + text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2) # Vertical centering + + # Horizontal alignment + if text_alignment == TextAlignment.LEFT: + text_pos.x = rect.x + text_padding + elif text_alignment == TextAlignment.CENTER: + text_pos.x = rect.x + (rect.width - text_size.x) // 2 + elif text_alignment == TextAlignment.RIGHT: + text_pos.x = rect.x + rect.width - text_size.x - text_padding # Draw the button text text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py new file mode 100644 index 0000000000..c25c5c6e6c --- /dev/null +++ b/system/ui/widgets/option_dialog.py @@ -0,0 +1,81 @@ +import pyray as rl + +from openpilot.system.ui.lib.button import gui_button, ButtonStyle, TextAlignment +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel + + +class MultiOptionDialog: + def __init__(self, title, options, current=""): + self._title = title + self._options = options + self._current = current if current in options else "" + self._selection = self._current + self._option_height = 80 + self._padding = 20 + self.scroll_panel = GuiScrollPanel() + + @property + def selection(self): + return self._selection + + def render(self, rect): + title_rect = rl.Rectangle(rect.x + self._padding, rect.y + self._padding, rect.width - 2 * self._padding, 70) + gui_label(title_rect, self._title, 70) + + options_y_start = rect.y + 120 + options_height = len(self._options) * (self._option_height + 10) + options_rect = rl.Rectangle(rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, options_height) + + view_rect = rl.Rectangle( + rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, rect.height - 200 - 2 * self._padding + ) + + offset = self.scroll_panel.handle_scroll(view_rect, options_rect) + is_click_valid = self.scroll_panel.is_click_valid() + + rl.begin_scissor_mode(int(view_rect.x), int(view_rect.y), int(view_rect.width), int(view_rect.height)) + + for i, option in enumerate(self._options): + y_pos = view_rect.y + i * (self._option_height + 10) + offset.y + item_rect = rl.Rectangle(view_rect.x, y_pos, view_rect.width, self._option_height) + + if not rl.check_collision_recs(item_rect, view_rect): + continue + + is_selected = option == self._selection + button_style = ButtonStyle.PRIMARY if is_selected else ButtonStyle.NORMAL + + if gui_button(item_rect, option, button_style=button_style, text_alignment=TextAlignment.LEFT) and is_click_valid: + self._selection = option + + rl.end_scissor_mode() + + button_y = rect.y + rect.height - 80 - self._padding + button_width = (rect.width - 3 * self._padding) / 2 + + cancel_rect = rl.Rectangle(rect.x + self._padding, button_y, button_width, 80) + if gui_button(cancel_rect, "Cancel"): + return 0 # Canceled + + select_rect = rl.Rectangle(rect.x + 2 * self._padding + button_width, button_y, button_width, 80) + has_new_selection = self._selection != "" and self._selection != self._current + + if gui_button(select_rect, "Select", is_enabled=has_new_selection, button_style=ButtonStyle.PRIMARY): + return 1 # Selected + + return -1 # Still active + + +if __name__ == "__main__": + from openpilot.system.ui.lib.application import gui_app + + gui_app.init_window("Multi Option Dialog Example") + options = [f"Option {i}" for i in range(1, 11)] + dialog = MultiOptionDialog("Choose an option", options, options[0]) + + for _ in gui_app.render(): + result = dialog.render(rl.Rectangle(100, 100, 1024, 800)) + if result >= 0: + print(f"Selected: {dialog.selection}" if result > 0 else "Canceled") + break From 01867f1b2b59e817f185b6f3f7427080b1a43de1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 21:40:06 +0800 Subject: [PATCH 178/477] system/ui: integrate WifiManagerUI into Updater (#35177) integrate WifiManagerUI into Updater --- system/ui/updater.py | 51 +++++++++++--------------------------------- 1 file changed, 12 insertions(+), 39 deletions(-) diff --git a/system/ui/updater.py b/system/ui/updater.py index eb9d766a16..42acaf5675 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -9,6 +9,9 @@ from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_text_box, gui_label +from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.widgets.network import WifiManagerUI + # Constants MARGIN = 50 @@ -39,6 +42,8 @@ class Updater: self.show_reboot_button = False self.process = None self.update_thread = None + self.wifi_manager = WifiManagerWrapper() + self.wifi_manager_ui = WifiManagerUI(self.wifi_manager) def install_update(self): self.current_screen = Screen.PROGRESS @@ -79,8 +84,9 @@ class Updater: gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD) # Description - desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \ - The download size is approximately 1GB." + desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " + + "The download size is approximately 1GB.") + desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE) @@ -101,49 +107,16 @@ class Updater: return # Return to avoid further processing after action def render_wifi_screen(self): - # Title and back button - title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60) - gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD) + # Draw the Wi-Fi manager UI + wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20) + self.wifi_manager_ui.render(wifi_rect) + back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) if gui_button(back_button_rect, "Back"): self.current_screen = Screen.PROMPT return # Return to avoid processing other interactions after screen change - # Draw placeholder for WiFi implementation - placeholder_rect = rl.Rectangle( - MARGIN, - title_rect.y + title_rect.height + MARGIN, - gui_app.width - MARGIN * 2, - gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT - ) - - # Draw rounded rectangle background - rl.draw_rectangle_rounded( - placeholder_rect, - 0.1, - 10, - rl.Color(41, 41, 41, 255) - ) - - # Draw placeholder text - placeholder_text = "WiFi Implementation Placeholder" - text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1) - text_pos = rl.Vector2( - placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2, - placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2 - ) - rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE) - - # Draw instructions - instructions_text = "Real WiFi functionality would be implemented here" - instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1) - instructions_pos = rl.Vector2( - placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2, - text_pos.y + text_size.y + 20 - ) - rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY) - def render_progress_screen(self): title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100) gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD) From e9cea3ae5cdd9b6cdfa1ca4e745224f5a7a560a1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 11 May 2025 08:24:46 -0700 Subject: [PATCH 179/477] Revert TR again (#35179) Revert "Tomb Raider 7 (#35114)" This reverts commit 0fb4aafa35896e831bd58a636a9a1bb4a1442743. --- selfdrive/controls/lib/longitudinal_planner.py | 15 +++------------ selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 14 +++++--------- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 +++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 25 insertions(+), 37 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4219e80f33..9d71faeca2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mode == 'acc': + if self.mpc.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -160,17 +160,8 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) - output_a_target_e2e = sm['modelV2'].action.desiredAcceleration - output_should_stop_e2e = sm['modelV2'].action.shouldStop - - if self.mode == 'acc': - output_a_target = output_a_target_mpc - self.output_should_stop = output_should_stop_mpc - else: - output_a_target = min(output_a_target_mpc, output_a_target_e2e) - self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 36bd724d01..a91c6395c7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - #temporal_pose = modelV2.temporalPose - #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 84d7760dce..5e1acdea0e 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -41,8 +41,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.1 -LONG_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.0 +LONG_SMOOTH_SECONDS = 0.0 MIN_LAT_CONTROL_SPEED = 0.3 @@ -55,11 +55,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2], - plan[:,Plan.ORIENTATION_RATE][:,2], - ModelConstants.T_IDXS, - v_ego, - lat_action_t) + desired_curvature = model_output['desired_curvature'][0, 0] if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: @@ -176,7 +172,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 5bd77bb958..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 sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18 -size 15588463 +oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 +size 15966721 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 0a7b4a803d..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:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e -size 46265585 +oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 +size 34882971 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 783572d436..810c44ccb9 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,12 +88,6 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -101,10 +95,17 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3dd3eab25f..1ae4c4a1a8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 From bfadab078e01bb0058de3c58069e4ea5d493198d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 02:05:59 +0800 Subject: [PATCH 180/477] system/ui: set log level to WARNING to reduce noise (#35180) * set log level to WARNING to reduce noise * custom callback handling for raylib logs --- system/ui/lib/application.py | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index eae5962277..3f3595e8f5 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -40,6 +40,7 @@ class GuiApplication: self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() self._window_close_requested = False + self._trace_log_callback = None def request_close(self): self._window_close_requested = True @@ -50,6 +51,9 @@ class GuiApplication: HARDWARE.set_display_power(True) HARDWARE.set_screen_brightness(65) + self._set_log_callback() + + rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING) rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) @@ -137,6 +141,29 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR)) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) + def _set_log_callback(self): + @rl.ffi.callback("void(int, char *, void *)") + def trace_log_callback(log_level, text, args): + try: + text_str = rl.ffi.string(text).decode('utf-8') + except (TypeError, UnicodeDecodeError): + text_str = str(text) + + if log_level == rl.TraceLogLevel.LOG_ERROR: + cloudlog.error(f"raylib: {text_str}") + elif log_level == rl.TraceLogLevel.LOG_WARNING: + cloudlog.warning(f"raylib: {text_str}") + elif log_level == rl.TraceLogLevel.LOG_INFO: + cloudlog.info(f"raylib: {text_str}") + elif log_level == rl.TraceLogLevel.LOG_DEBUG: + cloudlog.debug(f"raylib: {text_str}") + else: + cloudlog.debug(f"raylib: Unknown level {log_level}: {text_str}") + + # Store callback reference + self._trace_log_callback = trace_log_callback + rl.set_trace_log_callback(self._trace_log_callback) + def _monitor_fps(self): fps = rl.get_fps() From e62b6a38e9cf6431321dafefc78ea86c9a1ccf13 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 02:06:04 +0800 Subject: [PATCH 181/477] system/ui: set keyboard to use full window area (#35181) set keyboard to use full window area --- system/ui/widgets/keyboard.py | 5 ++++- system/ui/widgets/network.py | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 13fdb912b5..d496c5f749 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,8 +1,10 @@ import pyray as rl +from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button from openpilot.system.ui.lib.label import gui_label # Constants for special keys +CONTENT_MARGIN = 50 BACKSPACE_KEY = "<-" ENTER_KEY = "Enter" SPACE_KEY = " " @@ -55,7 +57,8 @@ class Keyboard: self._clear() return result - def render(self, rect, title, sub_title): + def render(self, title, sub_title): + rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 14f4017925..49e2dd8296 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -62,7 +62,7 @@ class WifiManagerUI: match self.state: case StateNeedsAuth(network): - result = self.keyboard.render(rect, "Enter password", f"for {network.ssid}") + result = self.keyboard.render("Enter password", f"for {network.ssid}") if result == 1: self.connect_to_network(network, self.keyboard.text) elif result == 0: From 35dbdf912478da5db58aa88a1b8e64e59f27ad3c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 11 May 2025 11:08:50 -0700 Subject: [PATCH 182/477] raylib: fwd everything to cloudlog --- system/ui/lib/application.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 3f3595e8f5..c359b1e578 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -53,7 +53,7 @@ class GuiApplication: self._set_log_callback() - rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING) + rl.set_trace_log_level(rl.TraceLogLevel.LOG_ALL) rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) @@ -158,7 +158,7 @@ class GuiApplication: elif log_level == rl.TraceLogLevel.LOG_DEBUG: cloudlog.debug(f"raylib: {text_str}") else: - cloudlog.debug(f"raylib: Unknown level {log_level}: {text_str}") + cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}") # Store callback reference self._trace_log_callback = trace_log_callback From 2b32325be1c32445f3e069f1536f14d4c6affc6b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 22:21:12 +0800 Subject: [PATCH 183/477] system/ui: Full-Featured InputBox Component (#35178) custom input box component --- system/ui/lib/inputbox.py | 157 ++++++++++++++++++++++++++++++++++ system/ui/widgets/keyboard.py | 37 +++----- system/ui/widgets/network.py | 4 +- 3 files changed, 172 insertions(+), 26 deletions(-) create mode 100644 system/ui/lib/inputbox.py diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py new file mode 100644 index 0000000000..9bac5251aa --- /dev/null +++ b/system/ui/lib/inputbox.py @@ -0,0 +1,157 @@ +import pyray as rl +from openpilot.system.ui.lib.application import gui_app + + +class InputBox: + def __init__(self, max_text_size=255, password_mode=False): + self._max_text_size = max_text_size + self._input_text = "" + self._cursor_position = 0 + self._password_mode = password_mode + self._blink_counter = 0 + self._show_cursor = False + self._last_key_pressed = 0 + self._key_press_time = 0 + self._repeat_delay = 30 + self._repeat_rate = 5 + + @property + def text(self): + return self._input_text + + @text.setter + def text(self, value): + self._input_text = value[: self._max_text_size] + self._cursor_position = len(self._input_text) + + def set_password_mode(self, password_mode): + self._password_mode = password_mode + + def clear(self): + self._input_text = '' + self._cursor_position = 0 + + def set_cursor_position(self, position): + """Set the cursor position and reset the blink counter.""" + if 0 <= position <= len(self._input_text): + self._cursor_position = position + self._blink_counter = 0 + self._show_cursor = True + + def add_char_at_cursor(self, char): + """Add a character at the current cursor position.""" + if len(self._input_text) < self._max_text_size: + self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position :] + self.set_cursor_position(self._cursor_position + 1) + return True + return False + + def delete_char_before_cursor(self): + """Delete the character before the cursor position (backspace).""" + if self._cursor_position > 0: + self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position :] + self.set_cursor_position(self._cursor_position - 1) + return True + return False + + def delete_char_at_cursor(self): + """Delete the character at the cursor position (delete).""" + if self._cursor_position < len(self._input_text): + self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1 :] + self.set_cursor_position(self._cursor_position) + return True + return False + + def render(self, rect, color=rl.LIGHTGRAY, border_color=rl.DARKGRAY, text_color=rl.BLACK, font_size=80): + # Handle mouse input + self._handle_mouse_input(rect, font_size) + + # Draw input box + rl.draw_rectangle_rec(rect, color) + rl.draw_rectangle_lines_ex(rect, 1, border_color) + + # Process keyboard input + self._handle_keyboard_input() + + # Update cursor blink + self._blink_counter += 1 + if self._blink_counter >= 30: + self._show_cursor = not self._show_cursor + self._blink_counter = 0 + + # Display text + font = gui_app.font() + display_text = "•" * len(self._input_text) if self._password_mode else self._input_text + padding = 10 + rl.draw_text_ex( + font, + display_text, + rl.Vector2(int(rect.x + padding), int(rect.y + rect.height / 2 - font_size / 2)), + font_size, + 0, + text_color, + ) + + # Draw cursor + if self._show_cursor: + cursor_x = rect.x + padding + if len(display_text) > 0 and self._cursor_position > 0: + cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x + + cursor_height = font_size + 4 + cursor_y = rect.y + rect.height / 2 - cursor_height / 2 + rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.BLACK) + + def _handle_mouse_input(self, rect, font_size): + """Handle mouse clicks to position cursor.""" + mouse_pos = rl.get_mouse_position() + if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect): + # Calculate cursor position from click + if len(self._input_text) > 0: + text_width = rl.measure_text(self._input_text, font_size) + text_pos_x = rect.x + 10 + + if mouse_pos.x - text_pos_x > text_width: + self.set_cursor_position(len(self._input_text)) + else: + click_ratio = (mouse_pos.x - text_pos_x) / text_width + self.set_cursor_position(int(len(self._input_text) * click_ratio)) + + self.set_cursor_position(0) + + def _handle_keyboard_input(self): + """Process keyboard input.""" + key = rl.get_key_pressed() + + # Handle key repeats + if key == self._last_key_pressed and key != 0: + self._key_press_time += 1 + if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0: + # Process repeated key + pass + else: + return # Skip processing until repeat triggers + else: + self._last_key_pressed = key + self._key_press_time = 0 + + # Handle navigation keys + if key == rl.KEY_LEFT: + if self._cursor_position > 0: + self.set_cursor_position(self._cursor_position - 1) + elif key == rl.KEY_RIGHT: + if self._cursor_position < len(self._input_text): + self.set_cursor_position(self._cursor_position + 1) + elif key == rl.KEY_BACKSPACE: + self.delete_char_before_cursor() + elif key == rl.KEY_DELETE: + self.delete_char_at_cursor() + elif key == rl.KEY_HOME: + self.set_cursor_position(0) + elif key == rl.KEY_END: + self.set_cursor_position(len(self._input_text)) + + # Handle text input + char = rl.get_char_pressed() + if char != 0 and char >= 32: # Filter out control characters + self.add_char_at_cursor(chr(char)) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index d496c5f749..d81bf3090e 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,6 +1,7 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label # Constants for special keys @@ -47,28 +48,25 @@ class Keyboard: def __init__(self, max_text_size: int = 255): self._layout = keyboard_layouts["lowercase"] self._max_text_size = max_text_size - self._string_pointer = rl.ffi.new("char[]", max_text_size) - self._input_text = "" - self._clear() + self._input_box = InputBox(max_text_size) @property def text(self): - result = rl.ffi.string(self._string_pointer).decode("utf-8") - self._clear() - return result + return self._input_box.text + + def clear(self): + self._input_box.clear() def render(self, title, sub_title): rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): - self._clear() + self.clear() return 0 # Text box for input - self._sync_string_pointer() - rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._string_pointer, self._max_text_size, True) - self._input_text = rl.ffi.string(self._string_pointer).decode("utf-8") + self._input_box.render(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100)) h_space, v_space = 15, 15 row_y_start = rect.y + 300 # Starting Y position for the first row key_height = (rect.height - 300 - 3 * v_space) / 4 @@ -104,18 +102,7 @@ class Keyboard: self._layout = keyboard_layouts["numbers"] elif key == SYMBOL_KEY: self._layout = keyboard_layouts["specials"] - elif key == BACKSPACE_KEY and len(self._input_text) > 0: - self._input_text = self._input_text[:-1] - elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size: - self._input_text += key - - def _clear(self): - self._input_text = '' - self._string_pointer[0] = b'\0' - - def _sync_string_pointer(self): - """Sync the C-string pointer with the internal Python string.""" - encoded = self._input_text.encode("utf-8")[:self._max_text_size - 1] # Leave room for the null terminator - buffer = rl.ffi.buffer(self._string_pointer) - buffer[:len(encoded)] = encoded - self._string_pointer[len(encoded)] = b'\0' # Null terminator + elif key == BACKSPACE_KEY: + self._input_box.delete_char_before_cursor() + else: + self._input_box.add_char_at_cursor(key) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 49e2dd8296..a265111a46 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -64,7 +64,9 @@ class WifiManagerUI: case StateNeedsAuth(network): result = self.keyboard.render("Enter password", f"for {network.ssid}") if result == 1: - self.connect_to_network(network, self.keyboard.text) + password = self.keyboard.text + self.keyboard.clear() + self.connect_to_network(network, password) elif result == 0: self.state = StateIdle() From 59fbeb60707e3a3cb16064dda308260193e00a95 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 12 May 2025 15:28:36 +0100 Subject: [PATCH 184/477] system/ui: keyboard demo script --- system/ui/widgets/keyboard.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index d81bf3090e..0723e65a16 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -57,7 +57,7 @@ class Keyboard: def clear(self): self._input_box.clear() - def render(self, title, sub_title): + def render(self, title: str, sub_title: str): rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) @@ -106,3 +106,17 @@ class Keyboard: self._input_box.delete_char_before_cursor() else: self._input_box.add_char_at_cursor(key) + + +if __name__ == "__main__": + gui_app.init_window("Keyboard") + keyboard = Keyboard() + for _ in gui_app.render(): + result = keyboard.render("Keyboard", "Type here") + if result == 1: + print(f"You typed: {keyboard.text}") + gui_app.request_close() + elif result == 0: + print("Canceled") + gui_app.request_close() + gui_app.close() From 43054a56c263ad84978e9cfb6cc05d92e0a212ee Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 12 May 2025 15:39:48 +0100 Subject: [PATCH 185/477] system/ui: fix tethering ssid (#35188) system/ui: fix tethering ssid when no params --- system/ui/lib/wifi_manager.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 00649b146b..e08e4cbb62 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -79,7 +79,11 @@ class WifiManager: self.saved_connections: dict[str, str] = {} self.active_ap_path: str = "" self.scan_task: asyncio.Task | None = None - self._tethering_ssid = "weedle-" + Params().get("DongleId", encoding="utf-8") + # Set tethering ssid as "weedle" + first 4 characters of a dongle id + self._tethering_ssid = "weedle" + dongle_id = Params().get("DongleId", encoding="utf-8") + if dongle_id: + self._tethering_ssid += "-" + dongle_id[:4] self.running: bool = True self._current_connection_ssid: str | None = None From 02125f68629153f2cd7827fab64c011821d0ea10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 23:59:00 +0800 Subject: [PATCH 186/477] system/ui: fix cursor position in inputBox mouse click handler (#35189) fix cursor position in inputBox mouse click handler --- system/ui/lib/inputbox.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 9bac5251aa..d933d42476 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -108,7 +108,7 @@ class InputBox: if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect): # Calculate cursor position from click if len(self._input_text) > 0: - text_width = rl.measure_text(self._input_text, font_size) + text_width = rl.measure_text_ex(gui_app.font(), self._input_text, font_size, 0).x text_pos_x = rect.x + 10 if mouse_pos.x - text_pos_x > text_width: @@ -116,7 +116,7 @@ class InputBox: else: click_ratio = (mouse_pos.x - text_pos_x) / text_width self.set_cursor_position(int(len(self._input_text) * click_ratio)) - + else: self.set_cursor_position(0) def _handle_keyboard_input(self): From 98dba943b2519c322e28a0d636cbbbf67c930d51 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 12 May 2025 09:30:01 -0700 Subject: [PATCH 187/477] feat(clip): add timestamp onto clip (#35182) * feat(clip): add timestamp onto clip * same font size as title * revert * just declare it here, and add comments --- tools/clip/run.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 33c98a0213..12ac879baa 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -165,12 +165,16 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision display = f':{randint(99, 999)}' + box_style = 'box=1:boxcolor=black@0.33:boxborderw=7' meta_text = get_meta_text(route) overlays = [ - f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:box=1:boxcolor=black@0.33:boxborderw=7:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'" + # metadata overlay + f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", + # route time overlay + f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile=Inter.tff:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" ] if title: - overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:box=1:boxcolor=black@0.33:boxborderw=10:x=(w-text_w)/2:y=53") + overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") ffmpeg_cmd = [ 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', From 8c995ab26dbdba821b5fad17cd4d29dec676d314 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 00:32:20 +0800 Subject: [PATCH 188/477] system/ui: implement CameraView widget (#35185) * initial commit * run at 60hz, nonblock * graceful cleanup * re-position * rename --------- Co-authored-by: Cameron Clough --- system/ui/widgets/cameraview.py | 87 +++++++++++++++++++++++++++++++++ 1 file changed, 87 insertions(+) create mode 100644 system/ui/widgets/cameraview.py diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py new file mode 100644 index 0000000000..841440ae3a --- /dev/null +++ b/system/ui/widgets/cameraview.py @@ -0,0 +1,87 @@ +import pyray as rl +from msgq.visionipc import VisionIpcClient, VisionStreamType +from openpilot.system.ui.lib.application import gui_app + +FRAME_FRAGMENT_SHADER = """ +#version 330 core +in vec2 fragTexCoord; uniform sampler2D texture0, texture1; out vec4 fragColor; +void main() { + float y = texture(texture0, fragTexCoord).r; + vec2 uv = texture(texture1, fragTexCoord).ra - 0.5; + fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0); +}""" + + +class CameraView: + def __init__(self, name: str, stream_type: VisionStreamType): + self.client = VisionIpcClient(name, stream_type, False) + self.shader = rl.load_shader_from_memory(rl.ffi.NULL, FRAME_FRAGMENT_SHADER) + self.texture_y: rl.Texture | None = None + self.texture_uv: rl.Texture | None = None + self.frame = None + + def close(self): + self._clear_textures() + if self.shader and self.shader.id: + rl.unload_shader(self.shader) + + def render(self, rect: rl.Rectangle): + if not self._ensure_connection(): + return + + buffer = self.client.recv(timeout_ms=0) + self.frame = buffer if buffer else self.frame + if not self.frame or not self.texture_y or not self.texture_uv: + return + + 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)) + + # 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 + 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) + + rl.begin_shader_mode(self.shader) + rl.set_shader_value_texture(self.shader, rl.get_shader_location(self.shader, "texture1"), 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 + if not self.client.connect(False) or not self.client.num_buffers: + return False + + self._clear_textures() + self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), + int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) + self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), + int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) + return True + + def _clear_textures(self): + if self.texture_y and self.texture_y.id: + rl.unload_texture(self.texture_y) + if self.texture_uv and self.texture_uv.id: + rl.unload_texture(self.texture_uv) + +if __name__ == "__main__": + gui_app.init_window("watch3") + road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) + wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD) + try: + for _ in gui_app.render(): + road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2)) + driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) + wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) + finally: + road_camera_view.close() + driver_camera_view.close() + wide_road_camera_view.close() From ce4fda1f92cd4d1cccfe4e9ec123ce3a5068d96e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 02:01:25 +0800 Subject: [PATCH 189/477] system/ui: add minimum WIFI password length validation (#35190) * add minimum WIFI password length validation * add min text size to keyboard * disable enter if text size= self._min_text_size + if gui_button(key_rect, key, is_enabled=is_enabled): if key == ENTER_KEY: return 1 else: @@ -110,7 +112,7 @@ class Keyboard: if __name__ == "__main__": gui_app.init_window("Keyboard") - keyboard = Keyboard() + keyboard = Keyboard(min_text_size=8) for _ in gui_app.render(): result = keyboard.render("Keyboard", "Type here") if result == 1: diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index a265111a46..06448483aa 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -11,6 +11,8 @@ from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog NM_DEVICE_STATE_NEED_AUTH = 60 +MIN_PASSWORD_LENGTH = 8 +MAX_PASSWORD_LENGTH = 64 ITEM_HEIGHT = 160 @@ -46,7 +48,7 @@ class WifiManagerUI: self.state: UIState = StateIdle() self.btn_width = 200 self.scroll_panel = GuiScrollPanel() - self.keyboard = Keyboard() + self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH) self._networks: list[NetworkInfo] = [] @@ -66,7 +68,9 @@ class WifiManagerUI: if result == 1: password = self.keyboard.text self.keyboard.clear() - self.connect_to_network(network, password) + + if len(password) >= MIN_PASSWORD_LENGTH: + self.connect_to_network(network, password) elif result == 0: self.state = StateIdle() From b2d414cc8ba3db7d534d676084704a40e735aa26 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 12 May 2025 13:01:29 -0700 Subject: [PATCH 190/477] [bot] Update Python packages (#35187) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 1304 +++++++++++++++++++++++++------------------------- 2 files changed, 655 insertions(+), 651 deletions(-) diff --git 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a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index e5ca002ecf..7a25682e27 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -1,4 +1,5 @@ import pyray as rl +from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_text_box @@ -11,10 +12,9 @@ TEXT_AREA_HEIGHT_REDUCTION = 200 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) -def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: - # Calculate dialog position and size, centered within the parent rectangle - dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2 - dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2 +def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: + dialog_x = (gui_app.width - DIALOG_WIDTH) / 2 + dialog_y = (gui_app.height - DIALOG_HEIGHT) / 2 dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT) # Calculate button positions at the bottom of the dialog @@ -27,13 +27,7 @@ def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_t yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT) # Draw the dialog background - rl.draw_rectangle( - int(dialog_rect.x), - int(dialog_rect.y), - int(dialog_rect.width), - int(dialog_rect.height), - BACKGROUND_COLOR, - ) + rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR) # Draw the message in the dialog, centered text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 06448483aa..d94a3facb1 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -75,7 +75,7 @@ class WifiManagerUI: self.state = StateIdle() case StateShowForgetConfirm(network): - result = confirm_dialog(rect, f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") + result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") if result == 1: self.forget_network(network) elif result == 0: From 2e5014d793f347254efe21c47532db3e6194dae6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 May 2025 17:23:58 -0700 Subject: [PATCH 192/477] Tesla: check counters and checksums in car interface (#35195) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index b922517802..e484515ec7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b9225178021be2b606dab89bf941440562f4cc6c +Subproject commit e484515ec7e329064b923869c1d2f15cf8c443a6 From 51ab7ec8f572dc5490c9d10dd6889d52cc1f427b Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 12 May 2025 18:56:13 -0700 Subject: [PATCH 193/477] feat(clip): ffmpeg improvements to reduce frame skips (#35196) * test * no benefit with two pass * rm * typo, testing * re-add --- tools/clip/run.py | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 12ac879baa..34efcdb5a8 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -177,9 +177,25 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") ffmpeg_cmd = [ - 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', - '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23', - '-filter:v', ','.join(overlays), '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), out + 'ffmpeg', '-y', + '-video_size', RESOLUTION, + '-framerate', str(FRAMERATE), + '-f', 'x11grab', + '-rtbufsize', '100M', + '-draw_mouse', '0', + '-i', display, + '-c:v', 'libx264', + '-maxrate', f'{bit_rate_kbps}k', + '-bufsize', f'{bit_rate_kbps*2}k', + '-crf', '23', + '-filter:v', ','.join(overlays), + '-preset', 'ultrafast', + '-tune', 'zerolatency', + '-pix_fmt', 'yuv420p', + '-movflags', '+faststart', + '-f', 'mp4', + '-t', str(duration), + out, ] replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] From 6b4436b9804e4149043bae81dbadd6f57680397c Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 12 May 2025 19:49:37 -0700 Subject: [PATCH 194/477] feat(clip): font from `selfdrive/assets` (#35194) * feat(clip): find font dynamically * check font path as part of validating environment * from testing * use font from assets * no mas --- tools/clip/run.py | 7 ++++--- tools/install_ubuntu_dependencies.sh | 1 - 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 34efcdb5a8..5fa3c0ae69 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -28,6 +28,7 @@ RESOLUTION = '2160x1080' SECONDS_TO_WARM = 2 PROC_WAIT_SECONDS = 30 +OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve()) REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) @@ -169,12 +170,12 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou meta_text = get_meta_text(route) overlays = [ # metadata overlay - f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", + f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=15:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", # route time overlay - f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile=Inter.tff:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" + f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" ] if title: - overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") + overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") ffmpeg_cmd = [ 'ffmpeg', '-y', diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 3d6fd2e7a9..f33569704a 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -33,7 +33,6 @@ function install_ubuntu_common_requirements() { git \ git-lfs \ ffmpeg \ - fonts-inter \ libavformat-dev \ libavcodec-dev \ libavdevice-dev \ From 3f724400c58fb50d8c657ce0177d275ecaae788f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 May 2025 21:15:43 -0700 Subject: [PATCH 195/477] Tesla: check checksums in safety (#35198) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index e484515ec7..95ee4edd17 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit e484515ec7e329064b923869c1d2f15cf8c443a6 +Subproject commit 95ee4edd17ecc6700eac12f2074de6b5478b9477 From 8473774b6581ff2567e9ca3904589aa41432a1dd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 May 2025 21:18:51 -0700 Subject: [PATCH 196/477] process replay: add Tesla route (#35199) * add tesla * update refs * run tesla on more procs * update refs --- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1ae4c4a1a8..f5cd05b16e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 +b31b7c5c29e6d30ccee2fa5105af778810fcd02e \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index d479369693..a82eab27dd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -35,6 +35,7 @@ source_segments = [ ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021 ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1 ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1 + ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"), # TESLA.TESLA_MODEL_Y # Enable when port is tested and dashcamOnly is no longer set #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS @@ -58,6 +59,7 @@ segments = [ ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"), ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"), + ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -195,7 +197,7 @@ if __name__ == "__main__": continue # to speed things up, we only test all segments on card - if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'): + if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'): continue cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") From 15a567ffee778c749433325747a60d16dd6f2dd2 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 13 May 2025 13:03:31 +0200 Subject: [PATCH 197/477] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index b4773f96b3..7eb5dba3dc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b4773f96b38a56089b28bf70b8073a9ddce6d847 +Subproject commit 7eb5dba3dc9960373128244c10fac99bba91f630 From 896dabb1905213bb8192de5c0d9045ecc860380c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 21:31:50 +0800 Subject: [PATCH 198/477] system/ui: add right-side text eliding to gui_label (#35201) add optional right-side text eliding to gui_label --- system/ui/lib/label.py | 24 +++++++++++++++++++----- 1 file changed, 19 insertions(+), 5 deletions(-) diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index ccfd89a2ec..5244c6baf2 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -10,13 +10,27 @@ def gui_label( color: rl.Color = DEFAULT_TEXT_COLOR, font_weight: FontWeight = FontWeight.NORMAL, alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, - alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE + alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + elide_right: bool = True ): - # Set font based on the provided weight font = gui_app.font(font_weight) - - # Measure text size text_size = rl.measure_text_ex(font, text, font_size, 0) + display_text = text + + # Elide text to fit within the rectangle + if elide_right and text_size.x > rect.width: + ellipsis = "..." + left, right = 0, len(text) + while left < right: + mid = (left + right) // 2 + candidate = text[:mid] + ellipsis + candidate_size = rl.measure_text_ex(font, candidate, font_size, 0) + if candidate_size.x <= rect.width: + left = mid + 1 + else: + right = mid + display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis + text_size = rl.measure_text_ex(font, display_text, font_size, 0) # Calculate horizontal position based on alignment text_x = rect.x + { @@ -33,7 +47,7 @@ def gui_label( }.get(alignment_vertical, 0) # Draw the text in the specified rectangle - rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color) + rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color) def gui_text_box( From 73ff9dc944f05941729fa979db32ddacd573e5df Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 21:34:17 +0800 Subject: [PATCH 199/477] system/ui: add require_full_screen to WifiManagerUI (#35191) add require_full_screen to WifiManagerUI --- system/ui/updater.py | 3 ++- system/ui/widgets/network.py | 5 +++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/system/ui/updater.py b/system/ui/updater.py index 42acaf5675..3ee02ce97c 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -110,7 +110,8 @@ class Updater: # Draw the Wi-Fi manager UI wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20) self.wifi_manager_ui.render(wifi_rect) - + if self.wifi_manager_ui.require_full_screen: + return back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) if gui_button(back_button_rect, "Back"): diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index d94a3facb1..d34ad44f55 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -84,6 +84,11 @@ class WifiManagerUI: 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)) + def _draw_network_list(self, rect: rl.Rectangle): content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) offset = self.scroll_panel.handle_scroll(rect, content_rect) From 480cc57da38358a54de2718c5f28d0d3722c4b39 Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Tue, 13 May 2025 10:32:33 -0600 Subject: [PATCH 200/477] Pass args to op auth (#35202) --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index 93e774a2ac..a7ed964812 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -254,7 +254,7 @@ function op_setup() { function op_auth() { op_before_cmd - op_run_command tools/lib/auth.py + op_run_command tools/lib/auth.py "$@" } function op_activate_venv() { From 3d696c0f90df5985ac0ff88df2afef8c39512e7f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 13 May 2025 13:34:54 -0700 Subject: [PATCH 201/477] jenkins: remove logs during setup --- selfdrive/test/setup_device_ci.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 69555b19f7..d717698514 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -18,6 +18,9 @@ if [ -z "$TEST_DIR" ]; then exit 1 fi +# prevent storage from filling up +rm -rf /data/media/0/realdata/* + rm -rf /data/safe_staging/ || true if [ -d /data/safe_staging/ ]; then sudo umount /data/safe_staging/merged/ || true From 313ede3d1ed9b646ff5e94a83aaafe91ba5b6029 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 14:48:40 -0700 Subject: [PATCH 202/477] Update NDOG live (#35205) * no alt exp * live * fix * update res --- opendbc_repo | 2 +- selfdrive/car/card.py | 8 -------- selfdrive/selfdrived/selfdrived.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 7 ------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 4 insertions(+), 19 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 95ee4edd17..a633eeb65c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 95ee4edd17ecc6700eac12f2074de6b5478b9477 +Subproject commit a633eeb65c0807746cd9cf5cb1bb1dc227779f3f diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 378543164c..502daaa015 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -17,7 +17,6 @@ from opendbc.car.carlog import carlog from opendbc.car.fw_versions import ObdCallback from opendbc.car.car_helpers import get_car, interfaces from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase -from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp from openpilot.selfdrive.car.cruise import VCruiseHelper from openpilot.selfdrive.car.car_specific import MockCarState @@ -108,16 +107,9 @@ class Car: self.CI, self.CP = CI, CI.CP self.RI = RI - # set alternative experiences from parameters - disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 - if not disengage_on_accelerator: - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly - self.CP.passive = not controller_available or self.CP.dashcamOnly if self.CP.passive: safety_config = structs.CarParams.SafetyConfig() diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index c888551777..98c03acf1e 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -7,7 +7,6 @@ import cereal.messaging as messaging from cereal import car, log from msgq.visionipc import VisionIpcClient, VisionStreamType -from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params @@ -55,7 +54,6 @@ class SelfdriveD: self.CP = CP self.car_events = CarSpecificEvents(self.CP) - self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS) # Setup sockets self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents']) @@ -85,6 +83,7 @@ class SelfdriveD: # read params 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") car_recognized = self.CP.brand != 'mock' @@ -486,6 +485,7 @@ class SelfdriveD: def params_thread(self, evt): while not evt.is_set(): self.is_metric = self.params.get_bool("IsMetric") + 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() time.sleep(0.1) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3183db0c3a..8de2e60055 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,7 +17,6 @@ from cereal import car from cereal.services import SERVICE_LIST from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from opendbc.car.car_helpers import get_car, interfaces -from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout @@ -365,9 +364,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP - if not params.get_bool("DisengageOnAccelerator"): - CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - params.put("CarParams", CP.to_bytes()) @@ -769,9 +765,6 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non params_dict["IsRhdDetected"] = is_rhd if CP is not None: - if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: - params_dict["DisengageOnAccelerator"] = False - if fingerprint is None: if CP.fingerprintSource == "fw": params_dict["CarParamsCache"] = CP.as_builder().to_bytes() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f5cd05b16e..ab602d4726 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b31b7c5c29e6d30ccee2fa5105af778810fcd02e \ No newline at end of file +61bfff810e45b7a1577cfbb572a7b3c233f8551b \ No newline at end of file From 67486ff92d9f78bcd14865a8bb81de0b94ded075 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 16:59:35 -0700 Subject: [PATCH 203/477] bump tinygrad (#35208) * bump tinygrad * fix * why is mac different? * fix sim * relax that --- .gitmodules | 2 +- selfdrive/modeld/SConscript | 4 ++-- selfdrive/modeld/modeld.py | 5 +++-- selfdrive/test/test_onroad.py | 2 +- tinygrad_repo | 2 +- 5 files changed, 8 insertions(+), 7 deletions(-) diff --git a/.gitmodules b/.gitmodules index 54c7393986..ad6530de9a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -15,4 +15,4 @@ url = ../../commaai/teleoprtc [submodule "tinygrad"] path = tinygrad_repo - url = https://github.com/commaai/tinygrad.git + url = https://github.com/tinygrad/tinygrad.git diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index cecebfa18b..0704dd4704 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -43,9 +43,9 @@ pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abs if arch == 'larch64': device_string = 'QCOM=1' elif arch == 'Darwin': - device_string = 'CLANG=1 IMAGE=0' + device_string = 'CLANG=1 IMAGE=0 JIT=2' else: - device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0' + device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2' for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 5e1acdea0e..814bc7a999 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,13 +1,14 @@ #!/usr/bin/env python3 import os from openpilot.system.hardware import TICI -from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes if TICI: from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address os.environ['QCOM'] = '1' else: os.environ['LLVM'] = '1' + os.environ['JIT'] = '2' +from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes import time import pickle import numpy as np diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 4cd952219c..d0c725cacb 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -398,7 +398,7 @@ class TestOnroad: ("modelV2", 0.06, 0.040), # can miss cycles here and there, just important the avg frequency is 20Hz - ("driverStateV2", 0.2, 0.05), + ("driverStateV2", 0.3, 0.05), ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]] diff --git a/tinygrad_repo b/tinygrad_repo index 0e34f9082e..ddff9857b8 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b +Subproject commit ddff9857b8527c16e5917eeec2dc55da69fa74d2 From 478015e7888424d255188e2a608e8d78ec95e740 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 May 2025 17:04:16 -0700 Subject: [PATCH 204/477] typo --- tools/scripts/setup_ssh_keys.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 699765eee1..45dc0aa977 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -18,6 +18,6 @@ if __name__ == "__main__": params.put_bool("SshEnabled", True) params.put("GithubSshKeys", keys.text) params.put("GithubUsername", username) - print("Setup ssh keys successfully") + print("Set up ssh keys successfully") else: print("Error getting public keys from github") From d0bf2be6f04e5035a21f1b5fa1a7f4d2f0217f8b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 17:12:32 -0700 Subject: [PATCH 205/477] External GPU support for big models (#35172) * usb gpu * cleanup --------- Co-authored-by: Comma Device --- selfdrive/modeld/SConscript | 19 ++++++++++--------- selfdrive/modeld/modeld.py | 12 +++++++++--- 2 files changed, 19 insertions(+), 12 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 0704dd4704..28d60b9e00 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,3 +1,4 @@ +import os import glob Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') @@ -13,7 +14,6 @@ common_src = [ "transforms/transform.cc", ] - # OpenCL is a framework on Mac if arch == "Darwin": frameworks += ['OpenCL'] @@ -40,15 +40,16 @@ for model_name in ['driving_vision', 'driving_policy']: # Compile tinygrad model pythonpath_string = 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do this yet, + # also need to move the aux USB interrupts for good timings + config_realtime_process(7, 54) cloudlog.warning("setting up CL context") cl_context = CLContext() From 9d7fce8dd1e29a4e8e80eee843b05d4ba7411be9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 18:48:21 -0700 Subject: [PATCH 206/477] CI: bump tinygrad in cronjob --- .github/workflows/repo-maintenance.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 3bcb143825..e041b07ec8 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -50,7 +50,7 @@ jobs: - name: bump submodules run: | git config --global --add safe.directory '*' - git -c submodule."tinygrad".update=none submodule update --remote + git submodule update --remote git add . - name: update car docs run: | From 77c35f8e5dd9bc952b63a754eb9ed810983094c7 Mon Sep 17 00:00:00 2001 From: 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target_mb: int, title: str | None): +def clip( + data_dir: str | None, + quality: Literal['low', 'high'], + prefix: str, + route: Route, + out: str, + start: int, + end: int, + target_mb: int, + title: str | None, +): logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') begin_at = max(start - SECONDS_TO_WARM, 0) @@ -256,7 +266,17 @@ def main(): p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: - clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size, args.title) + clip( + data_dir=args.data_dir, + quality=args.quality, + prefix=args.prefix, + route=args.route, + out=args.output, + start=args.start, + end=args.end, + target_mb=args.file_size, + title=args.title, + ) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) except Exception as e: From 1a3e3423035112b287a8fd0f73ef4222e4dd58ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 14 May 2025 04:22:44 +0200 Subject: [PATCH 209/477] ui: reset live parameters and delay when reset calibration pressed (#35211) * Reset params and lag too * Old param too --- selfdrive/ui/qt/offroad/settings.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 7a79413e2d..2057f1223e 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -194,6 +194,9 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { 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"); } }); addItem(resetCalibBtn); @@ -326,7 +329,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { if (param.endsWith("Panel")) { QString panelName = param; panelName.chop(5); // Remove "Panel" suffix - + // Find the panel by name for (int i = 0; i < nav_btns->buttons().size(); i++) { if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) { @@ -338,7 +341,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { emit expandToggleDescription(param); } } - + panel_widget->setCurrentIndex(index); nav_btns->buttons()[index]->setChecked(true); } From bdffd3408855b167e394199d4550d48aa566c225 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Tue, 13 May 2025 19:23:36 -0700 Subject: [PATCH 210/477] feat(clip): support metric units if requested (#35213) --- tools/clip/run.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tools/clip/run.py b/tools/clip/run.py index 9414f8fba7..d6b75566b1 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -15,6 +15,7 @@ from typing import Literal from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.tools.lib.route import Route @@ -166,6 +167,7 @@ def clip( end: int, target_mb: int, title: str | None, + use_metric: bool = False, ): logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') @@ -225,8 +227,11 @@ def clip( xvfb_proc = start_proc(xvfb_cmd, env) atexit.register(lambda: xvfb_proc.terminate()) + ui_proc = start_proc(ui_cmd, env) atexit.register(lambda: ui_proc.terminate()) + Params().put('IsMetric', '1' if use_metric else '0') + replay_proc = start_proc(replay_cmd, env) atexit.register(lambda: replay_proc.terminate()) procs = [replay_proc, ui_proc, xvfb_proc] @@ -263,6 +268,7 @@ def main(): p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') p.add_argument('-s', '--start', help='start clipping at seconds', type=int) + p.add_argument('-m', '--metric', help='use metric units in ui (e.g. kph)', action='store_true') p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: @@ -276,6 +282,7 @@ def main(): end=args.end, target_mb=args.file_size, title=args.title, + use_metric=args.metric, ) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) From cbec1886e7e17e5ab4d8ab80409c39492ac21917 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 14 May 2025 04:26:28 +0200 Subject: [PATCH 211/477] paramsd: remove saved param if mismatch (#35215) remove LiveParametersV2 --- selfdrive/locationd/paramsd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index a7712ba1d9..ec15f501ae 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -248,6 +248,7 @@ def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: b retrieve_success = True except Exception as e: cloudlog.error(f"Failed to retrieve initial values: {e}") + params.remove("LiveParametersV2") if not replay: # When driving in wet conditions the stiffness can go down, and then be too low on the next drive From f242b1e88a703d7f6f3ab53f4534e7c684d6ebe3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 14 May 2025 05:18:14 +0200 Subject: [PATCH 212/477] lagd: remove saved param if mismatch (#35217) Remove LiveDelay on mismatch --- selfdrive/locationd/lagd.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index f4f46b7469..b4f4e1f663 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -316,9 +316,9 @@ class LateralLagEstimator: return lag, corr -def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): - last_lag_data = params_reader.get("LiveDelay") - last_carparams_data = params_reader.get("CarParamsPrevRoute") +def retrieve_initial_lag(params: Params, CP: car.CarParams): + last_lag_data = params.get("LiveDelay") + last_carparams_data = params.get("CarParamsPrevRoute") if last_lag_data is not None: try: @@ -333,6 +333,7 @@ def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): return lag, valid_blocks except Exception as e: cloudlog.error(f"Failed to retrieve initial lag: {e}") + params.remove("LiveDelay") return None @@ -345,11 +346,11 @@ def main(): pm = messaging.PubMaster(['liveDelay']) sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') - params_reader = Params() - CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) + params = Params() + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) - if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: + if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None: lag, valid_blocks = initial_lag_params lag_learner.reset(lag, valid_blocks) @@ -370,4 +371,4 @@ def main(): pm.send('liveDelay', lag_msg_dat) if sm.frame % 1200 == 0: # cache every 60 seconds - params_reader.put_nonblocking("LiveDelay", lag_msg_dat) + params.put_nonblocking("LiveDelay", lag_msg_dat) From 3fd05d2aceb2fc52c96efce58ae3e7c44d882c4a Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 13 May 2025 21:05:17 -0700 Subject: [PATCH 213/477] more robust modem --- system/hardware/tici/hardware.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 694d42f4d6..5a8e41b51f 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -297,13 +297,11 @@ class Tici(HardwareBase): return None def get_modem_temperatures(self): - if self.get_device_type() == "mici": - return [] timeout = 0.2 # Default timeout is too short try: modem = self.get_modem() temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout) - return list(map(int, temps.split(' ')[1].split(','))) + return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(',')))) except Exception: return [] From 997a99926cba018a48a513bf0ae8d834d7749145 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 13 May 2025 21:06:30 -0700 Subject: [PATCH 214/477] ci: overwrite previous comment for model_replay (#35209) * less * test * fix * cleanup --- selfdrive/test/process_replay/model_replay.py | 2 +- tools/lib/github_utils.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index af626e2da9..0578a61588 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -123,7 +123,7 @@ def comment_replay_report(proposed, master, full_logs): diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True) all_plots = create_table("All Model Replay Plots", files, link) comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots - GITHUB.comment_on_pr(comment, PR_BRANCH) + GITHUB.comment_on_pr(comment, PR_BRANCH, "commaci-public", True) def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): all_msgs = [] diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py index 4dc22b9524..46a0dcf3cb 100644 --- a/tools/lib/github_utils.py +++ b/tools/lib/github_utils.py @@ -87,8 +87,8 @@ class GithubUtils: def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False): pr_number = self.get_pr_number(pr_branch) data = f'{{"body": "{comment}"}}' + github_path = f'issues/{pr_number}/comments' if overwrite: - github_path = f'issues/{pr_number}/comments' r = self.api_call(github_path) comments = [x['id'] for x in r.json() if x['user']['login'] == commenter] if comments: @@ -96,7 +96,6 @@ class GithubUtils: self.api_call(github_path, data=data, method=HTTPMethod.PATCH) return - github_path=f'issues/{pr_number}/comments' self.api_call(github_path, data=data, method=HTTPMethod.POST) # upload files to github and comment them on the pr From 92e27f0ba29eb254e7ab2c955aa2f2ae71044287 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 14 May 2025 14:34:11 +0100 Subject: [PATCH 215/477] fix .editorconfig --- .editorconfig | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.editorconfig b/.editorconfig index 879e6eebca..d506433ece 100644 --- a/.editorconfig +++ b/.editorconfig @@ -5,7 +5,7 @@ end_of_line = lf insert_final_newline = true trim_trailing_whitespace = true -[{*.py, *.pyx, *.pxd}] +[*.{py,pyx,pxd}] charset = utf-8 indent_style = space indent_size = 2 From c57f576436083e61ee134865aca3623146a28e2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 14 May 2025 21:49:47 +0800 Subject: [PATCH 216/477] system/ui: fix FPS drop issues (#35220) set VSYNC flag only when the env is set --- system/ui/lib/application.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index c359b1e578..b9d4293738 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -12,6 +12,7 @@ FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions +ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1" DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' @@ -52,9 +53,13 @@ class GuiApplication: HARDWARE.set_screen_brightness(65) self._set_log_callback() - rl.set_trace_log_level(rl.TraceLogLevel.LOG_ALL) - rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) + + flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT + if ENABLE_VSYNC: + flags |= rl.ConfigFlags.FLAG_VSYNC_HINT + rl.set_config_flags(flags) + rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) From b1bdab0c9084632d930eeef0de6307ef3cb3f458 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 14 May 2025 23:11:38 +0800 Subject: [PATCH 217/477] system/ui: improve texture caching (#35222) improve texture caching --- system/ui/lib/application.py | 50 ++++++++++++++++++++++++++++++------ system/ui/spinner.py | 7 ++--- 2 files changed, 44 insertions(+), 13 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index b9d4293738..ba1441170b 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -18,6 +18,7 @@ STRICT_MODE = os.getenv("STRICT_MODE") == '1' DEFAULT_TEXT_SIZE = 60 DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255) +ASSETS_DIR = os.path.join(BASEDIR, "selfdrive/assets") FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts") @@ -37,7 +38,7 @@ class GuiApplication: self._fonts: dict[FontWeight, rl.Font] = {} self._width = width self._height = height - self._textures: list[rl.Texture] = [] + self._textures: dict[str, rl.Texture] = {} self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() self._window_close_requested = False @@ -67,28 +68,61 @@ class GuiApplication: self._set_styles() self._load_fonts() - def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False): + + def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): + cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" + if cache_key in self._textures: + return self._textures[cache_key] + + texture_obj = self._load_texture_from_image(os.path.join(ASSETS_DIR, asset_path), width, height, alpha_premultiply, keep_aspect_ratio) + self._textures[cache_key] = texture_obj + return texture_obj + + def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply = False, keep_aspect_ratio=True): """Load and resize a texture, storing it for later automatic unloading.""" - image = rl.load_image(file_name) + if image_path.endswith('.svg'): + image = self._load_image_from_svg(image_path) + else: + image = rl.load_image(image_path) + if alpha_premultiply: rl.image_alpha_premultiply(image) - rl.image_resize(image, width, height) + + # Resize with aspect ratio preservation if requested + if keep_aspect_ratio: + orig_width = image.width + orig_height = image.height + + scale_width = width / orig_width + scale_height = height / orig_height + + # Calculate new dimensions + scale = min(scale_width, scale_height) + new_width = int(orig_width * scale) + new_height = int(orig_height * scale) + + rl.image_resize(image, new_width, new_height) + else: + rl.image_resize(image, width, height) + texture = rl.load_texture_from_image(image) # Set texture filtering to smooth the result rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) rl.unload_image(image) - - self._textures.append(texture) return texture + def _load_image_from_svg(self, svg_path: str): + # TODO: Implement SVG loading + assert(0) + def close(self): if not rl.is_window_ready(): return - for texture in self._textures: + for texture in self._textures.values(): rl.unload_texture(texture) - self._textures = [] + self._textures = {} for font in self._fonts.values(): rl.unload_font(font) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 119bdba3e7..93bce3887e 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -1,10 +1,8 @@ #!/usr/bin/env python3 import pyray as rl -import os import threading import time -from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text @@ -26,9 +24,8 @@ def clamp(value, min_value, max_value): class SpinnerRenderer: def __init__(self): - self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) - self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, - alpha_premultiply=True) + self._comma_texture = gui_app.texture("img_spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.texture("img_spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 self._progress: int | None = None self._wrapped_lines: list[str] = [] From 665d2c3bec3bd4da393e788ac46e5f6719608d7b Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 14 May 2025 08:14:44 -0700 Subject: [PATCH 218/477] feat(clip): hydrate route's CarParams before starting UI (#35218) * feat: hydrate CarParams before starting UI * only get first segment, faster --- tools/clip/run.py | 23 +++++++++++++++++------ 1 file changed, 17 insertions(+), 6 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index d6b75566b1..87a5d79d2e 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -18,6 +18,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader, ReadMode, comma_api_source DEFAULT_OUTPUT = 'output.mp4' DEMO_START = 90 @@ -114,6 +115,20 @@ def parse_args(parser: ArgumentParser): return args +def populate_car_params(route: Route): + segment = route.name.canonical_name + '/0' # only get first segment qlog + lr = LogReader(segment, default_mode=ReadMode.QLOG, source=comma_api_source) + init_data = lr.first('initData') + assert init_data is not None + + params = Params() + entries = init_data.params.entries + for cp in entries: + key, value = cp.key, cp.value + params.put(key, value) + logger.info(f'persisted {len(entries)} CarParam(s)') + + def start_proc(args: list[str], env: dict[str, str]): return Popen(args, env=env, stdout=PIPE, stderr=PIPE) @@ -167,7 +182,6 @@ def clip( end: int, target_mb: int, title: str | None, - use_metric: bool = False, ): logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') @@ -222,16 +236,15 @@ def clip( xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] with OpenpilotPrefix(prefix, shared_download_cache=True): + populate_car_params(route) + env = os.environ.copy() env['DISPLAY'] = display xvfb_proc = start_proc(xvfb_cmd, env) atexit.register(lambda: xvfb_proc.terminate()) - ui_proc = start_proc(ui_cmd, env) atexit.register(lambda: ui_proc.terminate()) - Params().put('IsMetric', '1' if use_metric else '0') - replay_proc = start_proc(replay_cmd, env) atexit.register(lambda: replay_proc.terminate()) procs = [replay_proc, ui_proc, xvfb_proc] @@ -268,7 +281,6 @@ def main(): p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') p.add_argument('-s', '--start', help='start clipping at seconds', type=int) - p.add_argument('-m', '--metric', help='use metric units in ui (e.g. kph)', action='store_true') p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: @@ -282,7 +294,6 @@ def main(): end=args.end, target_mb=args.file_size, title=args.title, - use_metric=args.metric, ) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) From 64b0ede9ae2a02b0e8d4aa736f73e09e1f54c540 Mon Sep 17 00:00:00 2001 From: omahs <73983677+omahs@users.noreply.github.com> Date: Wed, 14 May 2025 20:17:50 +0200 Subject: [PATCH 219/477] fix: typos (#35224) * fix: typos * Update what-is-a-car-port.md --------- Co-authored-by: Adeeb Shihadeh --- docs/contributing/roadmap.md | 2 +- selfdrive/pandad/pandad.cc | 2 +- selfdrive/test/process_replay/README.md | 10 +++++----- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md index 7086d85b85..1262017a0b 100644 --- a/docs/contributing/roadmap.md +++ b/docs/contributing/roadmap.md @@ -12,7 +12,7 @@ This is the roadmap for the next major openpilot releases. Also check out openpilot 0.10 will be the first release with a driving policy trained in a [learned simulator](https://youtu.be/EqQNZXqzFSI). -* Driving model trained in a learned simlator +* Driving model trained in a learned simulator * Always-on driver monitoring (behind a toggle) * GPS removed from the driving stack * 100KB qlogs diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index fbf4e206ae..1666c6229f 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -25,7 +25,7 @@ // - If a panda connection is dropped, pandad will reconnect to all pandas // - If a panda is added, we will only reconnect when we are offroad // CAN buses: -// - Each panda will have it's block of 4 buses. E.g.: the second panda will use +// - Each panda will have its block of 4 buses. E.g.: the second panda will use // bus numbers 4, 5, 6 and 7 // - The internal panda will always be used for accessing the OBD2 port, // and thus firmware queries diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 381e4dcb7f..dc801e4285 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -38,7 +38,7 @@ optional arguments: ## Forks -openpilot forks can use this test with their own reference logs, by default `test_proccess.py` saves logs locally. +openpilot forks can use this test with their own reference logs, by default `test_proccesses.py` saves logs locally. To generate new logs: @@ -48,13 +48,13 @@ Then, check in the new logs using git-lfs. Make sure to also update the `ref_com ## API -Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. +Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. ```py def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]: def replay_process( - cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None, + cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None, fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False ) -> List[capnp._DynamicStructReader]: ``` @@ -73,14 +73,14 @@ output_logs = replay_process_with_name('locationd', lr) output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr) ``` -Supported processes: +Supported processes: * controlsd * radard * plannerd * calibrationd * dmonitoringd * locationd -* paramsd +* paramsd * ubloxd * torqued * modeld From f1c0109c89f8e85d23c9addd11fc7412c3ca4dc7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 15 May 2025 02:18:08 +0800 Subject: [PATCH 220/477] system/ui: Fix crash when exiting the application with CTRL+C (KeyboardInterrupt). (#35221) handle KeyboardInterrupt --- system/ui/lib/application.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index ba1441170b..fb7f7832a4 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -131,17 +131,20 @@ class GuiApplication: rl.close_window() def render(self): - while not (self._window_close_requested or rl.window_should_close()): - rl.begin_drawing() - rl.clear_background(rl.BLACK) + try: + while not (self._window_close_requested or rl.window_should_close()): + rl.begin_drawing() + rl.clear_background(rl.BLACK) - yield + yield - if DEBUG_FPS: - rl.draw_fps(10, 10) + if DEBUG_FPS: + rl.draw_fps(10, 10) - rl.end_drawing() - self._monitor_fps() + rl.end_drawing() + self._monitor_fps() + except KeyboardInterrupt: + pass def font(self, font_weight: FontWeight=FontWeight.NORMAL): return self._fonts[font_weight] From 84e9b7598346dc9970d96ca5576dac35f29ebe37 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 15 May 2025 02:20:39 +0800 Subject: [PATCH 221/477] system/ui: fix WiFi manager shutdown task errors (#35204) fix WiFi manager shutdown task errors --- system/ui/lib/wifi_manager.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index e08e4cbb62..7070266aab 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -115,7 +115,7 @@ class WifiManager: except asyncio.CancelledError: pass if self.bus: - await self.bus.disconnect() + self.bus.disconnect() async def request_scan(self) -> None: try: @@ -634,8 +634,10 @@ class WifiManagerWrapper: def shutdown(self) -> None: if self._running: - if self._manager is not None: - self._run_coroutine(self._manager.shutdown()) + if self._manager is not None and self._loop: + shutdown_future = asyncio.run_coroutine_threadsafe(self._manager.shutdown(), self._loop) + shutdown_future.result(timeout=3.0) + if self._loop and self._loop.is_running(): self._loop.call_soon_threadsafe(self._loop.stop) if self._thread and self._thread.is_alive(): From 02a251f50d8dd157ec2b40c82dbff3c563eb987b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 15 May 2025 02:21:28 +0800 Subject: [PATCH 222/477] cabana: add RouteInfo dialog to view and navigate route segment details (#35134) add RouteInfo dialog to view and navigate route segment details --- tools/cabana/SConscript | 2 +- tools/cabana/tools/routeinfo.cc | 40 +++++++++++++++++++++++++++++++++ tools/cabana/tools/routeinfo.h | 8 +++++++ tools/cabana/videowidget.cc | 15 +++++++++++-- tools/cabana/videowidget.h | 1 + 5 files changed, 63 insertions(+), 3 deletions(-) create mode 100644 tools/cabana/tools/routeinfo.cc create mode 100644 tools/cabana/tools/routeinfo.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 1cacaba4a2..c8e6093b86 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -29,7 +29,7 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans 'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'utils/export.cc', 'utils/util.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', - 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): diff --git a/tools/cabana/tools/routeinfo.cc b/tools/cabana/tools/routeinfo.cc new file mode 100644 index 0000000000..77a0e065cd --- /dev/null +++ b/tools/cabana/tools/routeinfo.cc @@ -0,0 +1,40 @@ +#include "tools/cabana/tools/routeinfo.h" +#include +#include +#include +#include +#include "tools/cabana/streams/replaystream.h" + +RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) { + auto *replay = qobject_cast(can)->getReplay(); + setWindowTitle(tr("Route: %1").arg(QString::fromStdString(replay->route().name()))); + + auto *table = new QTableWidget(replay->route().segments().size(), 7, this); + table->setToolTip(tr("Click on a row to seek to the corresponding segment.")); + table->setEditTriggers(QAbstractItemView::NoEditTriggers); + table->setSelectionBehavior(QAbstractItemView::SelectRows); + table->setSelectionMode(QAbstractItemView::SingleSelection); + table->setHorizontalHeaderLabels({"", "rlog", "fcam", "ecam", "dcam", "qlog", "qcam"}); + table->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); + table->verticalHeader()->setVisible(false); + table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + + int row = 0; + for (const auto &[seg_num, seg] : replay->route().segments()) { + table->setItem(row, 0, new QTableWidgetItem(QString::number(seg_num))); + table->setItem(row, 1, new QTableWidgetItem(seg.rlog.empty() ? "--" : "Yes")); + table->setItem(row, 2, new QTableWidgetItem(seg.road_cam.empty() ? "--" : "Yes")); + table->setItem(row, 3, new QTableWidgetItem(seg.wide_road_cam.empty() ? "--" : "Yes")); + table->setItem(row, 4, new QTableWidgetItem(seg.driver_cam.empty() ? "--" : "Yes")); + table->setItem(row, 5, new QTableWidgetItem(seg.qlog.empty() ? "--" : "Yes")); + table->setItem(row, 6, new QTableWidgetItem(seg.qcamera.empty() ? "--" : "Yes")); + ++row; + } + table->setMinimumWidth(table->horizontalHeader()->length() + table->verticalScrollBar()->sizeHint().width()); + table->setMinimumHeight(table->rowHeight(0) * std::min(table->rowCount(), 13) + table->horizontalHeader()->height() + table->frameWidth() * 2); + + connect(table, &QTableWidget::itemClicked, [](QTableWidgetItem *item) { can->seekTo(item->row() * 60.0); }); + + QVBoxLayout *layout = new QVBoxLayout(this); + layout->addWidget(table); +} diff --git a/tools/cabana/tools/routeinfo.h b/tools/cabana/tools/routeinfo.h new file mode 100644 index 0000000000..36f32b4bf4 --- /dev/null +++ b/tools/cabana/tools/routeinfo.h @@ -0,0 +1,8 @@ +#pragma once +#include + +class RouteInfoDlg : public QDialog { + Q_OBJECT +public: + RouteInfoDlg(QWidget *parent = nullptr); +}; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index e792f80a41..3d715b0319 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -11,6 +11,8 @@ #include #include +#include "tools/cabana/tools/routeinfo.h" + const int MIN_VIDEO_HEIGHT = 100; const int THUMBNAIL_MARGIN = 3; @@ -100,9 +102,12 @@ void VideoWidget::createPlaybackController() { if (!can->liveStreaming()) { toolbar->addAction(utils::icon("repeat"), tr("Loop playback"), this, &VideoWidget::loopPlaybackClicked); + createSpeedDropdown(toolbar); + toolbar->addSeparator(); + toolbar->addAction(utils::icon("info-circle"), tr("View route details"), this, &VideoWidget::showRouteInfo); + } else { + createSpeedDropdown(toolbar); } - - createSpeedDropdown(toolbar); } void VideoWidget::createSpeedDropdown(QToolBar *toolbar) { @@ -230,6 +235,12 @@ void VideoWidget::showThumbnail(double seconds) { slider->update(); } +void VideoWidget::showRouteInfo() { + RouteInfoDlg *route_info = new RouteInfoDlg(this); + route_info->setAttribute(Qt::WA_DeleteOnClose); + route_info->show(); +} + bool VideoWidget::eventFilter(QObject *obj, QEvent *event) { if (event->type() == QEvent::MouseMove) { auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds())); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 1d87a5cfa0..6f756448c0 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -71,6 +71,7 @@ protected: void createSpeedDropdown(QToolBar *toolbar); void loopPlaybackClicked(); void vipcAvailableStreamsUpdated(std::set streams); + void showRouteInfo(); StreamCameraView *cam_widget; QAction *time_display_action = nullptr; From 2ad501cc946b666a2439eb81417bf34d48dcdeeb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 15 May 2025 02:21:36 +0800 Subject: [PATCH 223/477] common/params.cc: Handle EINTR for fsync in Params::put to Improve Robustness (#35142) Handle EINTR for fsync in Params::put to Improve Robustness --- common/params.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index d1e5a36462..337be814b7 100644 --- a/common/params.cc +++ b/common/params.cc @@ -140,7 +140,7 @@ int Params::put(const char* key, const char* value, size_t value_size) { } // fsync to force persist the changes. - if ((result = fsync(tmp_fd)) < 0) break; + if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break; FileLock file_lock(params_path + "/.lock"); From e8394a27d7e7cad1c63c612a8a4c4bb5806321f9 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 14 May 2025 14:25:27 -0700 Subject: [PATCH 224/477] fix(clip): properly set exit code (#35225) fix: properly set exit code --- tools/clip/run.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/clip/run.py b/tools/clip/run.py index 87a5d79d2e..fce1b02e98 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -5,6 +5,7 @@ import logging import os import platform import shutil +import sys import time from argparse import ArgumentParser, ArgumentTypeError from collections.abc import Sequence @@ -283,6 +284,7 @@ def main(): p.add_argument('-s', '--start', help='start clipping at seconds', type=int) p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) + exit_code = 1 try: clip( data_dir=args.data_dir, @@ -295,12 +297,14 @@ def main(): target_mb=args.file_size, title=args.title, ) + exit_code = 0 except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) except Exception as e: logger.exception('encountered error', exc_info=e) finally: atexit._run_exitfuncs() + sys.exit(exit_code) if __name__ == '__main__': From 3a6491e23a8390371b29547f86d01fd15c463102 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 14 May 2025 17:46:55 -0400 Subject: [PATCH 225/477] MADS: allow transition from Paused to Enabled at all times (#910) * MADS: silentBrakeHold should not exit control * no longer * allow transition from paused to enabled when long is allowed --- sunnypilot/mads/mads.py | 10 +++++----- sunnypilot/mads/state.py | 2 +- sunnypilot/mads/tests/test_mads_state_machine.py | 2 +- sunnypilot/selfdrive/selfdrived/events.py | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index d27e2f1fcb..9aeb67972f 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -89,11 +89,6 @@ class ModularAssistiveDrivingSystem: if CS.brakePressed: transition_paused_state() - if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \ - not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT): - if self.state_machine.state == State.paused: - self.events_sp.add(EventNameSP.silentLkasEnable) - self.events.remove(EventName.preEnableStandstill) self.events.remove(EventName.belowEngageSpeed) self.events.remove(EventName.speedTooLow) @@ -125,6 +120,11 @@ class ModularAssistiveDrivingSystem: if self.selfdrive.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasDisable) + if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \ + not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT): + if self.state_machine.state == State.paused: + self.events_sp.add(EventNameSP.silentLkasEnable) + self.events.remove(EventName.pcmDisable) self.events.remove(EventName.buttonCancel) self.events.remove(EventName.pedalPressed) diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py index 89ae506ac8..73240c790c 100644 --- a/sunnypilot/mads/state.py +++ b/sunnypilot/mads/state.py @@ -51,7 +51,7 @@ class StateMachine: if self.state != State.disabled: # user and immediate disable always have priority in a non-disabled state if self.check_contains(ET.USER_DISABLE): - if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold): + if self._events_sp.has(EventNameSP.silentLkasDisable): self.state = State.paused else: self.state = State.disabled diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py index 51013b0baf..7bc556a0fc 100644 --- a/sunnypilot/mads/tests/test_mads_state_machine.py +++ b/sunnypilot/mads/tests/test_mads_state_machine.py @@ -73,7 +73,7 @@ class TestMADSStateMachine: self.clear_events() def test_user_disable_to_paused(self): - paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold) + paused_events = (EventNameSP.silentLkasDisable, ) for state in ALL_STATES: for et in MAINTAIN_STATES[state]: self.events_sp.add(make_event([et, ET.USER_DISABLE])) diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py index 6813542c0e..979de0a80c 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -64,7 +64,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventNameSP.silentBrakeHold: { - ET.USER_DISABLE: EngagementAlert(AudibleAlert.none), + ET.WARNING: EngagementAlert(AudibleAlert.none), ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"), }, From 33c164629f2270ce3ee40c260231f9deb4ea13cc Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 14 May 2025 15:44:57 -0700 Subject: [PATCH 226/477] fix(clip): ignore unknown Params keys (#35226) * fix: ignore params configured by forks * comment * dont bother logging count or in normal flow * better log --- tools/clip/run.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index fce1b02e98..fb9ffbbaee 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -16,7 +16,7 @@ from typing import Literal from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params +from openpilot.common.params import Params, UnknownKeyName from openpilot.common.prefix import OpenpilotPrefix from openpilot.tools.lib.route import Route from openpilot.tools.lib.logreader import LogReader, ReadMode, comma_api_source @@ -126,8 +126,12 @@ def populate_car_params(route: Route): entries = init_data.params.entries for cp in entries: key, value = cp.key, cp.value - params.put(key, value) - logger.info(f'persisted {len(entries)} CarParam(s)') + try: + params.put(key, value) + except UnknownKeyName: + # forks of openpilot may have other Params keys configured. ignore these + logger.warning(f"unknown Params key '{key}', skipping") + logger.debug('persisted CarParams') def start_proc(args: list[str], env: dict[str, str]): From 2af3cc6093d461096c876882250216985c7bf421 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 May 2025 19:31:55 -0700 Subject: [PATCH 227/477] joystick: use ISO acceleration (#35230) ISO max --- tools/joystick/joystickd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index b775f18f70..673a5bc1d0 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -10,7 +10,7 @@ from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog LongCtrlState = car.CarControl.Actuators.LongControlState -MAX_LAT_ACCEL = 2.5 +MAX_LAT_ACCEL = 3.0 def joystickd_thread(): From 5d8c8ae911f9e1bf1f91dc096bf0a67efef0d9e0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 May 2025 19:51:12 -0700 Subject: [PATCH 228/477] Tesla: raised lateral limits (#35231) * bump * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 7faa3a0811..f960080e28 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7faa3a0811ddc7bf7ba38f1c8e2d1b6c17342a30 +Subproject commit f960080e286401cdb432709589d582a6c065fd10 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ab602d4726..c97f9a6bde 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -61bfff810e45b7a1577cfbb572a7b3c233f8551b \ No newline at end of file +bc0a2e6eac422e574b6c670fe493d368df10ef42 \ No newline at end of file From 0fec3656a1a4d619d70920f7e1f36cd63271fdc2 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Thu, 15 May 2025 06:18:58 -0700 Subject: [PATCH 229/477] feat(clip): faster qlog (#35227) * feat(clip): faster qlog * simpler * imports --- tools/clip/run.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index fb9ffbbaee..500c5e7b40 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -19,7 +19,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, UnknownKeyName from openpilot.common.prefix import OpenpilotPrefix from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import LogReader, ReadMode, comma_api_source +from openpilot.tools.lib.logreader import LogReader DEFAULT_OUTPUT = 'output.mp4' DEMO_START = 90 @@ -117,8 +117,7 @@ def parse_args(parser: ArgumentParser): def populate_car_params(route: Route): - segment = route.name.canonical_name + '/0' # only get first segment qlog - lr = LogReader(segment, default_mode=ReadMode.QLOG, source=comma_api_source) + lr = LogReader(route.qlog_paths()[0] if len(route.qlog_paths()) else route.name.canonical_name) init_data = lr.first('initData') assert init_data is not None From 6c03e9472daa49bfd20c9cebaa5c4ffdc8c0cfcd Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 15 May 2025 16:42:32 +0100 Subject: [PATCH 230/477] system/ui: disabled button styles (#35236) --- system/ui/lib/button.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 1857fd21cc..dfe75d88bd 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -49,6 +49,9 @@ def gui_button( ) -> int: result = 0 + if button_style in (ButtonStyle.PRIMARY, ButtonStyle.DANGER) and not is_enabled: + button_style = ButtonStyle.NORMAL + # Set background color based on button type bg_color = BUTTON_BACKGROUND_COLORS[button_style] if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect): From 735c227f3cc668c70af5a3817b1cf063261f880a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 May 2025 09:53:20 -0700 Subject: [PATCH 231/477] svg -> png script --- selfdrive/assets/{strip-svg-metadata.sh => prep-svg.sh} | 4 ++++ 1 file changed, 4 insertions(+) rename selfdrive/assets/{strip-svg-metadata.sh => prep-svg.sh} (67%) diff --git a/selfdrive/assets/strip-svg-metadata.sh b/selfdrive/assets/prep-svg.sh similarity index 67% rename from selfdrive/assets/strip-svg-metadata.sh rename to selfdrive/assets/prep-svg.sh index e51dc9481d..a884d734d0 100755 --- a/selfdrive/assets/strip-svg-metadata.sh +++ b/selfdrive/assets/prep-svg.sh @@ -1,4 +1,5 @@ #!/usr/bin/env bash +set -e # sudo apt install scour @@ -6,4 +7,7 @@ for svg in $(find icons/ -type f | grep svg$); do # scour doesn't support overwriting input file scour $svg --remove-metadata $svg.tmp mv $svg.tmp $svg + + # convert to PNG + convert -background none -resize 400% -density 384 $svg "${svg%.svg}.png" done From 60113632b4cbada5b3065540e2c8bc2fd88207e6 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Thu, 15 May 2025 10:02:46 -0700 Subject: [PATCH 232/477] feat(clip): delete get_metadata call (#35229) * feat: delete get_metadata call * no one else is using this now --- tools/clip/run.py | 31 ++++++++++++++++++------------- tools/lib/route.py | 7 ------- 2 files changed, 18 insertions(+), 20 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 500c5e7b40..f0c4369c6f 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -64,18 +64,23 @@ def escape_ffmpeg_text(value: str): return value -def get_meta_text(route: Route): - metadata = route.get_metadata() - origin_parts = metadata['git_remote'].split('/') +def get_logreader(route: Route): + return LogReader(route.qlog_paths()[0] if len(route.qlog_paths()) else route.name.canonical_name) + + +def get_meta_text(lr: LogReader, route: Route): + init_data = lr.first('initData') + car_params = lr.first('carParams') + origin_parts = init_data.gitRemote.split('/') origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown' return ', '.join([ - f"openpilot v{metadata['version']}", - f"route: {metadata['fullname']}", - f"car: {metadata['platform']}", + f"openpilot v{init_data.version}", + f"route: {route.name.canonical_name}", + f"car: {car_params.carFingerprint}", f"origin: {origin}", - f"branch: {metadata['git_branch']}", - f"commit: {metadata['git_commit'][:7]}", - f"modified: {str(metadata['git_dirty']).lower()}", + f"branch: {init_data.gitBranch}", + f"commit: {init_data.gitCommit[:7]}", + f"modified: {str(init_data.dirty).lower()}", ]) @@ -116,8 +121,7 @@ def parse_args(parser: ArgumentParser): return args -def populate_car_params(route: Route): - lr = LogReader(route.qlog_paths()[0] if len(route.qlog_paths()) else route.name.canonical_name) +def populate_car_params(lr: LogReader): init_data = lr.first('initData') assert init_data is not None @@ -188,6 +192,7 @@ def clip( title: str | None, ): logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') + lr = get_logreader(route) begin_at = max(start - SECONDS_TO_WARM, 0) duration = end - start @@ -197,7 +202,7 @@ def clip( display = f':{randint(99, 999)}' box_style = 'box=1:boxcolor=black@0.33:boxborderw=7' - meta_text = get_meta_text(route) + meta_text = get_meta_text(lr, route) overlays = [ # metadata overlay f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=15:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", @@ -240,7 +245,7 @@ def clip( xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] with OpenpilotPrefix(prefix, shared_download_cache=True): - populate_car_params(route) + populate_car_params(lr) env = os.environ.copy() env['DISPLAY'] = display diff --git a/tools/lib/route.py b/tools/lib/route.py index 831a1e2ee5..ddb8b0486e 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -21,7 +21,6 @@ class Route: def __init__(self, name, data_dir=None): self._name = RouteName(name) self.files = None - self.metadata = None if data_dir is not None: self._segments = self._get_segments_local(data_dir) else: @@ -60,12 +59,6 @@ class Route: qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments} return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)] - def get_metadata(self): - if not self.metadata: - api = CommaApi(get_token()) - self.metadata = api.get('v1/route/' + self.name.canonical_name) - return self.metadata - # TODO: refactor this, it's super repetitive def _get_segments_remote(self): api = CommaApi(get_token()) From ec208f2d3d38fae90f988fdf92362605c3892e48 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 00:26:13 +0100 Subject: [PATCH 233/477] cleanup selfdrive/assets (#35241) * remove unused assets * these are icons * these are images * fix * fix * Revert "remove unused assets" This reverts commit 95d1a800de7e830df15d88e8e329aeadd4548b2f. * move these too --- selfdrive/assets/assets.qrc | 24 +++++++++---------- .../calibration.png} | 0 .../checkmark.svg} | 0 .../chevron_right.png} | 0 .../chffr_wheel.png} | 0 .../circled_check.svg} | 0 .../circled_slash.svg} | 0 .../icon_close.svg => icons/close2.svg} | 0 .../assets/{img_couch.svg => icons/couch.svg} | 0 .../disengage_on_accelerator.svg} | 0 .../driver_face.png} | 0 .../experimental.svg} | 0 .../experimental_grey.svg} | 0 .../experimental_white.svg} | 0 .../eye_closed.svg} | 0 .../{img_eye_open.svg => icons/eye_open.svg} | 0 .../lock_closed.svg} | 0 .../{offroad/icon_menu.png => icons/menu.png} | 0 .../icon_metric.png => icons/metric.png} | 0 .../icon_minus.png => icons/minus.png} | 0 .../monitoring.png} | 0 .../icon_network.png => icons/network.png} | 0 .../{offroad/icon_road.png => icons/road.png} | 0 .../icon_settings.png => icons/settings.png} | 0 .../icon_shell.png => icons/shell.png} | 0 .../speed_limit.png} | 0 .../assets/{images => icons}/triangle.svg | 0 .../icon_warning.png => icons/warning.png} | 0 .../wifi_strength_full.svg} | 0 .../wifi_strength_high.svg} | 0 .../wifi_strength_low.svg} | 0 .../wifi_strength_medium.svg} | 0 .../wifi_uploading.svg} | 0 .../button_continue_triangle.svg} | 0 .../spinner_comma.png} | 0 .../spinner_track.png} | 0 selfdrive/ui/qt/network/networking.cc | 8 +++---- selfdrive/ui/qt/offroad/experimental_mode.cc | 4 ++-- selfdrive/ui/qt/offroad/settings.cc | 18 +++++++------- selfdrive/ui/qt/onroad/buttons.cc | 4 ++-- selfdrive/ui/qt/onroad/driver_monitoring.cc | 2 +- selfdrive/ui/qt/setup/setup.cc | 6 ++--- selfdrive/ui/qt/widgets/input.cc | 4 ++-- system/ui/spinner.py | 4 ++-- 44 files changed, 37 insertions(+), 37 deletions(-) rename selfdrive/assets/{offroad/icon_calibration.png => icons/calibration.png} (100%) rename selfdrive/assets/{offroad/icon_checkmark.svg => icons/checkmark.svg} (100%) rename selfdrive/assets/{offroad/icon_chevron_right.png => icons/chevron_right.png} (100%) rename selfdrive/assets/{img_chffr_wheel.png => icons/chffr_wheel.png} (100%) rename selfdrive/assets/{img_circled_check.svg => icons/circled_check.svg} (100%) rename selfdrive/assets/{img_circled_slash.svg => icons/circled_slash.svg} (100%) rename selfdrive/assets/{offroad/icon_close.svg => icons/close2.svg} (100%) rename selfdrive/assets/{img_couch.svg => icons/couch.svg} (100%) rename selfdrive/assets/{offroad/icon_disengage_on_accelerator.svg => icons/disengage_on_accelerator.svg} (100%) rename selfdrive/assets/{img_driver_face.png => icons/driver_face.png} (100%) rename selfdrive/assets/{img_experimental.svg => icons/experimental.svg} (100%) rename selfdrive/assets/{img_experimental_grey.svg => icons/experimental_grey.svg} (100%) rename selfdrive/assets/{img_experimental_white.svg => icons/experimental_white.svg} (100%) rename selfdrive/assets/{img_eye_closed.svg => icons/eye_closed.svg} (100%) rename selfdrive/assets/{img_eye_open.svg => icons/eye_open.svg} (100%) rename selfdrive/assets/{offroad/icon_lock_closed.svg => icons/lock_closed.svg} (100%) rename selfdrive/assets/{offroad/icon_menu.png => icons/menu.png} (100%) rename selfdrive/assets/{offroad/icon_metric.png => icons/metric.png} (100%) rename selfdrive/assets/{offroad/icon_minus.png => icons/minus.png} (100%) rename selfdrive/assets/{offroad/icon_monitoring.png => icons/monitoring.png} (100%) rename selfdrive/assets/{offroad/icon_network.png => icons/network.png} (100%) rename selfdrive/assets/{offroad/icon_road.png => icons/road.png} (100%) rename selfdrive/assets/{offroad/icon_settings.png => icons/settings.png} (100%) rename selfdrive/assets/{offroad/icon_shell.png => icons/shell.png} (100%) rename selfdrive/assets/{offroad/icon_speed_limit.png => icons/speed_limit.png} (100%) rename selfdrive/assets/{images => icons}/triangle.svg (100%) rename selfdrive/assets/{offroad/icon_warning.png => icons/warning.png} (100%) rename selfdrive/assets/{offroad/icon_wifi_strength_full.svg => icons/wifi_strength_full.svg} (100%) rename selfdrive/assets/{offroad/icon_wifi_strength_high.svg => icons/wifi_strength_high.svg} (100%) rename selfdrive/assets/{offroad/icon_wifi_strength_low.svg => icons/wifi_strength_low.svg} (100%) rename selfdrive/assets/{offroad/icon_wifi_strength_medium.svg => icons/wifi_strength_medium.svg} (100%) rename selfdrive/assets/{offroad/icon_wifi_uploading.svg => icons/wifi_uploading.svg} (100%) rename selfdrive/assets/{img_continue_triangle.svg => images/button_continue_triangle.svg} (100%) rename selfdrive/assets/{img_spinner_comma.png => images/spinner_comma.png} (100%) rename selfdrive/assets/{img_spinner_track.png => images/spinner_track.png} (100%) diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc index 6d8d8df334..26a7d998ed 100644 --- a/selfdrive/assets/assets.qrc +++ b/selfdrive/assets/assets.qrc @@ -1,19 +1,19 @@ ../../third_party/bootstrap/bootstrap-icons.svg - img_continue_triangle.svg - img_circled_check.svg - img_circled_slash.svg - img_eye_open.svg - img_eye_closed.svg + images/button_continue_triangle.svg + icons/circled_check.svg + icons/circled_slash.svg + icons/eye_open.svg + icons/eye_closed.svg icons/close.svg - offroad/icon_lock_closed.svg - offroad/icon_checkmark.svg - offroad/icon_warning.png - offroad/icon_wifi_strength_low.svg - offroad/icon_wifi_strength_medium.svg - offroad/icon_wifi_strength_high.svg - offroad/icon_wifi_strength_full.svg + icons/lock_closed.svg + icons/checkmark.svg + icons/warning.png + icons/wifi_strength_low.svg + icons/wifi_strength_medium.svg + icons/wifi_strength_high.svg + icons/wifi_strength_full.svg ../ui/translations/languages.json diff --git a/selfdrive/assets/offroad/icon_calibration.png b/selfdrive/assets/icons/calibration.png similarity index 100% rename from selfdrive/assets/offroad/icon_calibration.png rename to selfdrive/assets/icons/calibration.png diff --git a/selfdrive/assets/offroad/icon_checkmark.svg b/selfdrive/assets/icons/checkmark.svg similarity index 100% rename from selfdrive/assets/offroad/icon_checkmark.svg rename to selfdrive/assets/icons/checkmark.svg diff --git a/selfdrive/assets/offroad/icon_chevron_right.png b/selfdrive/assets/icons/chevron_right.png similarity index 100% rename from selfdrive/assets/offroad/icon_chevron_right.png rename to selfdrive/assets/icons/chevron_right.png diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/icons/chffr_wheel.png similarity index 100% rename from selfdrive/assets/img_chffr_wheel.png rename to selfdrive/assets/icons/chffr_wheel.png diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/icons/circled_check.svg similarity index 100% rename from selfdrive/assets/img_circled_check.svg rename to selfdrive/assets/icons/circled_check.svg diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/icons/circled_slash.svg similarity index 100% rename from selfdrive/assets/img_circled_slash.svg rename to selfdrive/assets/icons/circled_slash.svg diff --git a/selfdrive/assets/offroad/icon_close.svg b/selfdrive/assets/icons/close2.svg similarity index 100% rename from selfdrive/assets/offroad/icon_close.svg rename to selfdrive/assets/icons/close2.svg diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/icons/couch.svg similarity index 100% rename from selfdrive/assets/img_couch.svg rename to selfdrive/assets/icons/couch.svg diff --git a/selfdrive/assets/offroad/icon_disengage_on_accelerator.svg b/selfdrive/assets/icons/disengage_on_accelerator.svg similarity index 100% rename from selfdrive/assets/offroad/icon_disengage_on_accelerator.svg rename to selfdrive/assets/icons/disengage_on_accelerator.svg diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/icons/driver_face.png similarity index 100% rename from selfdrive/assets/img_driver_face.png rename to selfdrive/assets/icons/driver_face.png diff --git a/selfdrive/assets/img_experimental.svg b/selfdrive/assets/icons/experimental.svg similarity index 100% rename from selfdrive/assets/img_experimental.svg rename to selfdrive/assets/icons/experimental.svg diff --git a/selfdrive/assets/img_experimental_grey.svg b/selfdrive/assets/icons/experimental_grey.svg similarity index 100% rename from selfdrive/assets/img_experimental_grey.svg rename to selfdrive/assets/icons/experimental_grey.svg diff --git a/selfdrive/assets/img_experimental_white.svg b/selfdrive/assets/icons/experimental_white.svg similarity index 100% rename from selfdrive/assets/img_experimental_white.svg rename to selfdrive/assets/icons/experimental_white.svg diff --git a/selfdrive/assets/img_eye_closed.svg b/selfdrive/assets/icons/eye_closed.svg similarity index 100% rename from selfdrive/assets/img_eye_closed.svg rename to selfdrive/assets/icons/eye_closed.svg diff --git a/selfdrive/assets/img_eye_open.svg b/selfdrive/assets/icons/eye_open.svg similarity index 100% rename from selfdrive/assets/img_eye_open.svg rename to selfdrive/assets/icons/eye_open.svg diff --git a/selfdrive/assets/offroad/icon_lock_closed.svg b/selfdrive/assets/icons/lock_closed.svg similarity index 100% rename from selfdrive/assets/offroad/icon_lock_closed.svg rename to selfdrive/assets/icons/lock_closed.svg diff --git a/selfdrive/assets/offroad/icon_menu.png b/selfdrive/assets/icons/menu.png similarity index 100% rename from selfdrive/assets/offroad/icon_menu.png rename to selfdrive/assets/icons/menu.png diff --git a/selfdrive/assets/offroad/icon_metric.png b/selfdrive/assets/icons/metric.png similarity index 100% rename from selfdrive/assets/offroad/icon_metric.png rename to selfdrive/assets/icons/metric.png diff --git a/selfdrive/assets/offroad/icon_minus.png b/selfdrive/assets/icons/minus.png similarity index 100% rename from selfdrive/assets/offroad/icon_minus.png rename to selfdrive/assets/icons/minus.png diff --git a/selfdrive/assets/offroad/icon_monitoring.png b/selfdrive/assets/icons/monitoring.png similarity index 100% rename from selfdrive/assets/offroad/icon_monitoring.png rename to selfdrive/assets/icons/monitoring.png diff --git a/selfdrive/assets/offroad/icon_network.png b/selfdrive/assets/icons/network.png similarity index 100% rename from selfdrive/assets/offroad/icon_network.png rename to selfdrive/assets/icons/network.png diff --git a/selfdrive/assets/offroad/icon_road.png b/selfdrive/assets/icons/road.png similarity index 100% rename from selfdrive/assets/offroad/icon_road.png rename to selfdrive/assets/icons/road.png diff --git a/selfdrive/assets/offroad/icon_settings.png b/selfdrive/assets/icons/settings.png similarity index 100% rename from selfdrive/assets/offroad/icon_settings.png rename to selfdrive/assets/icons/settings.png diff --git a/selfdrive/assets/offroad/icon_shell.png b/selfdrive/assets/icons/shell.png similarity index 100% rename from selfdrive/assets/offroad/icon_shell.png rename to selfdrive/assets/icons/shell.png diff --git a/selfdrive/assets/offroad/icon_speed_limit.png b/selfdrive/assets/icons/speed_limit.png similarity index 100% rename from selfdrive/assets/offroad/icon_speed_limit.png rename to selfdrive/assets/icons/speed_limit.png diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/icons/triangle.svg similarity index 100% rename from selfdrive/assets/images/triangle.svg rename to selfdrive/assets/icons/triangle.svg diff --git a/selfdrive/assets/offroad/icon_warning.png b/selfdrive/assets/icons/warning.png similarity index 100% rename from selfdrive/assets/offroad/icon_warning.png rename to selfdrive/assets/icons/warning.png diff --git a/selfdrive/assets/offroad/icon_wifi_strength_full.svg b/selfdrive/assets/icons/wifi_strength_full.svg similarity index 100% rename from selfdrive/assets/offroad/icon_wifi_strength_full.svg rename to selfdrive/assets/icons/wifi_strength_full.svg diff --git a/selfdrive/assets/offroad/icon_wifi_strength_high.svg b/selfdrive/assets/icons/wifi_strength_high.svg similarity index 100% rename from selfdrive/assets/offroad/icon_wifi_strength_high.svg rename to selfdrive/assets/icons/wifi_strength_high.svg diff --git a/selfdrive/assets/offroad/icon_wifi_strength_low.svg b/selfdrive/assets/icons/wifi_strength_low.svg similarity index 100% rename from selfdrive/assets/offroad/icon_wifi_strength_low.svg rename to selfdrive/assets/icons/wifi_strength_low.svg diff --git a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg b/selfdrive/assets/icons/wifi_strength_medium.svg similarity index 100% rename from selfdrive/assets/offroad/icon_wifi_strength_medium.svg rename to selfdrive/assets/icons/wifi_strength_medium.svg diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/icons/wifi_uploading.svg similarity index 100% rename from selfdrive/assets/offroad/icon_wifi_uploading.svg rename to selfdrive/assets/icons/wifi_uploading.svg diff --git a/selfdrive/assets/img_continue_triangle.svg b/selfdrive/assets/images/button_continue_triangle.svg similarity index 100% rename from selfdrive/assets/img_continue_triangle.svg rename to selfdrive/assets/images/button_continue_triangle.svg diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/images/spinner_comma.png similarity index 100% rename from selfdrive/assets/img_spinner_comma.png rename to selfdrive/assets/images/spinner_comma.png diff --git a/selfdrive/assets/img_spinner_track.png b/selfdrive/assets/images/spinner_track.png similarity index 100% rename from selfdrive/assets/img_spinner_track.png rename to selfdrive/assets/images/spinner_track.png diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 066dc3ca7e..93f7ff3f21 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -234,12 +234,12 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) // load imgs for (const auto &s : {"low", "medium", "high", "full"}) { - QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg"); + QPixmap pix(ASSET_PATH + "/icons/wifi_strength_" + s + ".svg"); strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation)); } - lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); - checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); - circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + lock = QPixmap(ASSET_PATH + "icons/lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + checkmark = QPixmap(ASSET_PATH + "icons/checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + circled_slash = QPixmap(ASSET_PATH + "icons/circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); scanningLabel = new QLabel(tr("Scanning for networks...")); scanningLabel->setStyleSheet("font-size: 65px;"); diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc index b99220c1d1..e255073f39 100644 --- a/selfdrive/ui/qt/offroad/experimental_mode.cc +++ b/selfdrive/ui/qt/offroad/experimental_mode.cc @@ -9,8 +9,8 @@ #include "selfdrive/ui/ui.h" ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) { - chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation); - experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation); + chill_pixmap = QPixmap("../assets/icons/couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation); + experimental_pixmap = QPixmap("../assets/icons/experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation); // go to toggles and expand experimental mode description connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); }); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 2057f1223e..ed06734f0f 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -23,43 +23,43 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "OpenpilotEnabledToggle", tr("Enable openpilot"), tr("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."), - "../assets/img_chffr_wheel.png", + "../assets/icons/chffr_wheel.png", }, { "ExperimentalMode", tr("Experimental Mode"), "", - "../assets/img_experimental_white.svg", + "../assets/icons/experimental_white.svg", }, { "DisengageOnAccelerator", tr("Disengage on Accelerator Pedal"), tr("When enabled, pressing the accelerator pedal will disengage openpilot."), - "../assets/offroad/icon_disengage_on_accelerator.svg", + "../assets/icons/disengage_on_accelerator.svg", }, { "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/offroad/icon_warning.png", + "../assets/icons/warning.png", }, { "AlwaysOnDM", tr("Always-On Driver Monitoring"), tr("Enable driver monitoring even when openpilot is not engaged."), - "../assets/offroad/icon_monitoring.png", + "../assets/icons/monitoring.png", }, { "RecordFront", tr("Record and Upload Driver Camera"), tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), - "../assets/offroad/icon_monitoring.png", + "../assets/icons/monitoring.png", }, { "IsMetric", tr("Use Metric System"), tr("Display speed in km/h instead of mph."), - "../assets/offroad/icon_metric.png", + "../assets/icons/metric.png", }, }; @@ -69,7 +69,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("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."), - "../assets/offroad/icon_speed_limit.png", + "../assets/icons/speed_limit.png", longi_button_texts); // set up uiState update for personality setting @@ -91,7 +91,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { } // Toggles with confirmation dialogs - toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg"); + toggles["ExperimentalMode"]->setActiveIcon("../assets/icons/experimental.svg"); toggles["ExperimentalMode"]->setConfirmation(true, true); } diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc index 2c2cc672b9..32e58c9dba 100644 --- a/selfdrive/ui/qt/onroad/buttons.cc +++ b/selfdrive/ui/qt/onroad/buttons.cc @@ -19,8 +19,8 @@ void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrus ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) { setFixedSize(btn_size, btn_size); - engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); - experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size}); + engage_img = loadPixmap("../assets/icons/chffr_wheel.png", {img_size, img_size}); + experimental_img = loadPixmap("../assets/icons/experimental.svg", {img_size, img_size}); QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode); } diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc index afd003cf8f..49f2c950b4 100644 --- a/selfdrive/ui/qt/onroad/driver_monitoring.cc +++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc @@ -21,7 +21,7 @@ static const QColor DMON_ENGAGED_COLOR = QColor::fromRgbF(0.1, 0.945, 0.26); static const QColor DMON_DISENGAGED_COLOR = QColor::fromRgbF(0.545, 0.545, 0.545); DriverMonitorRenderer::DriverMonitorRenderer() : face_kpts_draw(std::size(DEFAULT_FACE_KPTS_3D)) { - dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5}); + dm_img = loadPixmap("../assets/icons/driver_face.png", {img_size + 5, img_size + 5}); } void DriverMonitorRenderer::updateState(const UIState &s) { diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index dfa9e12b4e..8a06c9fda0 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -98,7 +98,7 @@ QWidget * Setup::low_voltage() { main_layout->addLayout(inner_layout); QLabel *triangle = new QLabel(); - triangle->setPixmap(QPixmap(ASSET_PATH + "offroad/icon_warning.png")); + triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png")); inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(80); @@ -159,7 +159,7 @@ QWidget * Setup::getting_started() { vlayout->addStretch(); QPushButton *btn = new QPushButton(); - btn->setIcon(QIcon(":/img_continue_triangle.svg")); + btn->setIcon(QIcon(":/images/button_continue_triangle.svg")); btn->setIconSize(QSize(54, 106)); btn->setFixedSize(310, 1080); btn->setProperty("primary", true); @@ -251,7 +251,7 @@ QWidget * radio_button(QString title, QButtonGroup *group) { )"); // checkmark icon - QPixmap pix(":/img_circled_check.svg"); + QPixmap pix(":/icons/circled_check.svg"); btn->setIcon(pix); btn->setIconSize(QSize(0, 0)); btn->setLayoutDirection(Qt::RightToLeft); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index b0b6b4c23b..0cbf14931b 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -120,11 +120,11 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s eye_btn->setFixedSize(150, 120); QObject::connect(eye_btn, &QPushButton::toggled, [=](bool checked) { if (checked) { - eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_closed.svg")); + eye_btn->setIcon(QIcon(ASSET_PATH + "icons/eye_closed.svg")); eye_btn->setIconSize(QSize(81, 54)); line->setEchoMode(QLineEdit::Password); } else { - eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_open.svg")); + eye_btn->setIcon(QIcon(ASSET_PATH + "icons/eye_open.svg")); eye_btn->setIconSize(QSize(81, 44)); line->setEchoMode(QLineEdit::Normal); } diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 93bce3887e..5fd3f964a6 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -24,8 +24,8 @@ def clamp(value, min_value, max_value): class SpinnerRenderer: def __init__(self): - self._comma_texture = gui_app.texture("img_spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE) - self._spinner_texture = gui_app.texture("img_spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) + self._comma_texture = gui_app.texture("images/spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 self._progress: int | None = None self._wrapped_lines: list[str] = [] From 62f5a59f7714b7d1c44a85f3e8fd06a7ce159502 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 00:52:49 +0100 Subject: [PATCH 234/477] selfdrive/assets: optimize SVGs (#35242) --- selfdrive/assets/icons/checkmark.svg | 4 ++-- selfdrive/assets/icons/circled_check.svg | 4 ++-- selfdrive/assets/icons/circled_slash.svg | 4 ++-- selfdrive/assets/icons/close.svg | 4 ++-- selfdrive/assets/icons/close2.svg | 4 ++-- selfdrive/assets/icons/couch.svg | 4 ++-- selfdrive/assets/icons/disengage_on_accelerator.svg | 4 ++-- selfdrive/assets/icons/experimental.svg | 4 ++-- selfdrive/assets/icons/experimental_grey.svg | 4 ++-- selfdrive/assets/icons/experimental_white.svg | 4 ++-- selfdrive/assets/icons/eye_closed.svg | 4 ++-- selfdrive/assets/icons/eye_open.svg | 4 ++-- selfdrive/assets/icons/lock_closed.svg | 4 ++-- selfdrive/assets/icons/triangle.svg | 4 ++-- selfdrive/assets/icons/wifi_strength_full.svg | 4 ++-- selfdrive/assets/icons/wifi_strength_high.svg | 4 ++-- selfdrive/assets/icons/wifi_strength_low.svg | 4 ++-- selfdrive/assets/icons/wifi_strength_medium.svg | 4 ++-- selfdrive/assets/icons/wifi_uploading.svg | 4 ++-- selfdrive/assets/images/button_continue_triangle.svg | 4 ++-- selfdrive/assets/prep-svg.sh | 9 +++------ 21 files changed, 43 insertions(+), 46 deletions(-) diff --git a/selfdrive/assets/icons/checkmark.svg b/selfdrive/assets/icons/checkmark.svg index 7a1db13497..26480698cd 100644 --- a/selfdrive/assets/icons/checkmark.svg +++ b/selfdrive/assets/icons/checkmark.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da1540859c4c42878a32a0a81a38ca38b04be4cb0fe46709df3e024b7f3b4036 -size 243 +oid sha256:17a135c18634647a73734300f5d0ad98082b07779b5553e72b99686857380ee7 +size 244 diff --git a/selfdrive/assets/icons/circled_check.svg b/selfdrive/assets/icons/circled_check.svg index 1852ba947a..aab06ec1e0 100644 --- a/selfdrive/assets/icons/circled_check.svg +++ b/selfdrive/assets/icons/circled_check.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c5687faf4cb22bece0405893671651eb13e8eda393987610f493ee5e05eac61d -size 439 +oid sha256:5c88458f6326265965626cbc97c2219bd513b15a6468b08f80b43ef014b7904b +size 372 diff --git a/selfdrive/assets/icons/circled_slash.svg b/selfdrive/assets/icons/circled_slash.svg index 6c77030d15..89c6e2b1ae 100644 --- a/selfdrive/assets/icons/circled_slash.svg +++ b/selfdrive/assets/icons/circled_slash.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fbec38447732a443c304042c3c3d362c94e11e794e7cc7dc86aa1c7bba16c6b6 -size 328 +oid sha256:4d91c86028af58cbe2770799d0fe7e55d143f9b3f67fdebcb47d328d6e410285 +size 223 diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg index 33f68f02bc..e6db01321a 100644 --- a/selfdrive/assets/icons/close.svg +++ b/selfdrive/assets/icons/close.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:84c6b23bd3245954b86f80278511186fca4ddfa70d87c8b25e8f9fb76f9af758 -size 379 +oid sha256:a28a4dcaba33d800d109cc5f9a810065203d3bfccd104b2e503f6fe3fc5b6f91 +size 250 diff --git a/selfdrive/assets/icons/close2.svg b/selfdrive/assets/icons/close2.svg index 54a44146d7..56a36cecd5 100644 --- a/selfdrive/assets/icons/close2.svg +++ b/selfdrive/assets/icons/close2.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4eff44a05132ed9f99ad821993be4bab9b1a1c880e07441f3b887214bee62afe -size 825 +oid sha256:7d2a7cd3913ab97a386e946969f6a684895adf5d641c38dfd8f5efa0197a6c58 +size 513 diff --git a/selfdrive/assets/icons/couch.svg b/selfdrive/assets/icons/couch.svg index 7c58515200..f56970f289 100644 --- a/selfdrive/assets/icons/couch.svg +++ b/selfdrive/assets/icons/couch.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a428d2561198ebdc853ba6fb25a8b9c5a58064d000413694e1535adc06633c0a -size 2649 +oid sha256:dd5d8d3fce5e30662797f7eeed224f5775b2cabcc055f01f5ebf6e7b2657b616 +size 1801 diff --git a/selfdrive/assets/icons/disengage_on_accelerator.svg b/selfdrive/assets/icons/disengage_on_accelerator.svg index d5a8c87e21..eef5181935 100644 --- a/selfdrive/assets/icons/disengage_on_accelerator.svg +++ b/selfdrive/assets/icons/disengage_on_accelerator.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5252412f2225c89ea7e78ad0fbd6544170aea157693ce0f9778f26a64f582ec2 -size 6821 +oid sha256:baac01efc894527c8234b774c89cc57b69460d60ad81691a6d50ce0904c60ba7 +size 3638 diff --git a/selfdrive/assets/icons/experimental.svg b/selfdrive/assets/icons/experimental.svg index 3c31caa07e..8a97cdeac1 100644 --- a/selfdrive/assets/icons/experimental.svg +++ b/selfdrive/assets/icons/experimental.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c26afadff128244567a7cf98f1c998f97056b19209301ff7fc8851eb807fb748 -size 2193 +oid sha256:b7ab989c9fe22e7d2119bac5284cdccfba2889477d69f5f6c6b4470c7ee0aab3 +size 1801 diff --git a/selfdrive/assets/icons/experimental_grey.svg b/selfdrive/assets/icons/experimental_grey.svg index 8ba6c87bd5..25ab33f388 100644 --- a/selfdrive/assets/icons/experimental_grey.svg +++ b/selfdrive/assets/icons/experimental_grey.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5ae28a53171567c8a0d52eec75cc49004cb8dd19dcab9a360784718ab8ec7c02 -size 1931 +oid sha256:90d441310f8e1833c661d8a4f0546aab2eb50eb21cc21beb0aff0d27b5ee6066 +size 1571 diff --git a/selfdrive/assets/icons/experimental_white.svg b/selfdrive/assets/icons/experimental_white.svg index 9714fe0c01..51d7698947 100644 --- a/selfdrive/assets/icons/experimental_white.svg +++ b/selfdrive/assets/icons/experimental_white.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:99be696be983700d7eb1768bd1c840198a4eb9525b71e28efea49f13c358e519 -size 1891 +oid sha256:82648254da89edb0cf65ef63fc5e6e0741414051bfea8a40449132fd61b1ed0f +size 1533 diff --git a/selfdrive/assets/icons/eye_closed.svg b/selfdrive/assets/icons/eye_closed.svg index fcef6e8a3c..a9cb925186 100644 --- a/selfdrive/assets/icons/eye_closed.svg +++ b/selfdrive/assets/icons/eye_closed.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8e0e5b451ed2e426fea99da24a9df6552be7048205b9aa7b89e46eeb89f6d08e -size 1490 +oid sha256:fcb0db3b77d6057b94544b6d91b6078fbd91b8f2de189322b90feae3d1ac29da +size 1054 diff --git a/selfdrive/assets/icons/eye_open.svg b/selfdrive/assets/icons/eye_open.svg index 7289c4a571..2befa13adb 100644 --- a/selfdrive/assets/icons/eye_open.svg +++ b/selfdrive/assets/icons/eye_open.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:23935f9e2ddba8dafd4a5d0217f29783260a0832c9b0d3e6a2ef66d4529b91d2 -size 775 +oid sha256:411774f4a80831833a344e58932c23a6ebd1db73a6327a63259deca2c6f53613 +size 597 diff --git a/selfdrive/assets/icons/lock_closed.svg b/selfdrive/assets/icons/lock_closed.svg index 501d978a8a..22a510d1c2 100644 --- a/selfdrive/assets/icons/lock_closed.svg +++ b/selfdrive/assets/icons/lock_closed.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ef09792cc1893f81c64abd6b72091d3762c07b849863ce90508afdd29b392c02 -size 732 +oid sha256:64e8fc90b79c725a8bf5bbc99643989ae885570997092762e216738805649ade +size 492 diff --git a/selfdrive/assets/icons/triangle.svg b/selfdrive/assets/icons/triangle.svg index f3a8db44b7..233eb5e979 100644 --- a/selfdrive/assets/icons/triangle.svg +++ b/selfdrive/assets/icons/triangle.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aaf9a1967365f2c641bf7b54a409e32842cee0bfded7ebb01b1a95c4ac9f0154 -size 2163 +oid sha256:a83c9a78673429caf16d02917be4c8afedadff17b6ceb8c248703ad1120116ed +size 394 diff --git a/selfdrive/assets/icons/wifi_strength_full.svg b/selfdrive/assets/icons/wifi_strength_full.svg index c9d22d8961..4137d3cd4c 100644 --- a/selfdrive/assets/icons/wifi_strength_full.svg +++ b/selfdrive/assets/icons/wifi_strength_full.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:485dd0d4eb8968726003ae460bab4ff498127def52b8b1ed6d968f4629ab233a -size 1655 +oid sha256:3c16c005d666dea64ba6f85de50dfcf161353176eca3d9f475677cbc04fd0382 +size 1161 diff --git a/selfdrive/assets/icons/wifi_strength_high.svg b/selfdrive/assets/icons/wifi_strength_high.svg index ff001bd14a..17d721fe31 100644 --- a/selfdrive/assets/icons/wifi_strength_high.svg +++ b/selfdrive/assets/icons/wifi_strength_high.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c92fd8bebbe630f991fe3f61f61407f8002d29881698634239be3a6fae2fb4bc -size 1657 +oid sha256:0f207b9a1f4ab6009e261f03edd1d05a9d485217415664cba0253d32381e3a03 +size 1164 diff --git a/selfdrive/assets/icons/wifi_strength_low.svg b/selfdrive/assets/icons/wifi_strength_low.svg index bcc6e83c63..4088866370 100644 --- a/selfdrive/assets/icons/wifi_strength_low.svg +++ b/selfdrive/assets/icons/wifi_strength_low.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e629e3a84dc288278e455be4a8deff95730e24d9a0b894f8c417ac1c409670ab -size 1661 +oid sha256:6835937483e5a539618a94e3ec8fad661ae2f7afb39c958e6c8b007b8f4b9b2c +size 1198 diff --git a/selfdrive/assets/icons/wifi_strength_medium.svg b/selfdrive/assets/icons/wifi_strength_medium.svg index e14ebd238f..f0c029dedd 100644 --- a/selfdrive/assets/icons/wifi_strength_medium.svg +++ b/selfdrive/assets/icons/wifi_strength_medium.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:52113c14656483854a814c50c93770f5e6ab7d63b2b5048ddd6fd47fdfd4a7de -size 1659 +oid sha256:7ebb1fb5539d9f8ea9899acf4f9cb359503dbe22cd38a3461ad43936348475b9 +size 1167 diff --git a/selfdrive/assets/icons/wifi_uploading.svg b/selfdrive/assets/icons/wifi_uploading.svg index b9392dfe7c..07a14a59f4 100644 --- a/selfdrive/assets/icons/wifi_uploading.svg +++ b/selfdrive/assets/icons/wifi_uploading.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bedd579f56c65fffe2ad571f92843b6d103826fe173f8f5b58fc2200d2ad8850 -size 1663 +oid sha256:e7cfefbda22b53f7eb72a25893ab41c00dabea49f690cafb1d224375a669e608 +size 1170 diff --git a/selfdrive/assets/images/button_continue_triangle.svg b/selfdrive/assets/images/button_continue_triangle.svg index ee9db369a4..e6d362927c 100644 --- a/selfdrive/assets/images/button_continue_triangle.svg +++ b/selfdrive/assets/images/button_continue_triangle.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1764c0c93703481b2ced63bc35c5a23a6c12388ca690ce4cf577b3b478a08b69 -size 197 +oid sha256:8084e5a8bbc16956a98b010092ae1c4e32b3391b0551fa1cd65cb1e2bb59d3df +size 169 diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh index a884d734d0..44afa369c1 100755 --- a/selfdrive/assets/prep-svg.sh +++ b/selfdrive/assets/prep-svg.sh @@ -1,13 +1,10 @@ #!/usr/bin/env bash set -e -# sudo apt install scour - -for svg in $(find icons/ -type f | grep svg$); do - # scour doesn't support overwriting input file - scour $svg --remove-metadata $svg.tmp - mv $svg.tmp $svg +for svg in $(find icons/ images/ -type f | grep svg$); do + bunx svgo $svg --multipass --pretty --indent 2 # convert to PNG + # sudo apt install inkscape convert -background none -resize 400% -density 384 $svg "${svg%.svg}.png" done From 83679bd856158b838fefb3070b8adbfdb7d8ebbe Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 01:33:16 +0100 Subject: [PATCH 235/477] selfdrive/assets: rasterize SVGs (#35243) * selfdrive/assets: rasterize SVGs * do entire assets dir * fixed size - 4096px is a lot * optimise them too * use inkscape * regenerate * abandon runtime svg --- selfdrive/assets/icons/checkmark.png | 3 +++ selfdrive/assets/icons/circled_check.png | 3 +++ selfdrive/assets/icons/circled_slash.png | 3 +++ selfdrive/assets/icons/close.png | 3 +++ selfdrive/assets/icons/close2.png | 3 +++ selfdrive/assets/icons/couch.png | 3 +++ .../assets/icons/disengage_on_accelerator.png | 3 +++ selfdrive/assets/icons/experimental.png | 3 +++ selfdrive/assets/icons/experimental_grey.png | 3 +++ selfdrive/assets/icons/experimental_white.png | 3 +++ selfdrive/assets/icons/eye_closed.png | 3 +++ selfdrive/assets/icons/eye_open.png | 3 +++ selfdrive/assets/icons/lock_closed.png | 3 +++ selfdrive/assets/icons/triangle.png | 3 +++ selfdrive/assets/icons/wifi_strength_full.png | 3 +++ selfdrive/assets/icons/wifi_strength_high.png | 3 +++ selfdrive/assets/icons/wifi_strength_low.png | 3 +++ .../assets/icons/wifi_strength_medium.png | 3 +++ selfdrive/assets/icons/wifi_uploading.png | 3 +++ .../images/button_continue_triangle.png | 3 +++ selfdrive/assets/prep-svg.sh | 19 ++++++++++++++++--- system/ui/lib/application.py | 9 +-------- 22 files changed, 77 insertions(+), 11 deletions(-) create mode 100644 selfdrive/assets/icons/checkmark.png create mode 100644 selfdrive/assets/icons/circled_check.png create mode 100644 selfdrive/assets/icons/circled_slash.png create mode 100644 selfdrive/assets/icons/close.png create mode 100644 selfdrive/assets/icons/close2.png create mode 100644 selfdrive/assets/icons/couch.png create mode 100644 selfdrive/assets/icons/disengage_on_accelerator.png create mode 100644 selfdrive/assets/icons/experimental.png create mode 100644 selfdrive/assets/icons/experimental_grey.png create mode 100644 selfdrive/assets/icons/experimental_white.png create mode 100644 selfdrive/assets/icons/eye_closed.png create mode 100644 selfdrive/assets/icons/eye_open.png create mode 100644 selfdrive/assets/icons/lock_closed.png create mode 100644 selfdrive/assets/icons/triangle.png create mode 100644 selfdrive/assets/icons/wifi_strength_full.png create mode 100644 selfdrive/assets/icons/wifi_strength_high.png create mode 100644 selfdrive/assets/icons/wifi_strength_low.png create mode 100644 selfdrive/assets/icons/wifi_strength_medium.png create mode 100644 selfdrive/assets/icons/wifi_uploading.png create mode 100644 selfdrive/assets/images/button_continue_triangle.png diff --git a/selfdrive/assets/icons/checkmark.png b/selfdrive/assets/icons/checkmark.png new file mode 100644 index 0000000000..0f9a802a35 --- /dev/null +++ b/selfdrive/assets/icons/checkmark.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc472f0e575e314c4006cb6e9845fb9fb9a13cf08fe74fbe1593dee53c20d977 +size 4329 diff --git a/selfdrive/assets/icons/circled_check.png b/selfdrive/assets/icons/circled_check.png new file mode 100644 index 0000000000..7611bc821f --- /dev/null +++ b/selfdrive/assets/icons/circled_check.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdb0be280ac3a78bf95f5b92fafe94de5084ecc06836459c3a9fe1912a5b2454 +size 10479 diff --git a/selfdrive/assets/icons/circled_slash.png b/selfdrive/assets/icons/circled_slash.png new file mode 100644 index 0000000000..74a9b342f6 --- /dev/null +++ b/selfdrive/assets/icons/circled_slash.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2a992a83eaa87762e12dc226f36af48e1cdbfc3b83ef75b6a2fc4103e3697a0 +size 9120 diff --git a/selfdrive/assets/icons/close.png b/selfdrive/assets/icons/close.png new file mode 100644 index 0000000000..66d1545632 --- /dev/null +++ b/selfdrive/assets/icons/close.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c11f831c17080a8ffaa8469cf91a079a4abfb72e5238afe02b92bceb3442db0 +size 2656 diff --git a/selfdrive/assets/icons/close2.png b/selfdrive/assets/icons/close2.png new file mode 100644 index 0000000000..4497c97547 --- /dev/null +++ b/selfdrive/assets/icons/close2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbfed12ddb5731b7b568539fe59f382356b46fdd146a9e0a1b768d3e5efd0378 +size 4350 diff --git a/selfdrive/assets/icons/couch.png b/selfdrive/assets/icons/couch.png new file mode 100644 index 0000000000..677ad0f9ee --- /dev/null +++ b/selfdrive/assets/icons/couch.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:911f59f248015600da7ecc689398103d47dfc57f6be17ac8c8e543a726a6c64b +size 3311 diff --git a/selfdrive/assets/icons/disengage_on_accelerator.png b/selfdrive/assets/icons/disengage_on_accelerator.png new file mode 100644 index 0000000000..4134834448 --- /dev/null +++ b/selfdrive/assets/icons/disengage_on_accelerator.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f23fabbf60fff6ef88ba6f27f2775b1ae6be172a994e41267983a9ec0f984bfc +size 15059 diff --git a/selfdrive/assets/icons/experimental.png b/selfdrive/assets/icons/experimental.png new file mode 100644 index 0000000000..2332fe11d0 --- /dev/null +++ b/selfdrive/assets/icons/experimental.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e58deb1778cf2826339f27e9f09eecc79ea137c1436210c14b71c352a649c77 +size 34953 diff --git a/selfdrive/assets/icons/experimental_grey.png b/selfdrive/assets/icons/experimental_grey.png new file mode 100644 index 0000000000..058c3e1358 --- /dev/null +++ b/selfdrive/assets/icons/experimental_grey.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f37a02dd914405c6f86f415700dd5985eb976b923e7abd6580d2da76533594e +size 9466 diff --git a/selfdrive/assets/icons/experimental_white.png b/selfdrive/assets/icons/experimental_white.png new file mode 100644 index 0000000000..6a9cfc4407 --- /dev/null +++ b/selfdrive/assets/icons/experimental_white.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b2dad33fead9f064c3a548651d6ef37daf82b6127c329683f538ec6e986ecbc +size 11204 diff --git a/selfdrive/assets/icons/eye_closed.png b/selfdrive/assets/icons/eye_closed.png new file mode 100644 index 0000000000..8eba02e600 --- /dev/null +++ b/selfdrive/assets/icons/eye_closed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64d9dc106172d3a54088ef51a27a48145154ca040c43ecbc8d626fa42e38886e +size 9352 diff --git a/selfdrive/assets/icons/eye_open.png b/selfdrive/assets/icons/eye_open.png new file mode 100644 index 0000000000..9783716ff3 --- /dev/null +++ b/selfdrive/assets/icons/eye_open.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94246db66e774cbaee618931f76ecc38ecb72eca097d1e6c20a8dec2a5f8cd29 +size 7087 diff --git a/selfdrive/assets/icons/lock_closed.png b/selfdrive/assets/icons/lock_closed.png new file mode 100644 index 0000000000..21e6795737 --- /dev/null +++ b/selfdrive/assets/icons/lock_closed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b89b8803bb610515aef051c93b833dc62f8c847558873cfd50a0b240c968449 +size 4911 diff --git a/selfdrive/assets/icons/triangle.png b/selfdrive/assets/icons/triangle.png new file mode 100644 index 0000000000..47ff24f200 --- /dev/null +++ b/selfdrive/assets/icons/triangle.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f2745ce89c926e507888ea7c6df1884aab045887048cf0d813407396a2e6b18 +size 5894 diff --git a/selfdrive/assets/icons/wifi_strength_full.png b/selfdrive/assets/icons/wifi_strength_full.png new file mode 100644 index 0000000000..1a710f2967 --- /dev/null +++ b/selfdrive/assets/icons/wifi_strength_full.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b7f0971cf612b905ccb338e40921932773538517fc9f0f7a4a847ad596287a9 +size 7171 diff --git a/selfdrive/assets/icons/wifi_strength_high.png b/selfdrive/assets/icons/wifi_strength_high.png new file mode 100644 index 0000000000..2d360968b6 --- /dev/null +++ b/selfdrive/assets/icons/wifi_strength_high.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2afacf302bcdc3f5e0d2f734508e8fea6f803813098d52fa6b878c765ba7a58 +size 9360 diff --git a/selfdrive/assets/icons/wifi_strength_low.png b/selfdrive/assets/icons/wifi_strength_low.png new file mode 100644 index 0000000000..d016528304 --- /dev/null +++ b/selfdrive/assets/icons/wifi_strength_low.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dfe50815c76d459dc104ce4a5e4b5dfd882e11b65e07706cacd336e69e788f4 +size 9756 diff --git a/selfdrive/assets/icons/wifi_strength_medium.png b/selfdrive/assets/icons/wifi_strength_medium.png new file mode 100644 index 0000000000..9c943543a4 --- /dev/null +++ b/selfdrive/assets/icons/wifi_strength_medium.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:304ab97ac9724a7a133a36c2d14da9fe8ab660c9a29abb99cc0a4828f94d8801 +size 9627 diff --git a/selfdrive/assets/icons/wifi_uploading.png b/selfdrive/assets/icons/wifi_uploading.png new file mode 100644 index 0000000000..19d9bf36ce --- /dev/null +++ b/selfdrive/assets/icons/wifi_uploading.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eac201013322db1580649a253da7ae38eb9f16f6089234e769b746951e874ee +size 7171 diff --git a/selfdrive/assets/images/button_continue_triangle.png b/selfdrive/assets/images/button_continue_triangle.png new file mode 100644 index 0000000000..c56e112094 --- /dev/null +++ b/selfdrive/assets/images/button_continue_triangle.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9218e02c42b0f80858477255e24a97da4cf0b2898fc76f3806409d65b104668 +size 4510 diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh index 44afa369c1..661464a5c6 100755 --- a/selfdrive/assets/prep-svg.sh +++ b/selfdrive/assets/prep-svg.sh @@ -1,10 +1,23 @@ #!/usr/bin/env bash set -e -for svg in $(find icons/ images/ -type f | grep svg$); do +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +# sudo apt install inkscape + +for svg in $(find $DIR -type f | grep svg$); do bunx svgo $svg --multipass --pretty --indent 2 # convert to PNG - # sudo apt install inkscape - convert -background none -resize 400% -density 384 $svg "${svg%.svg}.png" + png="${svg%.svg}.png" + width=$(inkscape --query-width "$svg") + height=$(inkscape --query-height "$svg") + if (( $(echo "$width > $height" | bc -l) )); then + export_dim="--export-width=512" + else + export_dim="--export-height=512" + fi + inkscape "$svg" --export-filename="$png" $export_dim + + optipng -o7 -strip all "$png" done diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index fb7f7832a4..8961bb0327 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -80,10 +80,7 @@ class GuiApplication: def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply = False, keep_aspect_ratio=True): """Load and resize a texture, storing it for later automatic unloading.""" - if image_path.endswith('.svg'): - image = self._load_image_from_svg(image_path) - else: - image = rl.load_image(image_path) + image = rl.load_image(image_path) if alpha_premultiply: rl.image_alpha_premultiply(image) @@ -112,10 +109,6 @@ class GuiApplication: rl.unload_image(image) return texture - def _load_image_from_svg(self, svg_path: str): - # TODO: Implement SVG loading - assert(0) - def close(self): if not rl.is_window_ready(): return From 1e74000f79de4843197b3c9b031707026d33af8a Mon Sep 17 00:00:00 2001 From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Date: Thu, 15 May 2025 20:13:40 -0700 Subject: [PATCH 236/477] Controls: Extension (#858) * Add enhanced HyundaiCAN extension Introduced HyundaiCanEXT for improved object parsing and control integration, leveraging new fields like lead distance and relative speed in CarControlSP. Refactored controlsd to utilize a modular design with ControlsdExt for additional sunnypilot specific functionality. * self.cc_sp * Refactor CarControlSP handling for improved state updates * refactor * bool * Refactor controlsd SP communication logic Update `publish_sp` method to include `CC_SP` parameter and refine SP SubMaster to exclude `radarState`. Remove custom lead vehicle state processing as it is no longer needed. * remove in this pr * bump * start cleanup * inherit instead * even more! * lint * type hint * use the same objects for submaster and pubmaster * more --------- Co-authored-by: Jason Wen --- cereal/custom.capnp | 10 ++-- selfdrive/controls/controlsd.py | 40 ++++++-------- .../selfdrive/controls/controlsd_ext.py | 53 +++++++++++++++++++ 3 files changed, 73 insertions(+), 30 deletions(-) create mode 100644 sunnypilot/selfdrive/controls/controlsd_ext.py diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 10fc83eb01..2a72a59a10 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -63,7 +63,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { type @0 :Type; artifact @1 :Artifact; # Main artifact metadata @2 :Artifact; # Metadata artifact - + enum Type { supercombo @0; navigation @1; @@ -176,14 +176,14 @@ struct BackupManagerSP @0xf98d843bfd7004a3 { lastError @4 :Text; currentBackup @5 :BackupInfo; backupHistory @6 :List(BackupInfo); - + enum Status { idle @0; inProgress @1; completed @2; failed @3; } - + struct Version { major @0 :UInt16; minor @1 :UInt16; @@ -191,13 +191,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 { build @3 :UInt16; branch @4 :Text; } - + struct MetadataEntry { key @0 :Text; value @1 :Text; tags @2 :List(Text); } - + struct BackupInfo { deviceId @0 :Text; version @1 :UInt32; diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 69f468e4cd..a5d97c3db0 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -2,7 +2,7 @@ import math from typing import SupportsFloat -from cereal import car, log, custom +from cereal import car, log import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params @@ -19,6 +19,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose +from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt + State = log.SelfdriveState.OpenpilotState LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection @@ -26,24 +28,23 @@ LaneChangeDirection = log.LaneChangeDirection ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) -class Controls: +class Controls(ControlsExt): def __init__(self) -> None: self.params = Params() cloudlog.info("controlsd is waiting for CarParams") self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) cloudlog.info("controlsd got CarParams") - cloudlog.info("controlsd is waiting for CarParamsSP") - self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP) - cloudlog.info("controlsd got CarParamsSP") + # Initialize sunnypilot controlsd extension + ControlsExt.__init__(self, self.params) self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP) self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState', 'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput', - 'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'], + 'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext, poll='selfdriveState') - self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP']) + self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext) self.steer_limited_by_controls = False self.curvature = 0.0 @@ -100,11 +101,8 @@ class Controls: # Check which actuators can be enabled standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill - ss_sp = self.sm['selfdriveStateSP'] - if ss_sp.mads.available: - _lat_active = ss_sp.mads.active - else: - _lat_active = self.sm['selfdriveState'].active + # Get which state to use for active lateral control + _lat_active = self.get_lat_active(self.sm) CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ (not standstill or self.CP.steerAtStandstill) @@ -148,12 +146,9 @@ class Controls: cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}") setattr(actuators, p, 0.0) - CC_SP = custom.CarControlSP.new_message() - CC_SP.mads = ss_sp.mads + return CC, lac_log - return CC, CC_SP, lac_log - - def publish(self, CC, CC_SP, lac_log): + def publish(self, CC, lac_log): CS = self.sm['carState'] # Orientation and angle rates can be useful for carcontroller @@ -227,18 +222,13 @@ class Controls: cc_send.carControl = CC self.pm.send('carControl', cc_send) - # carControlSP - cc_sp_send = messaging.new_message('carControlSP') - cc_sp_send.valid = CS.canValid - cc_sp_send.carControlSP = CC_SP - self.pm.send('carControlSP', cc_sp_send) - def run(self): rk = Ratekeeper(100, print_delay_threshold=None) while True: self.update() - CC, CC_SP, lac_log = self.state_control() - self.publish(CC, CC_SP, lac_log) + CC, lac_log = self.state_control() + self.publish(CC, lac_log) + self.run_ext(self.sm, self.pm) rk.monitor_time() diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py new file mode 100644 index 0000000000..68131001ad --- /dev/null +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -0,0 +1,53 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" + +import cereal.messaging as messaging +from cereal import custom + +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog + + +class ControlsExt: + def __init__(self, params: Params): + cloudlog.info("controlsd_ext is waiting for CarParamsSP") + self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP) + cloudlog.info("controlsd_ext got CarParamsSP") + + self.sm_services_ext = ['selfdriveStateSP'] + self.pm_services_ext = ['carControlSP'] + + @staticmethod + def get_lat_active(sm: messaging.SubMaster) -> bool: + ss_sp = sm['selfdriveStateSP'] + + if ss_sp.mads.available: + return bool(ss_sp.mads.active) + + # MADS not available, use stock state to engage + return bool(sm['selfdriveState'].active) + + @staticmethod + def state_control_ext(sm: messaging.SubMaster) -> custom.CarControlSP: + CC_SP = custom.CarControlSP.new_message() + + # MADS state + CC_SP.mads = sm['selfdriveStateSP'].mads + + return CC_SP + + @staticmethod + def publish_ext(CC_SP: custom.CarControlSP, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None: + cc_sp_send = messaging.new_message('carControlSP') + cc_sp_send.valid = sm['carState'].canValid + cc_sp_send.carControlSP = CC_SP + + pm.send('carControlSP', cc_sp_send) + + def run_ext(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None: + CC_SP = self.state_control_ext(sm) + self.publish_ext(CC_SP, sm, pm) From 512d83cc36e7ade7d9623c81149df945f8764055 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 12:41:20 +0100 Subject: [PATCH 237/477] ui(raylib): setup.py (#35140) * setup.py * better font * use gui_button * btn * fix button and triangle * low voltage text color * fix network page * HARDWARE.get_os_version() * typing * white title * update default text color * use default font color * fix software screen * fix software screen * radio font size * line length * fix regex * draw svgs * comment is out of date * add cairosvg * use cairosvg * remove unused import * support other image types * revert origin * fix setup warning icon * fix * remove cairosvg * use pngs * wrap * fix disabled style * TODO * revert uv.lock * use new file paths (not rasterized yet) * oops * fixes * params not used * network check thread * oops * fix custom URL and download failed screens * clear keyboard * rm * fixes * show full error message * check network type --- system/ui/lib/application.py | 2 +- system/ui/setup.py | 344 +++++++++++++++++++++++++++++++++++ 2 files changed, 345 insertions(+), 1 deletion(-) create mode 100755 system/ui/setup.py diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 8961bb0327..9e6c8ef28d 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -17,7 +17,7 @@ DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' DEFAULT_TEXT_SIZE = 60 -DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255) +DEFAULT_TEXT_COLOR = rl.WHITE ASSETS_DIR = os.path.join(BASEDIR, "selfdrive/assets") FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts") diff --git a/system/ui/setup.py b/system/ui/setup.py new file mode 100755 index 0000000000..8c75b8e7c7 --- /dev/null +++ b/system/ui/setup.py @@ -0,0 +1,344 @@ +#!/usr/bin/env python3 +import os +import re +import threading +import time +import urllib.request +from enum import IntEnum +import pyray as rl + +from cereal import log +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_label, gui_text_box +from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper +from openpilot.system.ui.widgets.keyboard import Keyboard + +NetworkType = log.DeviceState.NetworkType + +MARGIN = 50 +TITLE_FONT_SIZE = 116 +TITLE_FONT_WEIGHT = FontWeight.MEDIUM +NEXT_BUTTON_WIDTH = 310 +BODY_FONT_SIZE = 96 +BUTTON_HEIGHT = 160 +BUTTON_SPACING = 50 + +OPENPILOT_URL = "https://openpilot.comma.ai" +USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}" + + +class SetupState(IntEnum): + LOW_VOLTAGE = 0 + GETTING_STARTED = 1 + NETWORK_SETUP = 2 + SOFTWARE_SELECTION = 3 + CUSTOM_URL = 4 + DOWNLOADING = 5 + DOWNLOAD_FAILED = 6 + + +class Setup: + def __init__(self): + self.state = SetupState.GETTING_STARTED + self.network_check_thread = None + self.network_connected = threading.Event() + self.wifi_connected = threading.Event() + self.stop_network_check_thread = threading.Event() + self.failed_url = "" + self.failed_reason = "" + self.download_url = "" + self.download_progress = 0 + self.download_thread = None + self.wifi_manager = WifiManagerWrapper() + self.wifi_ui = WifiManagerUI(self.wifi_manager) + self.keyboard = Keyboard() + self.selected_radio = None + + self.warning = gui_app.texture("icons/warning.png", 150, 150) + self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100) + + try: + with open("/sys/class/hwmon/hwmon1/in1_input") as f: + voltage = float(f.read().strip()) / 1000.0 + if voltage < 7: + self.state = SetupState.LOW_VOLTAGE + except (FileNotFoundError, ValueError): + self.state = SetupState.LOW_VOLTAGE + + def render(self, rect: rl.Rectangle): + if self.state == SetupState.LOW_VOLTAGE: + self.render_low_voltage(rect) + elif self.state == SetupState.GETTING_STARTED: + self.render_getting_started(rect) + elif self.state == SetupState.NETWORK_SETUP: + self.render_network_setup(rect) + elif self.state == SetupState.SOFTWARE_SELECTION: + self.render_software_selection(rect) + elif self.state == SetupState.CUSTOM_URL: + self.render_custom_url() + elif self.state == SetupState.DOWNLOADING: + self.render_downloading(rect) + elif self.state == SetupState.DOWNLOAD_FAILED: + self.render_download_failed(rect) + + def render_low_voltage(self, rect: rl.Rectangle): + rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE) + + title_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE) + gui_label(title_rect, "WARNING: Low Voltage", TITLE_FONT_SIZE, rl.Color(255, 89, 79, 255), FontWeight.MEDIUM) + + body_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100 + TITLE_FONT_SIZE + 25, rect.width - 500 - 150, BODY_FONT_SIZE * 3) + gui_text_box(body_rect, "Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE) + + button_width = (rect.width - MARGIN * 3) / 2 + button_y = rect.height - MARGIN - BUTTON_HEIGHT + + if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Power off"): + HARDWARE.shutdown() + + if gui_button(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT), "Continue"): + self.state = SetupState.GETTING_STARTED + + def render_getting_started(self, rect: rl.Rectangle): + title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE) + gui_label(title_rect, "Getting Started", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + + desc_rect = rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE + 90, rect.width - 500, BODY_FONT_SIZE * 3) + gui_text_box(desc_rect, "Before we get on the road, let's finish installation and cover some details.", BODY_FONT_SIZE) + + btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height) + + ret = gui_button(btn_rect, "", button_style=ButtonStyle.PRIMARY, border_radius=0) + triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height)) + rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE) + + if ret: + self.state = SetupState.NETWORK_SETUP + self.wifi_manager.request_scan() + self.start_network_check() + + def check_network_connectivity(self): + while not self.stop_network_check_thread.is_set(): + if self.state == SetupState.NETWORK_SETUP: + try: + urllib.request.urlopen("https://google.com", timeout=2) + self.network_connected.set() + if HARDWARE.get_network_type() == NetworkType.wifi: + self.wifi_connected.set() + else: + self.wifi_connected.clear() + except Exception: + self.network_connected.clear() + time.sleep(1) + + def start_network_check(self): + if self.network_check_thread is None or not self.network_check_thread.is_alive(): + self.network_check_thread = threading.Thread(target=self.check_network_connectivity, daemon=True) + self.network_check_thread.start() + + def close(self): + if self.network_check_thread is not None: + self.stop_network_check_thread.set() + self.network_check_thread.join() + + def render_network_setup(self, rect: rl.Rectangle): + title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) + gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + + wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN + 25, rect.width - MARGIN * 2, + rect.height - TITLE_FONT_SIZE - 25 - BUTTON_HEIGHT - MARGIN * 3) + rl.draw_rectangle_rounded(wifi_rect, 0.05, 10, rl.Color(51, 51, 51, 255)) + wifi_content_rect = rl.Rectangle(wifi_rect.x + MARGIN, wifi_rect.y, wifi_rect.width - MARGIN * 2, wifi_rect.height) + self.wifi_ui.render(wifi_content_rect) + + button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 + button_y = rect.height - BUTTON_HEIGHT - MARGIN + + if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"): + self.state = SetupState.GETTING_STARTED + + # Check network connectivity status + continue_enabled = self.network_connected.is_set() + continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet" + + if gui_button( + rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), + continue_text, + button_style=ButtonStyle.PRIMARY if continue_enabled else ButtonStyle.NORMAL, + ): + self.state = SetupState.SOFTWARE_SELECTION + self.stop_network_check_thread.set() + + def render_software_selection(self, rect: rl.Rectangle): + title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) + gui_label(title_rect, "Choose Software to Install", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + + radio_height = 230 + radio_spacing = 30 + + openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height) + openpilot_selected = self.selected_radio == "openpilot" + + rl.draw_rectangle_rounded(openpilot_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if openpilot_selected else rl.Color(79, 79, 79, 255)) + gui_label(rl.Rectangle(openpilot_rect.x + 100, openpilot_rect.y, openpilot_rect.width - 200, radio_height), "openpilot", BODY_FONT_SIZE) + + if openpilot_selected: + checkmark_pos = rl.Vector2(openpilot_rect.x + openpilot_rect.width - 100 - self.checkmark.width, + openpilot_rect.y + radio_height / 2 - self.checkmark.height / 2) + rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE) + + custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height) + custom_selected = self.selected_radio == "custom" + + rl.draw_rectangle_rounded(custom_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if custom_selected else rl.Color(79, 79, 79, 255)) + gui_label(rl.Rectangle(custom_rect.x + 100, custom_rect.y, custom_rect.width - 200, radio_height), "Custom Software", BODY_FONT_SIZE) + + if custom_selected: + checkmark_pos = rl.Vector2(custom_rect.x + custom_rect.width - 100 - self.checkmark.width, custom_rect.y + radio_height / 2 - self.checkmark.height / 2) + rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE) + + mouse_pos = rl.get_mouse_position() + if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + if rl.check_collision_point_rec(mouse_pos, openpilot_rect): + self.selected_radio = "openpilot" + elif rl.check_collision_point_rec(mouse_pos, custom_rect): + self.selected_radio = "custom" + + button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 + button_y = rect.height - BUTTON_HEIGHT - MARGIN + + if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"): + self.state = SetupState.NETWORK_SETUP + + continue_enabled = self.selected_radio is not None + if gui_button( + rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), + "Continue", + button_style=ButtonStyle.PRIMARY, + is_enabled=continue_enabled, + ): + if continue_enabled: + if self.selected_radio == "openpilot": + self.download(OPENPILOT_URL) + else: + self.state = SetupState.CUSTOM_URL + + def render_downloading(self, rect: rl.Rectangle): + title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE) + gui_label(title_rect, "Downloading...", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + + def render_download_failed(self, rect: rl.Rectangle): + title_rect = rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE) + gui_label(title_rect, "Download Failed", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + + url_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64) + gui_label(url_rect, self.failed_url, 64, font_weight=FontWeight.NORMAL) + + error_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67 + 64 + 48, + rect.width - 117 - 100, rect.height - 185 + TITLE_FONT_SIZE + 67 + 64 + 48 - BUTTON_HEIGHT - MARGIN * 2) + gui_text_box(error_rect, self.failed_reason, BODY_FONT_SIZE) + + button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 + button_y = rect.height - BUTTON_HEIGHT - MARGIN + + if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Reboot device"): + HARDWARE.reboot() + + if gui_button(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), "Start over", + button_style=ButtonStyle.PRIMARY): + self.state = SetupState.GETTING_STARTED + + def render_custom_url(self): + result = self.keyboard.render("Enter URL", "for Custom Software") + + # Enter pressed + if result == 1: + url = self.keyboard.text + self.keyboard.clear() + if url: + self.download(url) + + # Cancel pressed + elif result == 0: + self.state = SetupState.SOFTWARE_SELECTION + + def download(self, url: str): + # autocomplete incomplete URLs + if re.match("^([^/.]+)/([^/]+)$", url): + url = f"https://installer.comma.ai/{url}" + + self.download_url = url + self.state = SetupState.DOWNLOADING + + self.download_thread = threading.Thread(target=self._download_thread, daemon=True) + self.download_thread.start() + + def _download_thread(self): + try: + import tempfile + + _, tmpfile = tempfile.mkstemp(prefix="installer_") + + headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()} + req = urllib.request.Request(self.download_url, headers=headers) + + with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response: + total_size = int(response.headers.get('content-length', 0)) + downloaded = 0 + block_size = 8192 + + while True: + buffer = response.read(block_size) + if not buffer: + break + + downloaded += len(buffer) + f.write(buffer) + + if total_size: + self.download_progress = int(downloaded * 100 / total_size) + + is_elf = False + with open(tmpfile, 'rb') as f: + header = f.read(4) + is_elf = header == b'\x7fELF' + + if not is_elf: + self.download_failed(self.download_url, "No custom software found at this URL.") + return + + os.rename(tmpfile, "/tmp/installer") + os.chmod("/tmp/installer", 0o755) + + with open("/tmp/installer_url", "w") as f: + f.write(self.download_url) + + gui_app.request_close() + + except Exception: + error_msg = "Ensure the entered URL is valid, and the device's internet connection is good." + self.download_failed(self.download_url, error_msg) + + def download_failed(self, url: str, reason: str): + self.failed_url = url + self.failed_reason = reason + self.state = SetupState.DOWNLOAD_FAILED + + +def main(): + try: + gui_app.init_window("Setup") + setup = Setup() + for _ in gui_app.render(): + setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + setup.close() + except Exception as e: + print(f"Setup error: {e}") + finally: + gui_app.close() + + +if __name__ == "__main__": + main() From a6456503b092f636e4b9e9d730c297397c2a46b4 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 13:38:51 +0100 Subject: [PATCH 238/477] selfdrive/assets: add keyboard icons (#35247) --- selfdrive/assets/icons/arrow_right.png | 3 +++ selfdrive/assets/icons/arrow_right.svg | 3 +++ selfdrive/assets/icons/backspace.png | 3 +++ selfdrive/assets/icons/backspace.svg | 3 +++ selfdrive/assets/icons/shift.png | 3 +++ selfdrive/assets/icons/shift.svg | 3 +++ selfdrive/assets/icons/shift_lock.png | 3 +++ selfdrive/assets/icons/shift_lock.svg | 3 +++ 8 files changed, 24 insertions(+) create mode 100644 selfdrive/assets/icons/arrow_right.png create mode 100644 selfdrive/assets/icons/arrow_right.svg create mode 100644 selfdrive/assets/icons/backspace.png create mode 100644 selfdrive/assets/icons/backspace.svg create mode 100644 selfdrive/assets/icons/shift.png create mode 100644 selfdrive/assets/icons/shift.svg create mode 100644 selfdrive/assets/icons/shift_lock.png create mode 100644 selfdrive/assets/icons/shift_lock.svg diff --git a/selfdrive/assets/icons/arrow_right.png b/selfdrive/assets/icons/arrow_right.png new file mode 100644 index 0000000000..9897695399 --- /dev/null +++ b/selfdrive/assets/icons/arrow_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edfbafa7fe485b20d26382f198856c3ea798e57826aa8c4553c49a35aee005ed +size 883 diff --git a/selfdrive/assets/icons/arrow_right.svg b/selfdrive/assets/icons/arrow_right.svg new file mode 100644 index 0000000000..c2df1310a2 --- /dev/null +++ b/selfdrive/assets/icons/arrow_right.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb66f3b15fc670cb9ea2b17fc75984cc3fc4f0118b880ce555d3cc7672b72fa5 +size 583 diff --git a/selfdrive/assets/icons/backspace.png b/selfdrive/assets/icons/backspace.png new file mode 100644 index 0000000000..ece10a3d73 --- /dev/null +++ b/selfdrive/assets/icons/backspace.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36e16def9e727216e491cafbb3fe655f82797389b37d63946f1a9c030ecc6f96 +size 4470 diff --git a/selfdrive/assets/icons/backspace.svg b/selfdrive/assets/icons/backspace.svg new file mode 100644 index 0000000000..8da38a106a --- /dev/null +++ b/selfdrive/assets/icons/backspace.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10d92681ea39067298851a1d298959fbd1904e63431fbbcfff953f22a65b61c3 +size 468 diff --git a/selfdrive/assets/icons/shift.png b/selfdrive/assets/icons/shift.png new file mode 100644 index 0000000000..7026a807e7 --- /dev/null +++ b/selfdrive/assets/icons/shift.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25abdab506c6ae81b0a379d86378e0ad73f6fa093be5dc81ed1f192e5b146044 +size 3113 diff --git a/selfdrive/assets/icons/shift.svg b/selfdrive/assets/icons/shift.svg new file mode 100644 index 0000000000..7f890856bd --- /dev/null +++ b/selfdrive/assets/icons/shift.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30f7cd752143d0d9148263d479d5c38809c9ecd64a0bfb5f0fe6d393faedcaa7 +size 232 diff --git a/selfdrive/assets/icons/shift_lock.png b/selfdrive/assets/icons/shift_lock.png new file mode 100644 index 0000000000..1a0464ebcd --- /dev/null +++ b/selfdrive/assets/icons/shift_lock.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0796cb759559f1608a7498c2a00ca48e4d398e4a7b927778db0ae3f00b5c5bcb +size 3092 diff --git a/selfdrive/assets/icons/shift_lock.svg b/selfdrive/assets/icons/shift_lock.svg new file mode 100644 index 0000000000..388e722b49 --- /dev/null +++ b/selfdrive/assets/icons/shift_lock.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9eeae279ca4022f109e8a1873def65edfc86108c5315e0af98e7f413db75218 +size 1074 From dcfbb99b1358582aab63e82c903d3229008e4673 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 16 May 2025 20:50:27 +0800 Subject: [PATCH 239/477] system/ui: add password visibility toggle with eye icon to keyboard (#35246) * add password visibility toggle with eye icon to keyboard * added show_password_toggle --- system/ui/lib/inputbox.py | 7 +++-- system/ui/widgets/keyboard.py | 51 ++++++++++++++++++++++++++++++----- system/ui/widgets/network.py | 2 +- 3 files changed, 48 insertions(+), 12 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index d933d42476..8e53446b43 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -62,13 +62,12 @@ class InputBox: return True return False - def render(self, rect, color=rl.LIGHTGRAY, border_color=rl.DARKGRAY, text_color=rl.BLACK, font_size=80): + def render(self, rect, color=rl.BLACK, border_color=rl.DARKGRAY, text_color=rl.WHITE, font_size=80): # Handle mouse input self._handle_mouse_input(rect, font_size) # Draw input box rl.draw_rectangle_rec(rect, color) - rl.draw_rectangle_lines_ex(rect, 1, border_color) # Process keyboard input self._handle_keyboard_input() @@ -81,7 +80,7 @@ class InputBox: # Display text font = gui_app.font() - display_text = "•" * len(self._input_text) if self._password_mode else self._input_text + display_text = "*" * len(self._input_text) if self._password_mode else self._input_text padding = 10 rl.draw_text_ex( font, @@ -100,7 +99,7 @@ class InputBox: cursor_height = font_size + 4 cursor_y = rect.y + rect.height / 2 - cursor_height / 2 - rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.BLACK) + rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.LIGHTGRAY) def _handle_mouse_input(self, rect, font_size): """Handle mouse clicks to position cursor.""" diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index b626a26b67..37580f80e5 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,5 +1,5 @@ import pyray as rl -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label @@ -45,11 +45,16 @@ keyboard_layouts = { class Keyboard: - def __init__(self, max_text_size: int = 255, min_text_size: int = 0): + def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False): self._layout = keyboard_layouts["lowercase"] self._max_text_size = max_text_size self._min_text_size = min_text_size self._input_box = InputBox(max_text_size) + self._password_mode = password_mode + self._show_password_toggle = show_password_toggle + + self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) + self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) @property def text(self): @@ -60,14 +65,17 @@ class Keyboard: def render(self, title: str, sub_title: str): rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) - gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) - gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) - if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): + gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90, font_weight=FontWeight.BOLD) + gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, font_weight=FontWeight.NORMAL) + if gui_button(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125), "Cancel"): self.clear() return 0 - # Text box for input - self._input_box.render(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100)) + # Draw input box and password toggle + input_margin = 25 + input_box_rect = rl.Rectangle(rect.x + input_margin, rect.y + 160, rect.width - input_margin, 100) + self._render_input_area(input_box_rect) + h_space, v_space = 15, 15 row_y_start = rect.y + 300 # Starting Y position for the first row key_height = (rect.height - 300 - 3 * v_space) / 4 @@ -95,6 +103,35 @@ class Keyboard: return -1 + def _render_input_area(self, input_rect: rl.Rectangle): + if self._show_password_toggle: + self._input_box.set_password_mode(self._password_mode) + self._input_box.render(rl.Rectangle(input_rect.x, input_rect.y, input_rect.width - 100, input_rect.height)) + + # render eye icon + eye_texture = self._eye_closed_texture if self._password_mode else self._eye_open_texture + + eye_rect = rl.Rectangle(input_rect.x + input_rect.width - 90, input_rect.y, 80, input_rect.height) + eye_x = eye_rect.x + (eye_rect.width - eye_texture.width) / 2 + eye_y = eye_rect.y + (eye_rect.height - eye_texture.height) / 2 + + rl.draw_texture_v(eye_texture, rl.Vector2(eye_x, eye_y), rl.WHITE) + + # Handle click on eye icon + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec( + rl.get_mouse_position(), eye_rect + ): + self._password_mode = not self._password_mode + else: + self._input_box.render(input_rect) + + rl.draw_line_ex( + rl.Vector2(input_rect.x, input_rect.y + input_rect.height - 2), + rl.Vector2(input_rect.x + input_rect.width, input_rect.y + input_rect.height - 2), + 3.0, # 3 pixel thickness + rl.Color(189, 189, 189, 255), + ) + def handle_key_press(self, key): if key in (SHIFT_DOWN_KEY, ABC_KEY): self._layout = keyboard_layouts["lowercase"] diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index d34ad44f55..5b9d05c96e 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -48,7 +48,7 @@ class WifiManagerUI: self.state: UIState = StateIdle() self.btn_width = 200 self.scroll_panel = GuiScrollPanel() - self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH) + self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) self._networks: list[NetworkInfo] = [] From b740d23dd02de3e314d6b4e4c7a6803ceddaba13 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 16 May 2025 20:51:08 +0800 Subject: [PATCH 240/477] system/ui: display icons in wifi manager (#35244) display icons in wifi manager --- system/ui/widgets/network.py | 66 ++++++++++++++++++++++++++---------- 1 file changed, 48 insertions(+), 18 deletions(-) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 5b9d05c96e..29d9a499da 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -2,11 +2,11 @@ from dataclasses import dataclass from typing import Literal import pyray as rl -from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button from openpilot.system.ui.lib.label import gui_label from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog @@ -14,7 +14,14 @@ NM_DEVICE_STATE_NEED_AUTH = 60 MIN_PASSWORD_LENGTH = 8 MAX_PASSWORD_LENGTH = 64 ITEM_HEIGHT = 160 +ICON_SIZE = 49 +STRENGTH_ICONS = [ + "icons/wifi_strength_low.png", + "icons/wifi_strength_medium.png", + "icons/wifi_strength_high.png", + "icons/wifi_strength_full.png", +] @dataclass class StateIdle: @@ -109,14 +116,14 @@ class WifiManagerUI: rl.end_scissor_mode() def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool): - label_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT) - state_rect = rl.Rectangle(rect.x + rect.width - self.btn_width * 2 - 150, rect.y, 300, ITEM_HEIGHT) + spacing = 50 + ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT) + signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) + security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) - gui_label(label_rect, network.ssid, 55) + gui_label(ssid_rect, network.ssid, 55) status_text = "" - if network.is_connected: - status_text = "Connected" match self.state: case StateConnecting(network=connecting): if connecting.ssid == network.ssid: @@ -124,26 +131,49 @@ class WifiManagerUI: case StateForgetting(network=forgetting): if forgetting.ssid == network.ssid: status_text = "FORGETTING..." + if status_text: - rl.gui_label(state_rect, status_text) + status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT) + rl.gui_label(status_text_rect, status_text) + else: + # If the network is saved, show the "Forget" button + if network.is_saved: + forget_btn_rect = rl.Rectangle(security_icon_rect.x - self.btn_width - spacing, + rect.y + (ITEM_HEIGHT - 80) / 2, + self.btn_width, + 80, + ) + if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked: + self.state = StateShowForgetConfirm(network) - # If the network is saved, show the "Forget" button - if network.is_saved: - forget_btn_rect = rl.Rectangle( - rect.x + rect.width - self.btn_width, - rect.y + (ITEM_HEIGHT - 80) / 2, - self.btn_width, - 80, - ) - if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked: - self.state = StateShowForgetConfirm(network) + self._draw_status_icon(security_icon_rect, network) + self._draw_signal_strength_icon(signal_icon_rect, network) - if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked: + if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), ssid_rect) and clicked: if not network.is_saved: self.state = StateNeedsAuth(network) else: self.connect_to_network(network) + def _draw_status_icon(self, rect, network: NetworkInfo): + """Draw the status icon based on network's connection state""" + icon_file = "" + if network.is_connected: + icon_file = "icons/checkmark.png" + elif network.security_type == SecurityType.UNSUPPORTED: + icon_file = "icons/circled_slash.png" + else: + icon_file = "icons/lock_closed.png" + + texture = gui_app.texture(icon_file, ICON_SIZE, ICON_SIZE) + icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2) + rl.draw_texture_v(texture, icon_rect, rl.WHITE) + + def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: NetworkInfo): + """Draw the Wi-Fi signal strength icon based on network's signal strength""" + strength_level = max(0, min(3, round(network.strength / 33.0))) + rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE) + def connect_to_network(self, network: NetworkInfo, password=''): self.state = StateConnecting(network) if network.is_saved and not password: From 6adc7e6bdb318a178595a6532a21da8d79a97cb0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 May 2025 02:10:58 +0800 Subject: [PATCH 241/477] system/ui: disable continue button when no network connecton in setup.py (#35249) disable continue button when no network connecton --- system/ui/setup.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/ui/setup.py b/system/ui/setup.py index 8c75b8e7c7..7cf4cac9b4 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -167,6 +167,7 @@ class Setup: rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), continue_text, button_style=ButtonStyle.PRIMARY if continue_enabled else ButtonStyle.NORMAL, + is_enabled=continue_enabled, ): self.state = SetupState.SOFTWARE_SELECTION self.stop_network_check_thread.set() From e9680a40bf2186545f05d9431d9ac440f92329f7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 19:17:24 +0100 Subject: [PATCH 242/477] selfdrive/assets: generate keyboard icons from bootstrap-icons (#35250) * Revert "selfdrive/assets: add keyboard icons (#35247)" This reverts commit a6456503b092f636e4b9e9d730c297397c2a46b4. * selfdrive/assets: use bootstrap icons, generate keyboard icons * cleanup * switch shift-fill for capslock --- selfdrive/assets/icons/arrow-down.png | 3 +++ selfdrive/assets/icons/arrow-right.png | 3 +++ selfdrive/assets/icons/arrow_right.png | 3 --- selfdrive/assets/icons/arrow_right.svg | 3 --- selfdrive/assets/icons/backspace.png | 4 ++-- selfdrive/assets/icons/backspace.svg | 3 --- selfdrive/assets/icons/capslock.png | 3 +++ selfdrive/assets/icons/shift.png | 4 ++-- selfdrive/assets/icons/shift.svg | 3 --- selfdrive/assets/icons/shift_lock.png | 3 --- selfdrive/assets/icons/shift_lock.svg | 3 --- selfdrive/assets/prep-svg.sh | 25 ++++++++++++++++++++++++- 12 files changed, 37 insertions(+), 23 deletions(-) create mode 100644 selfdrive/assets/icons/arrow-down.png create mode 100644 selfdrive/assets/icons/arrow-right.png delete mode 100644 selfdrive/assets/icons/arrow_right.png delete mode 100644 selfdrive/assets/icons/arrow_right.svg delete mode 100644 selfdrive/assets/icons/backspace.svg create mode 100644 selfdrive/assets/icons/capslock.png delete mode 100644 selfdrive/assets/icons/shift.svg delete mode 100644 selfdrive/assets/icons/shift_lock.png delete mode 100644 selfdrive/assets/icons/shift_lock.svg diff --git a/selfdrive/assets/icons/arrow-down.png b/selfdrive/assets/icons/arrow-down.png new file mode 100644 index 0000000000..834c1cb8b9 --- /dev/null +++ b/selfdrive/assets/icons/arrow-down.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e12a3cf36fdef107d237457e20b44e16320414f9de8a1791aff1ec5fd85ccef +size 2390 diff --git a/selfdrive/assets/icons/arrow-right.png b/selfdrive/assets/icons/arrow-right.png new file mode 100644 index 0000000000..b275134f64 --- /dev/null +++ b/selfdrive/assets/icons/arrow-right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a999d5f3e616eeafc310689accdd26efb90769596604a62c460ef8acece18bc +size 1734 diff --git a/selfdrive/assets/icons/arrow_right.png b/selfdrive/assets/icons/arrow_right.png deleted file mode 100644 index 9897695399..0000000000 --- a/selfdrive/assets/icons/arrow_right.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:edfbafa7fe485b20d26382f198856c3ea798e57826aa8c4553c49a35aee005ed -size 883 diff --git a/selfdrive/assets/icons/arrow_right.svg b/selfdrive/assets/icons/arrow_right.svg deleted file mode 100644 index c2df1310a2..0000000000 --- a/selfdrive/assets/icons/arrow_right.svg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fb66f3b15fc670cb9ea2b17fc75984cc3fc4f0118b880ce555d3cc7672b72fa5 -size 583 diff --git a/selfdrive/assets/icons/backspace.png b/selfdrive/assets/icons/backspace.png index ece10a3d73..16686be6f5 100644 --- a/selfdrive/assets/icons/backspace.png +++ b/selfdrive/assets/icons/backspace.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:36e16def9e727216e491cafbb3fe655f82797389b37d63946f1a9c030ecc6f96 -size 4470 +oid sha256:576da562df8eb513e64ccb614ec727b257cbca8b5507974d01efc0f64c5382c2 +size 6267 diff --git a/selfdrive/assets/icons/backspace.svg b/selfdrive/assets/icons/backspace.svg deleted file mode 100644 index 8da38a106a..0000000000 --- a/selfdrive/assets/icons/backspace.svg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:10d92681ea39067298851a1d298959fbd1904e63431fbbcfff953f22a65b61c3 -size 468 diff --git a/selfdrive/assets/icons/capslock.png b/selfdrive/assets/icons/capslock.png new file mode 100644 index 0000000000..61414d7230 --- /dev/null +++ b/selfdrive/assets/icons/capslock.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6621d000d9514df1d636e9953941eadec415ff950724f26a61e0fcbaa7a3818 +size 5403 diff --git a/selfdrive/assets/icons/shift.png b/selfdrive/assets/icons/shift.png index 7026a807e7..de2a68b482 100644 --- a/selfdrive/assets/icons/shift.png +++ b/selfdrive/assets/icons/shift.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25abdab506c6ae81b0a379d86378e0ad73f6fa093be5dc81ed1f192e5b146044 -size 3113 +oid sha256:a93dd816bd0600ad47d10ebe530326bfa725dc31e4d5e1ee275f39b10f17a59d +size 4931 diff --git a/selfdrive/assets/icons/shift.svg b/selfdrive/assets/icons/shift.svg deleted file mode 100644 index 7f890856bd..0000000000 --- a/selfdrive/assets/icons/shift.svg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:30f7cd752143d0d9148263d479d5c38809c9ecd64a0bfb5f0fe6d393faedcaa7 -size 232 diff --git a/selfdrive/assets/icons/shift_lock.png b/selfdrive/assets/icons/shift_lock.png deleted file mode 100644 index 1a0464ebcd..0000000000 --- a/selfdrive/assets/icons/shift_lock.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0796cb759559f1608a7498c2a00ca48e4d398e4a7b927778db0ae3f00b5c5bcb -size 3092 diff --git a/selfdrive/assets/icons/shift_lock.svg b/selfdrive/assets/icons/shift_lock.svg deleted file mode 100644 index 388e722b49..0000000000 --- a/selfdrive/assets/icons/shift_lock.svg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e9eeae279ca4022f109e8a1873def65edfc86108c5315e0af98e7f413db75218 -size 1074 diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh index 661464a5c6..d29ce3025d 100755 --- a/selfdrive/assets/prep-svg.sh +++ b/selfdrive/assets/prep-svg.sh @@ -2,6 +2,24 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +ICONS_DIR="$DIR/icons" +BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg" + +ICON_IDS=( + arrow-down + arrow-right + backspace + capslock + shift +) +ICON_FILL_COLOR="#fff" + +# extract bootstrap icons +for id in "${ICON_IDS[@]}"; do + svg="${ICONS_DIR}/${id}.svg" + perl -0777 -ne "print \$& if /]*id=\"$id\"[^>]*>.*?<\/symbol>/s" "$BOOTSTRAP_SVG" \ + | sed "s//<\/svg>/" > "$svg" +done # sudo apt install inkscape @@ -17,7 +35,12 @@ for svg in $(find $DIR -type f | grep svg$); do else export_dim="--export-height=512" fi - inkscape "$svg" --export-filename="$png" $export_dim + inkscape "$svg" --export-filename="$png" "$export_dim" optipng -o7 -strip all "$png" done + +# cleanup bootstrap SVGs +for id in "${ICON_IDS[@]}"; do + rm "${ICONS_DIR}/${id}.svg" +done From 5babe18184606b81b5829d028f28d7b18edc24e5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 May 2025 02:24:04 +0800 Subject: [PATCH 243/477] system/ui/setup: fix WiFi manager UI element overlap issues (#35251) fix ui overlap issue --- system/ui/setup.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system/ui/setup.py b/system/ui/setup.py index 7cf4cac9b4..2e40610395 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -144,6 +144,10 @@ class Setup: self.network_check_thread.join() def render_network_setup(self, rect: rl.Rectangle): + if self.wifi_ui.require_full_screen: + self.wifi_ui.render(rect) + return + title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) From 71e3fd718342bfac57ee05c1e81518faf81aad94 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 May 2025 02:43:03 +0800 Subject: [PATCH 244/477] system/ui: use icon for special characters (#35248) * use icon for special characters * add icon for SHIFT_DOWN_KEY --- system/ui/lib/button.py | 44 +++++++++++++++++++++++++++-------- system/ui/widgets/keyboard.py | 14 ++++++++++- 2 files changed, 47 insertions(+), 11 deletions(-) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index dfe75d88bd..2d58aee640 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -16,6 +16,7 @@ class TextAlignment(IntEnum): RIGHT = 2 +ICON_PADDING = 15 DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255) BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) @@ -46,6 +47,7 @@ def gui_button( border_radius: int = 10, # Corner rounding in pixels text_alignment: TextAlignment = TextAlignment.CENTER, text_padding: int = 20, # Padding for left/right alignment + icon = None, ) -> int: result = 0 @@ -68,20 +70,42 @@ def gui_button( rl.draw_rectangle_rounded(rect, roundness, 20, rl.BLACK) rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE) + # Handle icon and text positioning font = gui_app.font(font_weight) text_size = rl.measure_text_ex(font, text, font_size, 0) text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2) # Vertical centering - # Horizontal alignment - if text_alignment == TextAlignment.LEFT: - text_pos.x = rect.x + text_padding - elif text_alignment == TextAlignment.CENTER: - text_pos.x = rect.x + (rect.width - text_size.x) // 2 - elif text_alignment == TextAlignment.RIGHT: - text_pos.x = rect.x + rect.width - text_size.x - text_padding + # Draw icon if provided + if icon: + icon_y = rect.y + (rect.height - icon.height) / 2 + if text: + if text_alignment == TextAlignment.LEFT: + icon_x = rect.x + text_padding + text_pos.x = icon_x + icon.width + ICON_PADDING + elif text_alignment == TextAlignment.CENTER: + total_width = icon.width + ICON_PADDING + text_size.x + icon_x = rect.x + (rect.width - total_width) / 2 + text_pos.x = icon_x + icon.width + ICON_PADDING + else: # RIGHT + text_pos.x = rect.x + rect.width - text_size.x - text_padding + icon_x = text_pos.x - ICON_PADDING - icon.width + else: + # Center icon when no text + icon_x = rect.x + (rect.width - icon.width) / 2 - # Draw the button text - text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR - rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color) + rl.draw_texture_v(icon, rl.Vector2(icon_x, icon_y), rl.WHITE if is_enabled else rl.Color(255, 255, 255, 100)) + else: + # No icon, position text normally + if text_alignment == TextAlignment.LEFT: + text_pos.x = rect.x + text_padding + elif text_alignment == TextAlignment.CENTER: + text_pos.x = rect.x + (rect.width - text_size.x) // 2 + elif text_alignment == TextAlignment.RIGHT: + text_pos.x = rect.x + rect.width - text_size.x - text_padding + + # Draw the button text if any + if text: + text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR + rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color) return result diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 37580f80e5..aabd664171 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -55,6 +55,11 @@ class Keyboard: self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) + self._key_icons = { + BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 60, 60), + SHIFT_KEY: gui_app.texture("icons/shift.png", 60, 60), + SHIFT_DOWN_KEY: gui_app.texture("icons/arrow-down.png", 60, 60), + } @property def text(self): @@ -95,7 +100,14 @@ class Keyboard: start_x += new_width is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size - if gui_button(key_rect, key, is_enabled=is_enabled): + result = -1 + if key in self._key_icons: + texture = self._key_icons[key] + result = gui_button(key_rect, "", icon=texture, is_enabled=is_enabled) + else: + result = gui_button(key_rect, key, is_enabled=is_enabled) + + if result: if key == ENTER_KEY: return 1 else: From 09fde3c3ad2f15d27bbe47c0521ce7dd0f0bf0c0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 May 2025 04:56:41 +0800 Subject: [PATCH 245/477] system/ui: Use OPENPILOT_URL instead of google.com for network connectivity check (#35254) check OPENPILOT_URL --- system/ui/setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 2e40610395..0ec5d6395e 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -123,7 +123,7 @@ class Setup: while not self.stop_network_check_thread.is_set(): if self.state == SetupState.NETWORK_SETUP: try: - urllib.request.urlopen("https://google.com", timeout=2) + urllib.request.urlopen(OPENPILOT_URL, timeout=2) self.network_connected.set() if HARDWARE.get_network_type() == NetworkType.wifi: self.wifi_connected.set() From 8097a92515c0273a4ef0ef7b910093a7a8772da4 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 16 May 2025 22:24:03 +0100 Subject: [PATCH 246/477] zipapp pack (#35253) Used to ship python UI in agnos without an openpilot clone * add a main method to target * pack script * validate inputs * refactors * copy into temp, dont keep this * cleanup * help messages * rename to pack.py * pack.py * updates for device * moar * don't use cereal * just log normally * use importlib.resources * revert * Revert "don't use cereal" This reverts commit 7208524d422d88a1b07e209359aeb25e8b3bf4e7. * fix cereal? * cleanup * Revert "cleanup" This reverts commit 921edfe5020f244dbdf4f26767af7c98ca837d1c. * cython hotfix * Reapply "cleanup" This reverts commit 9b54552f784dea1b1eb4ffc03937571e4fc851ba. * more cleanup * any script? * slightly clearer * rm print * nothing python should use SVGs --------- Co-authored-by: Trey Moen --- cereal/__init__.py | 10 ++++--- release/pack.py | 50 +++++++++++++++++++++++++++++++++++ system/ui/lib/application.py | 16 ++++++----- system/ui/lib/wifi_manager.py | 13 ++++++--- system/ui/spinner.py | 6 ++++- 5 files changed, 79 insertions(+), 16 deletions(-) create mode 100755 release/pack.py diff --git a/cereal/__init__.py b/cereal/__init__.py index 89c5cf38e3..93f4d77227 100644 --- a/cereal/__init__.py +++ b/cereal/__init__.py @@ -1,9 +1,11 @@ import os import capnp +from importlib.resources import as_file, files -CEREAL_PATH = os.path.dirname(os.path.abspath(__file__)) capnp.remove_import_hook() -log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) -car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) -custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp")) +with as_file(files("cereal")) as fspath: + CEREAL_PATH = fspath.as_posix() + log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) + car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) + custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp")) diff --git a/release/pack.py b/release/pack.py new file mode 100755 index 0000000000..1cb1a47a48 --- /dev/null +++ b/release/pack.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 + +import importlib +import shutil +import sys +import tempfile +import zipapp +from argparse import ArgumentParser +from pathlib import Path + +from openpilot.common.basedir import BASEDIR + + +DIRS = ['cereal', 'openpilot'] +EXTS = ['.png', '.py', '.ttf', '.capnp'] +INTERPRETER = '/usr/bin/env python3' + + +def copy(src, dest): + if any(src.endswith(ext) for ext in EXTS): + shutil.copy2(src, dest, follow_symlinks=True) + + +if __name__ == '__main__': + parser = ArgumentParser(prog='pack.py', description="package script into a portable executable", epilog='comma.ai') + parser.add_argument('-e', '--entrypoint', help="function to call in module, default is 'main'", default='main') + parser.add_argument('-o', '--output', help='output file') + parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'") + args = parser.parse_args() + + if not args.output: + args.output = args.module + + try: + mod = importlib.import_module(args.module) + except ModuleNotFoundError: + print(f'{args.module} not found, typo?') + sys.exit(1) + + if not hasattr(mod, args.entrypoint): + print(f'{args.module} does not have a {args.entrypoint}() function, typo?') + sys.exit(1) + + with tempfile.TemporaryDirectory() as tmp: + for directory in DIRS: + shutil.copytree(BASEDIR + '/' + directory, tmp + '/' + directory, symlinks=False, dirs_exist_ok=True, copy_function=copy) + entry = f'{args.module}:{args.entrypoint}' + zipapp.create_archive(tmp, target=args.output, interpreter=INTERPRETER, main=entry) + + print(f'created executable {Path(args.output).resolve()}') diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 9e6c8ef28d..467cd8c5a8 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -3,7 +3,7 @@ import os import time import pyray as rl from enum import IntEnum -from openpilot.common.basedir import BASEDIR +from importlib.resources import as_file, files from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE @@ -18,9 +18,9 @@ STRICT_MODE = os.getenv("STRICT_MODE") == '1' DEFAULT_TEXT_SIZE = 60 DEFAULT_TEXT_COLOR = rl.WHITE -ASSETS_DIR = os.path.join(BASEDIR, "selfdrive/assets") -FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts") +ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets") +FONT_DIR = ASSETS_DIR.joinpath("fonts") class FontWeight(IntEnum): BLACK = 0 @@ -74,7 +74,8 @@ class GuiApplication: if cache_key in self._textures: return self._textures[cache_key] - texture_obj = self._load_texture_from_image(os.path.join(ASSETS_DIR, asset_path), width, height, alpha_premultiply, keep_aspect_ratio) + with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath: + texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio) self._textures[cache_key] = texture_obj return texture_obj @@ -163,9 +164,10 @@ class GuiApplication: ) for index, font_file in enumerate(font_files): - font = rl.load_font_ex(os.path.join(FONT_DIR, font_file), 120, None, 0) - rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) - self._fonts[index] = font + with as_file(FONT_DIR.joinpath(font_file)) as fspath: + font = rl.load_font_ex(fspath.as_posix(), 120, None, 0) + rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) + self._fonts[index] = font rl.gui_set_font(self._fonts[FontWeight.NORMAL]) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 7070266aab..4ac7466cb7 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -13,7 +13,11 @@ from dbus_next.aio import MessageBus from dbus_next import BusType, Variant, Message from dbus_next.errors import DBusError from dbus_next.constants import MessageType -from openpilot.common.params import Params +try: + from openpilot.common.params import Params +except ImportError: + # Params/Cythonized modules are not available in zipapp + Params = None from openpilot.common.swaglog import cloudlog T = TypeVar("T") @@ -81,9 +85,10 @@ class WifiManager: self.scan_task: asyncio.Task | None = None # Set tethering ssid as "weedle" + first 4 characters of a dongle id self._tethering_ssid = "weedle" - dongle_id = Params().get("DongleId", encoding="utf-8") - if dongle_id: - self._tethering_ssid += "-" + dongle_id[:4] + if Params is not None: + dongle_id = Params().get("DongleId", encoding="utf-8") + if dongle_id: + self._tethering_ssid += "-" + dongle_id[:4] self.running: bool = True self._current_connection_ssid: str | None = None diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 5fd3f964a6..2af24c4e51 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -98,7 +98,11 @@ class Spinner(BaseWindow[SpinnerRenderer]): self.update(str(round(100 * cur / total))) -if __name__ == "__main__": +def main(): with Spinner() as s: s.update("Spinner text") time.sleep(5) + + +if __name__ == "__main__": + main() From da670108e7f3f9bb391b3067330e957fd33300bc Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 17 May 2025 00:23:55 +0100 Subject: [PATCH 247/477] system/ui: all font weights (#35255) --- system/ui/lib/application.py | 28 +++++++++++++++------------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 467cd8c5a8..a2ea392784 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -23,14 +23,15 @@ ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets") FONT_DIR = ASSETS_DIR.joinpath("fonts") class FontWeight(IntEnum): - BLACK = 0 - BOLD = 1 - EXTRA_BOLD = 2 - EXTRA_LIGHT = 3 + THIN = 0 + EXTRA_LIGHT = 1 + LIGHT = 2 + NORMAL = 3 MEDIUM = 4 - NORMAL = 5 - SEMI_BOLD = 6 - THIN = 7 + SEMI_BOLD = 5 + BOLD = 6 + EXTRA_BOLD = 7 + BLACK = 8 class GuiApplication: @@ -153,14 +154,15 @@ class GuiApplication: def _load_fonts(self): font_files = ( - "Inter-Black.ttf", + "Inter-Thin.ttf", + "Inter-ExtraLight.ttf", + "Inter-Light.ttf", + "Inter-Regular.ttf", + "Inter-Medium.ttf", + "Inter-SemiBold.ttf", "Inter-Bold.ttf", "Inter-ExtraBold.ttf", - "Inter-ExtraLight.ttf", - "Inter-Medium.ttf", - "Inter-Regular.ttf", - "Inter-SemiBold.ttf", - "Inter-Thin.ttf" + "Inter-Black.ttf", ) for index, font_file in enumerate(font_files): From 49c422e8723f12a14f68a10fcd7154a7c03fe3c8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 16 May 2025 21:29:16 -0700 Subject: [PATCH 248/477] Tesla: fix angle control saturation (#35256) * we shouldn't need this * or this? * stash junk * hmm * comment * cc * sadly we have to maintain behavior * bump --- selfdrive/controls/lib/latcontrol_angle.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 1b249a3d1a..f94dca57c1 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -10,6 +10,7 @@ class LatControlAngle(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) self.sat_check_min_speed = 5. + self.use_steer_limited_by_controls = CP.brand == "tesla" def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited): angle_log = log.ControlsState.LateralAngleState.new_message() @@ -22,7 +23,13 @@ class LatControlAngle(LatControl): angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) angle_steers_des += params.angleOffsetDeg - angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD + if self.use_steer_limited_by_controls: + # these cars' carcontrolers calculate max lateral accel and jerk, so we can rely on carOutput for saturation + angle_control_saturated = steer_limited_by_controls + else: + # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota) + # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque # TODO: this can be improved + angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited)) angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) angle_log.steeringAngleDesiredDeg = angle_steers_des From 52dc4141c5e5ec3b4809ad12bb6eb10731a6e5a5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 17 May 2025 10:09:50 -0400 Subject: [PATCH 249/477] MADS: evaluate brakePressed and regenBraking for Pause Lateral mode (#926) * simplify * MADS: evaluate brakePressed and regenBraking for Pause Lateral mode * nah --- sunnypilot/mads/mads.py | 34 ++++++++++++++++++++++++++-------- 1 file changed, 26 insertions(+), 8 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 9aeb67972f..1132a0df2f 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -9,6 +9,7 @@ from cereal import log, custom from opendbc.car import structs from opendbc.car.hyundai.values import HyundaiFlags +from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState @@ -24,6 +25,8 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) class ModularAssistiveDrivingSystem: def __init__(self, selfdrive): + self.CP = selfdrive.CP + self.CS_prev = selfdrive.CS_prev self.params = selfdrive.params self.enabled = False @@ -35,9 +38,10 @@ class ModularAssistiveDrivingSystem: self.state_machine = StateMachine(self) self.events = self.selfdrive.events self.events_sp = self.selfdrive.events_sp + self.disengage_on_accelerator = not self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - if self.selfdrive.CP.brand == "hyundai": - if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD): + if self.CP.brand == "hyundai": + if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD): self.allow_always = True # read params on init @@ -50,6 +54,21 @@ class ModularAssistiveDrivingSystem: self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed") self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode") + def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool: + if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator): + return True + + return False + + def should_silent_lkas_enable(self, CS: structs.CarState) -> bool: + if self.pause_lateral_on_brake_toggle and self.pedal_pressed_non_gas_pressed(CS): + return False + + if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT): + return False + + return True + def update_events(self, CS: structs.CarState): def update_unified_engagement_mode(): uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev) @@ -86,7 +105,7 @@ class ModularAssistiveDrivingSystem: transition_paused_state() if self.pause_lateral_on_brake_toggle: - if CS.brakePressed: + if self.pedal_pressed_non_gas_pressed(CS): transition_paused_state() self.events.remove(EventName.preEnableStandstill) @@ -99,7 +118,7 @@ class ModularAssistiveDrivingSystem: update_unified_engagement_mode() else: if self.main_enabled_toggle: - if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available: + if CS.cruiseState.available and not self.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasEnable) for be in CS.buttonEvents: @@ -117,11 +136,10 @@ class ModularAssistiveDrivingSystem: if not CS.cruiseState.available: self.events.remove(EventName.buttonEnable) - if self.selfdrive.CS_prev.cruiseState.available: + if self.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasDisable) - if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \ - not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT): + if self.should_silent_lkas_enable(CS): if self.state_machine.state == State.paused: self.events_sp.add(EventNameSP.silentLkasEnable) @@ -141,7 +159,7 @@ class ModularAssistiveDrivingSystem: self.update_events(CS) - if not self.selfdrive.CP.passive and self.selfdrive.initialized: + if not self.CP.passive and self.selfdrive.initialized: self.enabled, self.active = self.state_machine.update() # Copy of previous SelfdriveD states for MADS events handling From 7565dd2545488f0b2100c03c753f562da158898a Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 17 May 2025 10:34:38 -0400 Subject: [PATCH 250/477] MADS: Refactor Unified Engagement Mode (#927) --- sunnypilot/mads/mads.py | 23 ++++++++++++++++------- 1 file changed, 16 insertions(+), 7 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 1132a0df2f..dbaec258ab 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -69,13 +69,20 @@ class ModularAssistiveDrivingSystem: return True - def update_events(self, CS: structs.CarState): - def update_unified_engagement_mode(): - uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev) - if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode: - self.events.remove(EventName.pcmEnable) - self.events.remove(EventName.buttonEnable) + def block_unified_engagement_mode(self) -> bool: + # UEM disabled + if not self.unified_engagement_mode: + return True + if self.enabled: + return True + + if self.selfdrive.enabled and self.selfdrive.enabled_prev: + return True + + return False + + def update_events(self, CS: structs.CarState): def transition_paused_state(): if self.state_machine.state != State.paused: self.events_sp.add(EventNameSP.silentLkasDisable) @@ -115,7 +122,9 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.manualRestart) if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable): - update_unified_engagement_mode() + if self.block_unified_engagement_mode(): + self.events.remove(EventName.pcmEnable) + self.events.remove(EventName.buttonEnable) else: if self.main_enabled_toggle: if CS.cruiseState.available and not self.CS_prev.cruiseState.available: From b92d717f2fb9114d0153214be487c7db565a056d Mon Sep 17 00:00:00 2001 From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Date: Sat, 17 May 2025 09:33:18 -0700 Subject: [PATCH 251/477] Hyundai: add more FW versions to enable radar tracks debug script (#804) * fw version for my car, and added scc radar module firmware to enable radar points * bump points * bump --------- Co-authored-by: DevTekVE Co-authored-by: Jason Wen --- selfdrive/debug/hyundai_enable_radar_points.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 93f5949eac..30e2949378 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -71,6 +71,13 @@ SUPPORTED_FW_VERSIONS = { b"DLhe SCC FHCUP 1.00 1.02 99110-L7000 \x01 \x102 ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2022 Niro EV + b"DEev SCC F-CUP 1.00 1.00 99110-Q4600\x01\x42 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DEev SCC F-CUP 1.00 1.00 99110-Q4600 \x07\x03\t% ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), } if __name__ == "__main__": From 5a67aa3618cd81eb06f8d1fe30f1df84914c75a5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 17 May 2025 12:00:09 -0700 Subject: [PATCH 252/477] test_translations: don't fail on rate limit (#35262) skip translation test on 429 --- selfdrive/ui/tests/test_translations.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 09dd7c5d8b..2ae3356bb8 100644 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -96,8 +96,15 @@ class TestTranslations: match = re.search(r'_([a-zA-Z]{2,3})', self.file) assert match, f"{self.name} - could not parse language" - response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") - response.raise_for_status() + try: + response = requests.get( + f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}" + ) + response.raise_for_status() + except requests.exceptions.HTTPError as e: + if e.response is not None and e.response.status_code == 429: + pytest.skip("word list rate limited") + raise banned_words = {line.strip() for line in response.text.splitlines()} From 1c68a073a023ce1a80204183fb2886d6e077db21 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sat, 17 May 2025 12:00:24 -0700 Subject: [PATCH 253/477] feat(clip): enable ecam (#35259) --- tools/clip/run.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index f0c4369c6f..a84290f9c4 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -234,7 +234,7 @@ def clip( out, ] - replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] + replay_cmd = [REPLAY, '--ecam', '-c', '1', '-s', str(begin_at), '--prefix', prefix] if data_dir: replay_cmd.extend(['--data_dir', data_dir]) if quality == 'low': From 77102a85322d799a12af98ea114c895ddaed7fe8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 May 2025 17:31:27 -0700 Subject: [PATCH 254/477] Ford: support low gear (#35238) support low gear for ford --- selfdrive/car/car_specific.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index dc37519be1..355ab1a7c8 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -46,7 +46,7 @@ class CarSpecificEvents: events = Events() elif self.CP.brand == 'ford': - events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic]) + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic]) elif self.CP.brand == 'nissan': events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake]) From 065e0e6369a8c19b8b364fa6e5e871019dc93c93 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sat, 17 May 2025 19:44:52 -0700 Subject: [PATCH 255/477] [bot] Update Python packages (#35264) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 629 +++++++++++++++++++++++++------------------------- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 109 ++++----- 5 files changed, 373 insertions(+), 371 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 55871eba2f..cdaeb38890 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,321 +4,322 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 311 Supported Cars +# 312 Supported Cars -|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| -|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Performance Trim) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV70 Electrified (Australia Only) 2022[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 Electrified (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 6 (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Cruz 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Plug-in Hybrid 2024[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (Southeast Asia only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sportage 2023-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan[7](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan[7](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan[7](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan[7](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Forester 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Legacy 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Outback 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| -|Škoda|Kamiq 2021-23[13,15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| -|Škoda|Karoq 2019-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| -|Škoda|Superb 2015-22[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| +|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| +|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=MewJc9LYp9M| +|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=MewJc9LYp9M| +|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ford|Mustang Mach-E 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://www.youtube.com/watch?v=uUGkH6C_EQU| +|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV60 (Performance Trim) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV70 Electrified (Australia Only) 2022[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV70 Electrified (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|HR-V 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq 5 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq 5 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq 6 (with HDA II) 2023-24[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Santa Cruz 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Tucson 2023-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Tucson Plug-in Hybrid 2024[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|EV6 (Southeast Asia only) 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|EV6 (with HDA II) 2022-24[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|EV6 (without HDA II) 2022-24[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro EV (with HDA II) 2025[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro EV (without HDA II) 2023-25[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sportage 2023-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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||| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Nissan[7](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Nissan[7](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Nissan[7](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Nissan[7](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://youtu.be/uaISd1j7Z4U| +|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||https://youtu.be/uaISd1j7Z4U| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Subaru|Ascent 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Forester 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Legacy 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Outback 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|XV 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|XV 2020-21|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Škoda|Fabia 2022-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| +|Škoda|Kamiq 2021-23[13,15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| +|Škoda|Karoq 2019-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Škoda|Kodiaq 2017-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Škoda|Octavia 2015-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Škoda|Octavia RS 2016[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Škoda|Octavia Scout 2017-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Škoda|Scala 2020-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| +|Škoda|Superb 2015-22[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Camry 2018-20|All|Stock|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Camry 2021-24|All|openpilot|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Passat 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)||| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
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sunnypilot/mads/mads.py | 51 ++++++++++++++++++++--------------------- 1 file changed, 25 insertions(+), 26 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index dbaec258ab..e6665484ae 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -26,7 +26,6 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) class ModularAssistiveDrivingSystem: def __init__(self, selfdrive): self.CP = selfdrive.CP - self.CS_prev = selfdrive.CS_prev self.params = selfdrive.params self.enabled = False @@ -55,7 +54,7 @@ class ModularAssistiveDrivingSystem: self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode") def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool: - if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator): + if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator): return True return False @@ -82,38 +81,38 @@ class ModularAssistiveDrivingSystem: return False + def transition_paused_state(self): + if self.state_machine.state != State.paused: + self.events_sp.add(EventNameSP.silentLkasDisable) + + def replace_event(self, old_event: int, new_event: int): + self.events.remove(old_event) + self.events_sp.add(new_event) + def update_events(self, CS: structs.CarState): - def transition_paused_state(): - if self.state_machine.state != State.paused: - self.events_sp.add(EventNameSP.silentLkasDisable) - - def replace_event(old_event: int, new_event: int): - self.events.remove(old_event) - self.events_sp.add(new_event) - if not self.selfdrive.enabled and self.enabled: if self.events.has(EventName.doorOpen): - replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen) - transition_paused_state() + self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen) + self.transition_paused_state() if self.events.has(EventName.seatbeltNotLatched): - replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched) - transition_paused_state() + self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched) + self.transition_paused_state() if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse): - replace_event(EventName.wrongGear, EventNameSP.silentWrongGear) - transition_paused_state() + self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear) + self.transition_paused_state() if self.events.has(EventName.reverseGear): - replace_event(EventName.reverseGear, EventNameSP.silentReverseGear) - transition_paused_state() + self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear) + self.transition_paused_state() if self.events.has(EventName.brakeHold): - replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold) - transition_paused_state() + self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold) + self.transition_paused_state() if self.events.has(EventName.parkBrake): - replace_event(EventName.parkBrake, EventNameSP.silentParkBrake) - transition_paused_state() + self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake) + self.transition_paused_state() if self.pause_lateral_on_brake_toggle: if self.pedal_pressed_non_gas_pressed(CS): - transition_paused_state() + self.transition_paused_state() self.events.remove(EventName.preEnableStandstill) self.events.remove(EventName.belowEngageSpeed) @@ -127,7 +126,7 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.buttonEnable) else: if self.main_enabled_toggle: - if CS.cruiseState.available and not self.CS_prev.cruiseState.available: + if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasEnable) for be in CS.buttonEvents: @@ -145,7 +144,7 @@ class ModularAssistiveDrivingSystem: if not CS.cruiseState.available: self.events.remove(EventName.buttonEnable) - if self.CS_prev.cruiseState.available: + if self.selfdrive.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasDisable) if self.should_silent_lkas_enable(CS): @@ -158,7 +157,7 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.wrongCruiseMode) if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents): if self.events.has(EventName.wrongCarMode): - replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) + self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) else: self.events.remove(EventName.wrongCarMode) From 4dbabf4e24a6dddf477858ed149d1a447c55b2de Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 17 May 2025 23:34:55 -0400 Subject: [PATCH 257/477] MADS: retain `pedalPressed` alert only (#928) * MADS: Refactor Unified Engagement Mode * init * bring back pedal pressed event while trying to engage long * MADS: prep for refactor * no longer * this is cleaner? * in another pr --- cereal/custom.capnp | 1 + sunnypilot/mads/mads.py | 7 ++++++- sunnypilot/selfdrive/selfdrived/events.py | 4 ++++ 3 files changed, 11 insertions(+), 1 deletion(-) diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 2a72a59a10..eb932b484e 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -144,6 +144,7 @@ struct OnroadEventSP @0xda96579883444c35 { hyundaiRadarTracksConfirmed @13; experimentalModeSwitched @14; wrongCarModeAlertOnly @15; + pedalPressedAlertOnly @16; } } diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index e6665484ae..456be01882 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -120,7 +120,12 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.cruiseDisabled) self.events.remove(EventName.manualRestart) - if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable): + selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable) + + if selfdrive_enable_events: + if self.pedal_pressed_non_gas_pressed(CS): + self.events_sp.add(EventNameSP.pedalPressedAlertOnly) + if self.block_unified_engagement_mode(): self.events.remove(EventName.pcmEnable) self.events.remove(EventName.buttonEnable) diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py index 979de0a80c..67672649c5 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -134,4 +134,8 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.WARNING: wrong_car_mode_alert, }, + EventNameSP.pedalPressedAlertOnly: { + ET.WARNING: NoEntryAlert("Pedal Pressed") + } + } From 6d516a7704410b69a2707dfcb856eba5be519f81 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 18 May 2025 00:18:41 -0400 Subject: [PATCH 258/477] MADS: `wrongCarMode` alert only with selfdrive enable (#931) * MADS: Refactor Unified Engagement Mode * init * bring back pedal pressed event while trying to engage long * MADS: prep for refactor * no longer * this is cleaner? * in another pr * Revert "in another pr" This reverts commit 31aec8a7aabc798c1b19c365488efe04a47869e9. * less * rename * type hint --- sunnypilot/mads/mads.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 456be01882..d5ce9354c1 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -81,6 +81,13 @@ class ModularAssistiveDrivingSystem: return False + def get_wrong_car_mode(self, alert_only: bool) -> None: + if alert_only: + if self.events.has(EventName.wrongCarMode): + self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) + else: + self.events.remove(EventName.wrongCarMode) + def transition_paused_state(self): if self.state_machine.state != State.paused: self.events_sp.add(EventNameSP.silentLkasDisable) @@ -121,11 +128,12 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.manualRestart) selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable) + set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents) + + # wrongCarMode alert only or actively block control + self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable) if selfdrive_enable_events: - if self.pedal_pressed_non_gas_pressed(CS): - self.events_sp.add(EventNameSP.pedalPressedAlertOnly) - if self.block_unified_engagement_mode(): self.events.remove(EventName.pcmEnable) self.events.remove(EventName.buttonEnable) @@ -160,11 +168,6 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.buttonCancel) self.events.remove(EventName.pedalPressed) self.events.remove(EventName.wrongCruiseMode) - if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents): - if self.events.has(EventName.wrongCarMode): - self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) - else: - self.events.remove(EventName.wrongCarMode) def update(self, CS: structs.CarState): if not self.enabled_toggle: From 8427bf76cfc3c217188fa833ab0065aa5dc18f0e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 May 2025 22:54:01 -0700 Subject: [PATCH 259/477] typo --- selfdrive/controls/lib/latcontrol_angle.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index f94dca57c1..f3f1bc5acf 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -24,7 +24,7 @@ class LatControlAngle(LatControl): angle_steers_des += params.angleOffsetDeg if self.use_steer_limited_by_controls: - # these cars' carcontrolers calculate max lateral accel and jerk, so we can rely on carOutput for saturation + # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation angle_control_saturated = steer_limited_by_controls else: # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota) From 66c0971a0f95f0af21ad2948198cad53c6ab1700 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 May 2025 23:56:21 -0700 Subject: [PATCH 260/477] migration: remove disengage on gas alternative experience (#35267) * fix * done * test * update refs --- selfdrive/test/process_replay/migration.py | 14 ++++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 02cd9b6d71..33b363cfd9 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -22,12 +22,12 @@ MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], lis MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps] -## rules for migration functions -## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature -## 2. it only gets the messages that are in the inputs list -## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr -## 4. it must return a list of operations to be applied to the logreader (replace, add, delete) -## 5. all migration functions must be independent of each other +# rules for migration functions +# 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature +# 2. it only gets the messages that are in the inputs list +# 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr +# 4. it must return a list of operations to be applied to the logreader (replace, add, delete) +# 5. all migration functions must be independent of each other def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False): migrations = [ migrate_sensorEvents, @@ -306,6 +306,8 @@ def migrate_pandaStates(msgs): elif msg.which() == 'pandaStates': new_msg = msg.as_builder() new_msg.pandaStates[-1].safetyParam = safety_param + # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch + new_msg.pandaStates[-1].alternativeExperience &= ~1 ops.append((index, new_msg.as_reader())) return ops, [], [] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c97f9a6bde..c8e879e58a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -bc0a2e6eac422e574b6c670fe493d368df10ef42 \ No newline at end of file +6602b004aa91decf3a1a4ab7ddaf77a99d7ebfc3 \ No newline at end of file From 33721cf5fab014f945df783fc3267f4081c23401 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 18 May 2025 00:38:57 -0700 Subject: [PATCH 261/477] Lower Tesla steer limit timer (#35268) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 51203122f3..488e31ccba 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 51203122f30162dcf778b700deb482b8b5ab3b72 +Subproject commit 488e31ccbab507315648061c23308cedc5284cf2 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c8e879e58a..8e8a88db2c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6602b004aa91decf3a1a4ab7ddaf77a99d7ebfc3 \ No newline at end of file +2d23b1ba470927cefa646b95e1c8b7ac0f944f60 \ No newline at end of file From a6a09276e94da4b526de4f7604b1a6b448842426 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 18 May 2025 00:52:02 -0700 Subject: [PATCH 262/477] Hyundai: fix recent enable button press regression (#35265) * move back to port * much better * use the CS field now * bump * fix * need to switch so it works on ports that don't use it, and makes more sense * bump * bump * update refs * make sense * master --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 15 +++------------ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 14 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 488e31ccba..0af0d464df 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 488e31ccbab507315648061c23308cedc5284cf2 +Subproject commit 0af0d464df30daa4c78f5349c958ba584370ef80 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 355ab1a7c8..67d1010d75 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,11 +1,8 @@ -from collections import deque from cereal import car, log import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs from opendbc.car.interfaces import MAX_CTRL_SPEED from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams -from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS -from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES from openpilot.selfdrive.selfdrived.events import Events @@ -39,8 +36,6 @@ class CarSpecificEvents: self.no_steer_warning = False self.silent_steer_warning = True - self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES) - def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): if self.CP.brand in ('body', 'mock'): events = Events() @@ -136,12 +131,8 @@ class CarSpecificEvents: # events.add(EventName.steerTimeLimit) elif self.CP.brand == 'hyundai': - # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state - # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons - # Main button also can trigger an engagement on these cars - self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents)) events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic), - pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False) + pcm_enable=self.CP.pcmCruise, allow_button_cancel=False) # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: @@ -157,7 +148,7 @@ class CarSpecificEvents: return events def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True, - allow_enable=True, allow_button_cancel=True): + allow_button_cancel=True): events = Events() if CS.doorOpen: @@ -236,7 +227,7 @@ class CarSpecificEvents: # we engage when pcm is active (rising edge) # enabling can optionally be blocked by the car interface if pcm_enable: - if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable: + if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and not CS.blockPcmEnable: events.add(EventName.pcmEnable) elif not CS.cruiseState.enabled: events.add(EventName.pcmDisable) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8e8a88db2c..f67c4540c6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2d23b1ba470927cefa646b95e1c8b7ac0f944f60 \ No newline at end of file +746da1900c43a64146bb485b7fc2a836e2005113 \ No newline at end of file From 8e57f774d0e8302e1bf1834f84720bb1f9211ae3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 18 May 2025 01:05:15 -0700 Subject: [PATCH 263/477] Hyundai: move low speed steering alert to car state (#35269) * hkg can: move low speed alert to carstate * bump --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 8 -------- 2 files changed, 1 insertion(+), 9 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0af0d464df..bf27fea810 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0af0d464df30daa4c78f5349c958ba584370ef80 +Subproject commit bf27fea810a111bd9b2c22a20e713485c65a2043 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 67d1010d75..c5edb484af 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -134,14 +134,6 @@ class CarSpecificEvents: events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic), pcm_enable=self.CP.pcmCruise, allow_button_cancel=False) - # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) - if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: - self.low_speed_alert = True - if CS.vEgo > (self.CP.minSteerSpeed + 4.): - self.low_speed_alert = False - if self.low_speed_alert: - events.add(EventName.belowSteerSpeed) - else: events = self.create_common_events(CS, CS_prev) From e8fd8e601864b94e921878bd7359c8bd18562572 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 18 May 2025 01:20:28 -0700 Subject: [PATCH 264/477] bump opendbc --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index bf27fea810..447381dee2 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bf27fea810a111bd9b2c22a20e713485c65a2043 +Subproject commit 447381dee2d30fb46e4bf1aec0529667d0b9d159 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f67c4540c6..f916e7b306 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -746da1900c43a64146bb485b7fc2a836e2005113 \ No newline at end of file +8e57f774d0e8302e1bf1834f84720bb1f9211ae3 \ No newline at end of file From f630cac06f40f4e52166c426befe77723cfbaaf7 Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Sun, 18 May 2025 15:57:45 +0300 Subject: [PATCH 265/477] modeld: replace CLANG=1 with CPU=1 (#35270) Replace CLANG=1 with CPU=1 --- For more details, open the [Copilot Workspace session](https://copilot-workspace.githubnext.com/andiradulescu/openpilot?shareId=XXXX-XXXX-XXXX-XXXX). --- selfdrive/modeld/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 28d60b9e00..a6be5c15da 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -46,7 +46,7 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: elif arch == 'larch64': device_string = 'QCOM=1' elif arch == 'Darwin': - device_string = 'CLANG=1 IMAGE=0 JIT=2' + device_string = 'CPU=1 IMAGE=0 JIT=2' else: device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2' From 3aa9ddd3c76406796240494b8638c6bcee6441b7 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 18 May 2025 10:02:50 -0400 Subject: [PATCH 266/477] Revert "MADS: `wrongCarMode` alert only with selfdrive enable (#931)" (#932) This reverts commit 6d516a7704410b69a2707dfcb856eba5be519f81. --- sunnypilot/mads/mads.py | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index d5ce9354c1..456be01882 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -81,13 +81,6 @@ class ModularAssistiveDrivingSystem: return False - def get_wrong_car_mode(self, alert_only: bool) -> None: - if alert_only: - if self.events.has(EventName.wrongCarMode): - self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) - else: - self.events.remove(EventName.wrongCarMode) - def transition_paused_state(self): if self.state_machine.state != State.paused: self.events_sp.add(EventNameSP.silentLkasDisable) @@ -128,12 +121,11 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.manualRestart) selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable) - set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents) - - # wrongCarMode alert only or actively block control - self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable) if selfdrive_enable_events: + if self.pedal_pressed_non_gas_pressed(CS): + self.events_sp.add(EventNameSP.pedalPressedAlertOnly) + if self.block_unified_engagement_mode(): self.events.remove(EventName.pcmEnable) self.events.remove(EventName.buttonEnable) @@ -168,6 +160,11 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.buttonCancel) self.events.remove(EventName.pedalPressed) self.events.remove(EventName.wrongCruiseMode) + if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents): + if self.events.has(EventName.wrongCarMode): + self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) + else: + self.events.remove(EventName.wrongCarMode) def update(self, CS: structs.CarState): if not self.enabled_toggle: From a93e788401efd659fc18af848dcf563e5c89ce33 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 18 May 2025 10:14:03 -0400 Subject: [PATCH 267/477] Reapply "MADS: wrongCarMode alert only with selfdrive enable (#931)" (#933) * Revert "MADS: `wrongCarMode` alert only with selfdrive enable (#931)" This reverts commit 6d516a7704410b69a2707dfcb856eba5be519f81. * Reapply "MADS: `wrongCarMode` alert only with selfdrive enable (#931)" This reverts commit c9487597e4ae4aa10a7111d963c5933d472bc88e. * Reapply "MADS: `wrongCarMode` alert only with selfdrive enable (#931)" This reverts commit c9487597e4ae4aa10a7111d963c5933d472bc88e. --- sunnypilot/mads/mads.py | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 456be01882..e3ee7cd832 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -81,6 +81,13 @@ class ModularAssistiveDrivingSystem: return False + def get_wrong_car_mode(self, alert_only: bool) -> None: + if alert_only: + if self.events.has(EventName.wrongCarMode): + self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) + else: + self.events.remove(EventName.wrongCarMode) + def transition_paused_state(self): if self.state_machine.state != State.paused: self.events_sp.add(EventNameSP.silentLkasDisable) @@ -121,6 +128,10 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.manualRestart) selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable) + set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents) + + # wrongCarMode alert only or actively block control + self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable) if selfdrive_enable_events: if self.pedal_pressed_non_gas_pressed(CS): @@ -160,11 +171,6 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.buttonCancel) self.events.remove(EventName.pedalPressed) self.events.remove(EventName.wrongCruiseMode) - if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents): - if self.events.has(EventName.wrongCarMode): - self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) - else: - self.events.remove(EventName.wrongCarMode) def update(self, CS: structs.CarState): if not self.enabled_toggle: From ed0f8129955ddf727e937a01d240577814bcc6f2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 18 May 2025 16:21:20 -0700 Subject: [PATCH 268/477] system/ui: add SCALE env var (#35272) * ui: add SCALE env var * linting * cleaner --------- Co-authored-by: Cameron Clough --- system/ui/README.md | 1 + system/ui/lib/application.py | 37 +++++++++++++++++++++++++++++------- 2 files changed, 31 insertions(+), 7 deletions(-) diff --git a/system/ui/README.md b/system/ui/README.md index 5f47961a51..c71b77ab66 100644 --- a/system/ui/README.md +++ b/system/ui/README.md @@ -5,5 +5,6 @@ The user interfaces here are built with [raylib](https://www.raylib.com/). Quick start: * set `DEBUG_FPS=1` to show the FPS * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps +* set `SCALE=1.5` to scale the entire UI by 1.5x * https://www.raylib.com/cheatsheet/cheatsheet.html * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index a2ea392784..83ec0f6ddd 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -15,6 +15,7 @@ FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1" DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' +SCALE = float(os.getenv("SCALE", "1.0")) DEFAULT_TEXT_SIZE = 60 DEFAULT_TEXT_COLOR = rl.WHITE @@ -22,6 +23,7 @@ DEFAULT_TEXT_COLOR = rl.WHITE ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets") FONT_DIR = ASSETS_DIR.joinpath("fonts") + class FontWeight(IntEnum): THIN = 0 EXTRA_LIGHT = 1 @@ -39,6 +41,10 @@ class GuiApplication: self._fonts: dict[FontWeight, rl.Font] = {} self._width = width self._height = height + self._scale = SCALE + self._scaled_width = int(self._width * self._scale) + self._scaled_height = int(self._height * self._scale) + self._render_texture: rl.RenderTexture | None = None self._textures: dict[str, rl.Texture] = {} self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() @@ -62,14 +68,15 @@ class GuiApplication: flags |= rl.ConfigFlags.FLAG_VSYNC_HINT rl.set_config_flags(flags) - rl.init_window(self._width, self._height, title) + rl.init_window(self._scaled_width, self._scaled_height, title) + if self._scale != 1.0: + self._render_texture = rl.load_render_texture(self._width, self._height) rl.set_target_fps(fps) self._target_fps = fps self._set_styles() self._load_fonts() - def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" if cache_key in self._textures: @@ -80,7 +87,7 @@ class GuiApplication: self._textures[cache_key] = texture_obj return texture_obj - def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply = False, keep_aspect_ratio=True): + def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): """Load and resize a texture, storing it for later automatic unloading.""" image = rl.load_image(image_path) @@ -123,16 +130,32 @@ class GuiApplication: rl.unload_font(font) self._fonts = {} + if self._render_texture is not None: + rl.unload_render_texture(self._render_texture) + self._render_texture = None + rl.close_window() def render(self): try: while not (self._window_close_requested or rl.window_should_close()): - rl.begin_drawing() - rl.clear_background(rl.BLACK) + if self._render_texture: + rl.begin_texture_mode(self._render_texture) + rl.clear_background(rl.BLACK) + else: + rl.begin_drawing() + rl.clear_background(rl.BLACK) yield + if self._render_texture: + rl.end_texture_mode() + rl.begin_drawing() + rl.clear_background(rl.BLACK) + src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height)) + dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height)) + rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) + if DEBUG_FPS: rl.draw_fps(10, 10) @@ -141,7 +164,7 @@ class GuiApplication: except KeyboardInterrupt: pass - def font(self, font_weight: FontWeight=FontWeight.NORMAL): + def font(self, font_weight: FontWeight = FontWeight.NORMAL): return self._fonts[font_weight] @property @@ -163,7 +186,7 @@ class GuiApplication: "Inter-Bold.ttf", "Inter-ExtraBold.ttf", "Inter-Black.ttf", - ) + ) for index, font_file in enumerate(font_files): with as_file(FONT_DIR.joinpath(font_file)) as fspath: From e2569a8b322fbe105475e4d1336890fd79e2d522 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 00:27:35 +0100 Subject: [PATCH 269/477] Revert "system/ui: add SCALE env var (#35272)" This reverts commit ed0f8129955ddf727e937a01d240577814bcc6f2. --- system/ui/README.md | 1 - system/ui/lib/application.py | 37 +++++++----------------------------- 2 files changed, 7 insertions(+), 31 deletions(-) diff --git a/system/ui/README.md b/system/ui/README.md index c71b77ab66..5f47961a51 100644 --- a/system/ui/README.md +++ b/system/ui/README.md @@ -5,6 +5,5 @@ The user interfaces here are built with [raylib](https://www.raylib.com/). Quick start: * set `DEBUG_FPS=1` to show the FPS * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps -* set `SCALE=1.5` to scale the entire UI by 1.5x * https://www.raylib.com/cheatsheet/cheatsheet.html * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 83ec0f6ddd..a2ea392784 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -15,7 +15,6 @@ FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1" DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' -SCALE = float(os.getenv("SCALE", "1.0")) DEFAULT_TEXT_SIZE = 60 DEFAULT_TEXT_COLOR = rl.WHITE @@ -23,7 +22,6 @@ DEFAULT_TEXT_COLOR = rl.WHITE ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets") FONT_DIR = ASSETS_DIR.joinpath("fonts") - class FontWeight(IntEnum): THIN = 0 EXTRA_LIGHT = 1 @@ -41,10 +39,6 @@ class GuiApplication: self._fonts: dict[FontWeight, rl.Font] = {} self._width = width self._height = height - self._scale = SCALE - self._scaled_width = int(self._width * self._scale) - self._scaled_height = int(self._height * self._scale) - self._render_texture: rl.RenderTexture | None = None self._textures: dict[str, rl.Texture] = {} self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() @@ -68,15 +62,14 @@ class GuiApplication: flags |= rl.ConfigFlags.FLAG_VSYNC_HINT rl.set_config_flags(flags) - rl.init_window(self._scaled_width, self._scaled_height, title) - if self._scale != 1.0: - self._render_texture = rl.load_render_texture(self._width, self._height) + rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) self._target_fps = fps self._set_styles() self._load_fonts() + def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" if cache_key in self._textures: @@ -87,7 +80,7 @@ class GuiApplication: self._textures[cache_key] = texture_obj return texture_obj - def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): + def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply = False, keep_aspect_ratio=True): """Load and resize a texture, storing it for later automatic unloading.""" image = rl.load_image(image_path) @@ -130,32 +123,16 @@ class GuiApplication: rl.unload_font(font) self._fonts = {} - if self._render_texture is not None: - rl.unload_render_texture(self._render_texture) - self._render_texture = None - rl.close_window() def render(self): try: while not (self._window_close_requested or rl.window_should_close()): - if self._render_texture: - rl.begin_texture_mode(self._render_texture) - rl.clear_background(rl.BLACK) - else: - rl.begin_drawing() - rl.clear_background(rl.BLACK) + rl.begin_drawing() + rl.clear_background(rl.BLACK) yield - if self._render_texture: - rl.end_texture_mode() - rl.begin_drawing() - rl.clear_background(rl.BLACK) - src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height)) - dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height)) - rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) - if DEBUG_FPS: rl.draw_fps(10, 10) @@ -164,7 +141,7 @@ class GuiApplication: except KeyboardInterrupt: pass - def font(self, font_weight: FontWeight = FontWeight.NORMAL): + def font(self, font_weight: FontWeight=FontWeight.NORMAL): return self._fonts[font_weight] @property @@ -186,7 +163,7 @@ class GuiApplication: "Inter-Bold.ttf", "Inter-ExtraBold.ttf", "Inter-Black.ttf", - ) + ) for index, font_file in enumerate(font_files): with as_file(FONT_DIR.joinpath(font_file)) as fspath: From 15c7d556f61d9dd61a420a8d1f6e165b3d3db184 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 00:33:52 +0100 Subject: [PATCH 270/477] Reapply "system/ui: add SCALE env var (#35272)" (#35273) * Reapply "system/ui: add SCALE env var (#35272)" This reverts commit e2569a8b322fbe105475e4d1336890fd79e2d522. * set mouse scale factor --- system/ui/README.md | 1 + system/ui/lib/application.py | 38 +++++++++++++++++++++++++++++------- 2 files changed, 32 insertions(+), 7 deletions(-) diff --git a/system/ui/README.md b/system/ui/README.md index 5f47961a51..c71b77ab66 100644 --- a/system/ui/README.md +++ b/system/ui/README.md @@ -5,5 +5,6 @@ The user interfaces here are built with [raylib](https://www.raylib.com/). Quick start: * set `DEBUG_FPS=1` to show the FPS * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps +* set `SCALE=1.5` to scale the entire UI by 1.5x * https://www.raylib.com/cheatsheet/cheatsheet.html * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index a2ea392784..19f01ca6ac 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -15,6 +15,7 @@ FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1" DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' +SCALE = float(os.getenv("SCALE", "1.0")) DEFAULT_TEXT_SIZE = 60 DEFAULT_TEXT_COLOR = rl.WHITE @@ -22,6 +23,7 @@ DEFAULT_TEXT_COLOR = rl.WHITE ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets") FONT_DIR = ASSETS_DIR.joinpath("fonts") + class FontWeight(IntEnum): THIN = 0 EXTRA_LIGHT = 1 @@ -39,6 +41,10 @@ class GuiApplication: self._fonts: dict[FontWeight, rl.Font] = {} self._width = width self._height = height + self._scale = SCALE + self._scaled_width = int(self._width * self._scale) + self._scaled_height = int(self._height * self._scale) + self._render_texture: rl.RenderTexture | None = None self._textures: dict[str, rl.Texture] = {} self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() @@ -62,14 +68,16 @@ class GuiApplication: flags |= rl.ConfigFlags.FLAG_VSYNC_HINT rl.set_config_flags(flags) - rl.init_window(self._width, self._height, title) + rl.init_window(self._scaled_width, self._scaled_height, title) + if self._scale != 1.0: + rl.set_mouse_scale(1 / self._scale, 1 / self._scale) + self._render_texture = rl.load_render_texture(self._width, self._height) rl.set_target_fps(fps) self._target_fps = fps self._set_styles() self._load_fonts() - def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" if cache_key in self._textures: @@ -80,7 +88,7 @@ class GuiApplication: self._textures[cache_key] = texture_obj return texture_obj - def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply = False, keep_aspect_ratio=True): + def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): """Load and resize a texture, storing it for later automatic unloading.""" image = rl.load_image(image_path) @@ -123,16 +131,32 @@ class GuiApplication: rl.unload_font(font) self._fonts = {} + if self._render_texture is not None: + rl.unload_render_texture(self._render_texture) + self._render_texture = None + rl.close_window() def render(self): try: while not (self._window_close_requested or rl.window_should_close()): - rl.begin_drawing() - rl.clear_background(rl.BLACK) + if self._render_texture: + rl.begin_texture_mode(self._render_texture) + rl.clear_background(rl.BLACK) + else: + rl.begin_drawing() + rl.clear_background(rl.BLACK) yield + if self._render_texture: + rl.end_texture_mode() + rl.begin_drawing() + rl.clear_background(rl.BLACK) + src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height)) + dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height)) + rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) + if DEBUG_FPS: rl.draw_fps(10, 10) @@ -141,7 +165,7 @@ class GuiApplication: except KeyboardInterrupt: pass - def font(self, font_weight: FontWeight=FontWeight.NORMAL): + def font(self, font_weight: FontWeight = FontWeight.NORMAL): return self._fonts[font_weight] @property @@ -163,7 +187,7 @@ class GuiApplication: "Inter-Bold.ttf", "Inter-ExtraBold.ttf", "Inter-Black.ttf", - ) + ) for index, font_file in enumerate(font_files): with as_file(FONT_DIR.joinpath(font_file)) as fspath: From 645bd391b793f343822c4eb5e2ded225019674b6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 18 May 2025 16:57:56 -0700 Subject: [PATCH 271/477] readme: add sgo to branch guide --- README.md | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 77002481d3..b0248b0f54 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@

openpilot is an operating system for robotics.
- Currently, it upgrades the driver assistance system in 275+ supported cars. + Currently, it upgrades the driver assistance system in 300+ supported cars.

@@ -57,6 +57,7 @@ We have detailed instructions for [how to install the harness and device in a ca | `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | +| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. | To start developing openpilot ------ @@ -83,8 +84,8 @@ Safety and Testing * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile). * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes. -Licensing ------- +
+MIT Licensed openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified. @@ -93,9 +94,10 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.** +
-User Data and comma Account ------- +
+User Data and comma Account By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone. @@ -105,3 +107,4 @@ openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sen The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. +
From d7bf309eca1ae078d064d3587b0c9ae74a6ff2a1 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 00:58:33 +0100 Subject: [PATCH 272/477] system/ui: update keyboard enter key (#35275) * system/ui: update keyboard enter key - use arrow-right icon - use primary color * format --- system/ui/widgets/keyboard.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index aabd664171..ec6a70fb0a 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,13 +1,13 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight -from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.button import ButtonStyle, gui_button from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label # Constants for special keys CONTENT_MARGIN = 50 BACKSPACE_KEY = "<-" -ENTER_KEY = "Enter" +ENTER_KEY = "->" SPACE_KEY = " " SHIFT_KEY = "↑" SHIFT_DOWN_KEY = "↓" @@ -59,6 +59,7 @@ class Keyboard: BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 60, 60), SHIFT_KEY: gui_app.texture("icons/shift.png", 60, 60), SHIFT_DOWN_KEY: gui_app.texture("icons/arrow-down.png", 60, 60), + ENTER_KEY: gui_app.texture("icons/arrow-right.png", 60, 60), } @property @@ -103,7 +104,7 @@ class Keyboard: result = -1 if key in self._key_icons: texture = self._key_icons[key] - result = gui_button(key_rect, "", icon=texture, is_enabled=is_enabled) + result = gui_button(key_rect, "", icon=texture, button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL, is_enabled=is_enabled) else: result = gui_button(key_rect, key, is_enabled=is_enabled) From f1ba6c389b9f545cb40a0c72e5851e7737993a1c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 18 May 2025 16:59:53 -0700 Subject: [PATCH 273/477] quick repo garbage collection (#35274) * start gc * lil more * debug * no sound * add back --- SConstruct | 12 +------ common/ffi_wrapper.py | 8 ----- common/filter_simple.py | 1 - pyproject.toml | 2 +- selfdrive/debug/{ => car}/clear_dtc.py | 0 .../{ => car}/hyundai_enable_radar_points.py | 0 .../debug/{ => car}/toyota_eps_factor.py | 0 selfdrive/debug/{ => car}/vw_mqb_config.py | 0 selfdrive/debug/measure_modeld_packet_drop.py | 33 ------------------- selfdrive/debug/show_matching_cars.py | 20 ----------- selfdrive/ui/qt/python_helpers.py | 5 ++- system/athena/athenad.py | 2 +- system/camerad/{snapshot => }/snapshot.py | 0 system/camerad/snapshot/__init__.py | 0 system/camerad/test/check_skips.py | 27 --------------- .../test/get_thumbnails_for_segment.py | 24 -------------- system/camerad/test/test_exposure.py | 2 +- 17 files changed, 8 insertions(+), 128 deletions(-) delete mode 100644 common/ffi_wrapper.py rename selfdrive/debug/{ => car}/clear_dtc.py (100%) rename selfdrive/debug/{ => car}/hyundai_enable_radar_points.py (100%) rename selfdrive/debug/{ => car}/toyota_eps_factor.py (100%) rename selfdrive/debug/{ => car}/vw_mqb_config.py (100%) delete mode 100755 selfdrive/debug/measure_modeld_packet_drop.py delete mode 100755 selfdrive/debug/show_matching_cars.py rename system/camerad/{snapshot => }/snapshot.py (100%) delete mode 100644 system/camerad/snapshot/__init__.py delete mode 100755 system/camerad/test/check_skips.py delete mode 100755 system/camerad/test/get_thumbnails_for_segment.py diff --git a/SConstruct b/SConstruct index c40f118985..d5597a70fe 100644 --- a/SConstruct +++ b/SConstruct @@ -55,11 +55,6 @@ AddOption('--external-sconscript', dest='external_sconscript', help='add an external SConscript to the build') -AddOption('--pc-thneed', - action='store_true', - dest='pc_thneed', - help='use thneed on pc') - AddOption('--mutation', action='store_true', help='generate mutation-ready code') @@ -288,12 +283,7 @@ else: elif arch != "Darwin": qt_libs += ["GL"] qt_env['QT3DIR'] = qt_env['QTDIR'] - -# compatibility for older SCons versions -try: - qt_env.Tool('qt3') -except SCons.Errors.UserError: - qt_env.Tool('qt') +qt_env.Tool('qt3') qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"] qt_flags = [ diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py deleted file mode 100644 index 01741c6f42..0000000000 --- a/common/ffi_wrapper.py +++ /dev/null @@ -1,8 +0,0 @@ -import platform - - -def suffix(): - if platform.system() == "Darwin": - return ".dylib" - else: - return ".so" diff --git a/common/filter_simple.py b/common/filter_simple.py index 0ec7a51562..9ea6fe3070 100644 --- a/common/filter_simple.py +++ b/common/filter_simple.py @@ -1,5 +1,4 @@ class FirstOrderFilter: - # first order filter def __init__(self, x0, rc, dt, initialized=True): self.x = x0 self.dt = dt diff --git a/pyproject.toml b/pyproject.toml index 20bfebd938..464b605f86 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -123,7 +123,7 @@ tools = [ ] [project.urls] -Homepage = "https://comma.ai" +Homepage = "https://github.com/commaai/openpilot" [build-system] requires = ["hatchling"] diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/car/clear_dtc.py similarity index 100% rename from selfdrive/debug/clear_dtc.py rename to selfdrive/debug/car/clear_dtc.py diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/car/hyundai_enable_radar_points.py similarity index 100% rename from selfdrive/debug/hyundai_enable_radar_points.py rename to selfdrive/debug/car/hyundai_enable_radar_points.py diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/car/toyota_eps_factor.py similarity index 100% rename from selfdrive/debug/toyota_eps_factor.py rename to selfdrive/debug/car/toyota_eps_factor.py diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/car/vw_mqb_config.py similarity index 100% rename from selfdrive/debug/vw_mqb_config.py rename to selfdrive/debug/car/vw_mqb_config.py diff --git a/selfdrive/debug/measure_modeld_packet_drop.py b/selfdrive/debug/measure_modeld_packet_drop.py deleted file mode 100755 index 9814942ce2..0000000000 --- a/selfdrive/debug/measure_modeld_packet_drop.py +++ /dev/null @@ -1,33 +0,0 @@ -#!/usr/bin/env python3 -import cereal.messaging as messaging - -if __name__ == "__main__": - modeld_sock = messaging.sub_sock("modelV2") - - last_frame_id = None - start_t: int | None = None - frame_cnt = 0 - dropped = 0 - - while True: - m = messaging.recv_one(modeld_sock) - if m is None: - continue - - frame_id = m.modelV2.frameId - t = m.logMonoTime / 1e9 - frame_cnt += 1 - - if start_t is None: - start_t = t - last_frame_id = frame_id - continue - - d_frame = frame_id - last_frame_id - dropped += d_frame - 1 - - expected_num_frames = int((t - start_t) * 20) - frame_drop = 100 * (1 - (expected_num_frames / frame_cnt)) - print(f"Num dropped {dropped}, Drop compared to 20Hz: {frame_drop:.2f}%") - - last_frame_id = frame_id diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py deleted file mode 100755 index bc13772977..0000000000 --- a/selfdrive/debug/show_matching_cars.py +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env python3 -from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars -import cereal.messaging as messaging - - -# rav4 2019 and corolla tss2 -fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501 - -candidate_cars = all_legacy_fingerprint_cars() - - -for addr, l in fingerprint.items(): - dat = messaging.new_message('can', 1) - - msg = dat.can[0] - msg.address = addr - msg.dat = " " * l - - candidate_cars = eliminate_incompatible_cars(msg, candidate_cars) - print(candidate_cars) diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py index 88c36290d9..1f6d43f309 100644 --- a/selfdrive/ui/qt/python_helpers.py +++ b/selfdrive/ui/qt/python_helpers.py @@ -1,11 +1,14 @@ import os +import platform from cffi import FFI import sip -from openpilot.common.ffi_wrapper import suffix from openpilot.common.basedir import BASEDIR +def suffix(): + return ".dylib" if platform.system() == "Darwin" else ".so" + def get_ffi(): lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix()) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index fb546fa40f..5a02d45c43 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -546,7 +546,7 @@ def getNetworks(): @dispatcher.add_method def takeSnapshot() -> str | dict[str, str] | None: - from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot + from openpilot.system.camerad.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: def b64jpeg(x): diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot.py similarity index 100% rename from system/camerad/snapshot/snapshot.py rename to system/camerad/snapshot.py diff --git a/system/camerad/snapshot/__init__.py b/system/camerad/snapshot/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/system/camerad/test/check_skips.py b/system/camerad/test/check_skips.py deleted file mode 100755 index 0814ce44ff..0000000000 --- a/system/camerad/test/check_skips.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore -import cereal.messaging as messaging - -all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState'] -prev_id = [None,None,None] -this_id = [None,None,None] -dt = [None,None,None] -num_skipped = [0,0,0] - -if __name__ == "__main__": - sm = messaging.SubMaster(all_sockets) - while True: - sm.update() - - for i in range(len(all_sockets)): - if not sm.updated[all_sockets[i]]: - continue - this_id[i] = sm[all_sockets[i]].frameId - if prev_id[i] is None: - prev_id[i] = this_id[i] - continue - dt[i] = this_id[i] - prev_id[i] - if dt[i] != 1: - num_skipped[i] += dt[i] - 1 - print(all_sockets[i] ,dt[i] - 1, num_skipped[i]) - prev_id[i] = this_id[i] diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py deleted file mode 100755 index 21409f398d..0000000000 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ /dev/null @@ -1,24 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -from tqdm import tqdm - -from openpilot.tools.lib.logreader import LogReader - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("route", help="The route name") - args = parser.parse_args() - - out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") - os.makedirs(out_path, exist_ok=True) - - lr = LogReader(args.route) - - for msg in tqdm(lr): - if msg.which() == 'thumbnail': - with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f: - f.write(msg.thumbnail.thumbnail) - elif msg.which() == 'navThumbnail': - with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f: - f.write(msg.navThumbnail.thumbnail) diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index 97f03ed182..f431c03410 100644 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -3,7 +3,7 @@ import numpy as np import pytest from openpilot.selfdrive.test.helpers import with_processes -from openpilot.system.camerad.snapshot.snapshot import get_snapshots +from openpilot.system.camerad.snapshot import get_snapshots TEST_TIME = 45 REPEAT = 5 From 66409866223afca81b3ec98636f6c61e9c5919e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 01:31:38 +0100 Subject: [PATCH 274/477] system/ui: increase keyboard key font/icon size (#35276) --- system/ui/widgets/keyboard.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index ec6a70fb0a..bceffad943 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -4,6 +4,8 @@ from openpilot.system.ui.lib.button import ButtonStyle, gui_button from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label +KEY_FONT_SIZE = 96 + # Constants for special keys CONTENT_MARGIN = 50 BACKSPACE_KEY = "<-" @@ -56,10 +58,10 @@ class Keyboard: self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) self._key_icons = { - BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 60, 60), - SHIFT_KEY: gui_app.texture("icons/shift.png", 60, 60), - SHIFT_DOWN_KEY: gui_app.texture("icons/arrow-down.png", 60, 60), - ENTER_KEY: gui_app.texture("icons/arrow-right.png", 60, 60), + BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 80, 80), + SHIFT_KEY: gui_app.texture("icons/shift.png", 80, 80), + SHIFT_DOWN_KEY: gui_app.texture("icons/arrow-down.png", 80, 80), + ENTER_KEY: gui_app.texture("icons/arrow-right.png", 80, 80), } @property @@ -106,7 +108,7 @@ class Keyboard: texture = self._key_icons[key] result = gui_button(key_rect, "", icon=texture, button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL, is_enabled=is_enabled) else: - result = gui_button(key_rect, key, is_enabled=is_enabled) + result = gui_button(key_rect, key, KEY_FONT_SIZE, is_enabled=is_enabled) if result: if key == ENTER_KEY: From ebe56410d3133957c27219e0666e6304abb5cd91 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 19 May 2025 01:25:11 -0400 Subject: [PATCH 275/477] MADS: Steering Mode on Brake Pedal Press (#924) * MADS: Steering Mode on Brake Pedal Press * bump * bump * descriptions * bump * bump * no tesla or rivian yet * codecov v5 * Revert "codecov v5" This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de. * cleanup * refactor description * sync name * fix * make sure we don't allow if brake was already being pressed * fix * diff * fix description * in another PR --- common/params_keys.h | 2 +- opendbc_repo | 2 +- selfdrive/pandad/pandad.cc | 4 +- .../offroad/settings/lateral/mads_settings.cc | 27 ++++++----- .../offroad/settings/lateral/mads_settings.h | 46 ++++++++++++++++++- sunnypilot/mads/helpers.py | 21 +++++++-- sunnypilot/mads/mads.py | 17 +++++-- system/manager/manager.py | 2 +- 8 files changed, 97 insertions(+), 24 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 97f23d5108..d3a9ea7d6d 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -138,7 +138,7 @@ inline static std::unordered_map keys = { // MADS params {"Mads", PERSISTENT | BACKUP}, {"MadsMainCruiseAllowed", PERSISTENT | BACKUP}, - {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP}, + {"MadsSteeringMode", PERSISTENT | BACKUP}, {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP}, // Model Manager params diff --git a/opendbc_repo b/opendbc_repo index 36461557c4..a051754777 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 36461557c47176b16a081ea40195bc327a34d97f +Subproject commit a051754777785cc93eb0be35b081d19f7fbce595 diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index d3dbba8182..1b4defd2b9 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -41,7 +41,7 @@ #define CUTOFF_IL 400 #define SATURATE_IL 1000 -#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048 +#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048 ExitHandler do_exit; @@ -57,7 +57,7 @@ bool check_all_connected(const std::vector &pandas) { bool process_mads_heartbeat(SubMaster *sm) { const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience(); - const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0; + const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0; const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads(); const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled(); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc index fa0f7f8bd4..97b78399d3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc @@ -39,17 +39,12 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) { ""); list->addItem(madsUnifiedEngagementModeToggle); - // Pause Lateral On Brake - std::vector lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")}; - madsPauseLateralOnBrake = new ButtonParamControl( - "MadsPauseLateralOnBrake", - tr("Steering Mode After Braking"), - tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n" - "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."), - "", - lateral_on_brake_texts, - 500); - list->addItem(madsPauseLateralOnBrake); + // Steering Mode On Brake + madsSteeringMode = new ButtonParamControl("MadsSteeringMode", tr("Steering Mode on Brake Pedal"), "", "", madsSteeringModeTexts(), 500); + QObject::connect(madsSteeringMode, &ButtonParamControl::buttonToggled, [=] { + updateToggles(offroad); + }); + list->addItem(madsSteeringMode); QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles); @@ -61,7 +56,15 @@ void MadsSettings::showEvent(QShowEvent *event) { } void MadsSettings::updateToggles(bool _offroad) { - madsPauseLateralOnBrake->setEnabled(_offroad); + auto mads_steering_mode_param = std::atoi(params.get("MadsSteeringMode").c_str()); + + auto steering_mode = static_cast( + std::clamp(mads_steering_mode_param, static_cast(MadsSteeringMode::REMAIN_ACTIVE), static_cast(MadsSteeringMode::DISENGAGE)) + ); + + madsSteeringMode->setEnabled(_offroad); + madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode)); + madsSteeringMode->showDescription(); offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h index fccb4cbb84..07ca07834d 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h @@ -12,6 +12,18 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +enum class MadsSteeringMode { + REMAIN_ACTIVE = 0, + PAUSE = 1, + DISENGAGE = 2, +}; + +struct MadsSteeringModeOption { + MadsSteeringMode mode; + QString display_text; + QString description; +}; + class MadsSettings : public QWidget { Q_OBJECT @@ -32,5 +44,37 @@ private: ParamControl *madsMainCruiseToggle; ParamControl *madsUnifiedEngagementModeToggle; - ButtonParamControl *madsPauseLateralOnBrake; + ButtonParamControl *madsSteeringMode; + + static const std::vector &madsSteeringModeOptions() { + static const std::vector options = { + {MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")}, + {MadsSteeringMode::PAUSE, tr("Pause"), tr("Pause: ALC will pause when the brake pedal is pressed.")}, + {MadsSteeringMode::DISENGAGE, tr("Disengage"), tr("Disengage: ALC will disengage when the brake pedal is pressed.")}, + }; + return options; + } + + static std::vector madsSteeringModeTexts() { + std::vector texts; + for (const auto& option : madsSteeringModeOptions()) { + texts.push_back(option.display_text); + } + return texts; + } + + static QString madsSteeringModeDescription(const MadsSteeringMode mode) { + QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot."); + QString result = base_desc + "

"; + + for (const auto& option : madsSteeringModeOptions()) { + QString desc = option.description; + if (option.mode == mode) { + desc = "" + desc + ""; + } + result += desc + "
"; + } + + return result; + } }; diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py index 831a75699e..5f7f9840e2 100644 --- a/sunnypilot/mads/helpers.py +++ b/sunnypilot/mads/helpers.py @@ -11,15 +11,30 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP +class MadsSteeringModeOnBrake: + REMAIN_ACTIVE = 0 + PAUSE = 1 + DISENGAGE = 2 + + +def read_steering_mode_param(params: Params): + try: + return int(params.get("MadsSteeringMode")) + except (ValueError, TypeError): + return MadsSteeringModeOnBrake.REMAIN_ACTIVE + + def set_alternative_experience(CP: structs.CarParams, params: Params): enabled = params.get_bool("Mads") - pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake") + steering_mode = read_steering_mode_param(params) if enabled: CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS - if pause_lateral_on_brake: - CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE + if steering_mode == MadsSteeringModeOnBrake.DISENGAGE: + CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE + elif steering_mode == MadsSteeringModeOnBrake.PAUSE: + CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params): diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index e3ee7cd832..38d38230ab 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -10,6 +10,7 @@ from cereal import log, custom from opendbc.car import structs from opendbc.car.hyundai.values import HyundaiFlags from opendbc.safety import ALTERNATIVE_EXPERIENCE +from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState @@ -46,7 +47,7 @@ class ModularAssistiveDrivingSystem: # read params on init self.enabled_toggle = self.params.get_bool("Mads") self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed") - self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake") + self.steering_mode_on_brake = read_steering_mode_param(self.params) self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode") def read_params(self): @@ -60,7 +61,7 @@ class ModularAssistiveDrivingSystem: return False def should_silent_lkas_enable(self, CS: structs.CarState) -> bool: - if self.pause_lateral_on_brake_toggle and self.pedal_pressed_non_gas_pressed(CS): + if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS): return False if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT): @@ -117,7 +118,7 @@ class ModularAssistiveDrivingSystem: self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake) self.transition_paused_state() - if self.pause_lateral_on_brake_toggle: + if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE: if self.pedal_pressed_non_gas_pressed(CS): self.transition_paused_state() @@ -163,6 +164,16 @@ class ModularAssistiveDrivingSystem: if self.selfdrive.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasDisable) + if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE: + if self.pedal_pressed_non_gas_pressed(CS): + if self.enabled: + self.events_sp.add(EventNameSP.lkasDisable) + else: + # block lkasEnable if being sent, then send pedalPressedAlertOnly event + if self.events_sp.contains(EventNameSP.lkasEnable): + self.events_sp.remove(EventNameSP.lkasEnable) + self.events_sp.add(EventNameSP.pedalPressedAlertOnly) + if self.should_silent_lkas_enable(CS): if self.state_machine.state == State.paused: self.events_sp.add(EventNameSP.silentLkasEnable) diff --git a/system/manager/manager.py b/system/manager/manager.py index 90df415a8c..71f2bc525a 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -48,7 +48,7 @@ def manager_init() -> None: ("HyundaiLongitudinalTuning", "0"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), - ("MadsPauseLateralOnBrake", "0"), + ("MadsSteeringMode", "0"), ("MadsUnifiedEngagementMode", "1"), ("MaxTimeOffroad", "1800"), ("ModelManager_LastSyncTime", "0"), From 0c013f61863230e22e8491cfd8945c600229e691 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 11:28:04 +0100 Subject: [PATCH 276/477] system/ui: add caps lock to keyboard (#35277) * add new icons shift-fill and capslock-fill, rm capslock * SHIFT_KEY_ON, SHIFT_KEY_OFF * capslock * rm arrow-down * a lot simpler * only one * just use time * layout name * rename shift * CONSTANT --- selfdrive/assets/icons/arrow-down.png | 3 -- selfdrive/assets/icons/capslock-fill.png | 3 ++ selfdrive/assets/icons/capslock.png | 3 -- selfdrive/assets/icons/shift-fill.png | 3 ++ selfdrive/assets/prep-svg.sh | 4 +- system/ui/widgets/keyboard.py | 53 +++++++++++++++++------- 6 files changed, 45 insertions(+), 24 deletions(-) delete mode 100644 selfdrive/assets/icons/arrow-down.png create mode 100644 selfdrive/assets/icons/capslock-fill.png delete mode 100644 selfdrive/assets/icons/capslock.png create mode 100644 selfdrive/assets/icons/shift-fill.png diff --git a/selfdrive/assets/icons/arrow-down.png b/selfdrive/assets/icons/arrow-down.png deleted file mode 100644 index 834c1cb8b9..0000000000 --- a/selfdrive/assets/icons/arrow-down.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7e12a3cf36fdef107d237457e20b44e16320414f9de8a1791aff1ec5fd85ccef -size 2390 diff --git a/selfdrive/assets/icons/capslock-fill.png b/selfdrive/assets/icons/capslock-fill.png new file mode 100644 index 0000000000..66854e78f2 --- /dev/null +++ b/selfdrive/assets/icons/capslock-fill.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6872a1047f1a534a037be7b1367640fe1bfb205a6e1c50420a2d1a946cda78ed +size 4397 diff --git a/selfdrive/assets/icons/capslock.png b/selfdrive/assets/icons/capslock.png deleted file mode 100644 index 61414d7230..0000000000 --- a/selfdrive/assets/icons/capslock.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c6621d000d9514df1d636e9953941eadec415ff950724f26a61e0fcbaa7a3818 -size 5403 diff --git a/selfdrive/assets/icons/shift-fill.png b/selfdrive/assets/icons/shift-fill.png new file mode 100644 index 0000000000..1ce02d5822 --- /dev/null +++ b/selfdrive/assets/icons/shift-fill.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e625ca991746abaaac375b095aa9a586601982232f4aae0fc2b17b2a524e9ce9 +size 3946 diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh index d29ce3025d..2332cd25c5 100755 --- a/selfdrive/assets/prep-svg.sh +++ b/selfdrive/assets/prep-svg.sh @@ -6,11 +6,11 @@ ICONS_DIR="$DIR/icons" BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg" ICON_IDS=( - arrow-down arrow-right backspace - capslock + capslock-fill shift + shift-fill ) ICON_FILL_COLOR="#fff" diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index bceffad943..5eebb49c83 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,3 +1,5 @@ +import time +from typing import Literal import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import ButtonStyle, gui_button @@ -5,30 +7,32 @@ from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label KEY_FONT_SIZE = 96 +DOUBLE_CLICK_THRESHOLD = 0.5 # seconds # Constants for special keys CONTENT_MARGIN = 50 BACKSPACE_KEY = "<-" ENTER_KEY = "->" SPACE_KEY = " " -SHIFT_KEY = "↑" -SHIFT_DOWN_KEY = "↓" +SHIFT_INACTIVE_KEY = "SHIFT_OFF" +SHIFT_ACTIVE_KEY = "SHIFT_ON" +CAPS_LOCK_KEY = "CAPS" NUMERIC_KEY = "123" SYMBOL_KEY = "#+=" ABC_KEY = "ABC" # Define keyboard layouts as a dictionary for easier access -keyboard_layouts = { +KEYBOARD_LAYOUTS = { "lowercase": [ ["q", "w", "e", "r", "t", "y", "u", "i", "o", "p"], ["a", "s", "d", "f", "g", "h", "j", "k", "l"], - [SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY], + [SHIFT_INACTIVE_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY], [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY], ], "uppercase": [ ["Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"], ["A", "S", "D", "F", "G", "H", "J", "K", "L"], - [SHIFT_DOWN_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY], + [SHIFT_ACTIVE_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY], [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY], ], "numbers": [ @@ -48,7 +52,10 @@ keyboard_layouts = { class Keyboard: def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False): - self._layout = keyboard_layouts["lowercase"] + self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase" + self._caps_lock = False + self._last_shift_press_time = 0 + self._max_text_size = max_text_size self._min_text_size = min_text_size self._input_box = InputBox(max_text_size) @@ -59,8 +66,9 @@ class Keyboard: self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) self._key_icons = { BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 80, 80), - SHIFT_KEY: gui_app.texture("icons/shift.png", 80, 80), - SHIFT_DOWN_KEY: gui_app.texture("icons/arrow-down.png", 80, 80), + SHIFT_INACTIVE_KEY: gui_app.texture("icons/shift.png", 80, 80), + SHIFT_ACTIVE_KEY: gui_app.texture("icons/shift-fill.png", 80, 80), + CAPS_LOCK_KEY: gui_app.texture("icons/capslock-fill.png", 80, 80), ENTER_KEY: gui_app.texture("icons/arrow-right.png", 80, 80), } @@ -84,13 +92,15 @@ class Keyboard: input_box_rect = rl.Rectangle(rect.x + input_margin, rect.y + 160, rect.width - input_margin, 100) self._render_input_area(input_box_rect) + layout = KEYBOARD_LAYOUTS[self._layout_name] + h_space, v_space = 15, 15 row_y_start = rect.y + 300 # Starting Y position for the first row key_height = (rect.height - 300 - 3 * v_space) / 4 - key_max_width = (rect.width - (len(self._layout[2]) - 1) * h_space) / len(self._layout[2]) + key_max_width = (rect.width - (len(layout[2]) - 1) * h_space) / len(layout[2]) # Iterate over the rows of keys in the current layout - for row, keys in enumerate(self._layout): + for row, keys in enumerate(layout): key_width = min((rect.width - (180 if row == 1 else 0) - h_space * (len(keys) - 1)) / len(keys), key_max_width) start_x = rect.x + (90 if row == 1 else 0) @@ -105,6 +115,8 @@ class Keyboard: is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size result = -1 if key in self._key_icons: + if key == SHIFT_ACTIVE_KEY and self._caps_lock: + key = CAPS_LOCK_KEY texture = self._key_icons[key] result = gui_button(key_rect, "", icon=texture, button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL, is_enabled=is_enabled) else: @@ -148,18 +160,27 @@ class Keyboard: ) def handle_key_press(self, key): - if key in (SHIFT_DOWN_KEY, ABC_KEY): - self._layout = keyboard_layouts["lowercase"] - elif key == SHIFT_KEY: - self._layout = keyboard_layouts["uppercase"] + if key in (CAPS_LOCK_KEY, ABC_KEY): + self._caps_lock = False + self._layout_name = "lowercase" + elif key == SHIFT_INACTIVE_KEY: + self._last_shift_press_time = time.monotonic() + self._layout_name = "uppercase" + elif key == SHIFT_ACTIVE_KEY: + if time.monotonic() - self._last_shift_press_time < DOUBLE_CLICK_THRESHOLD: + self._caps_lock = True + else: + self._layout_name = "lowercase" elif key == NUMERIC_KEY: - self._layout = keyboard_layouts["numbers"] + self._layout_name = "numbers" elif key == SYMBOL_KEY: - self._layout = keyboard_layouts["specials"] + self._layout_name = "specials" elif key == BACKSPACE_KEY: self._input_box.delete_char_before_cursor() else: self._input_box.add_char_at_cursor(key) + if not self._caps_lock and self._layout_name == "uppercase": + self._layout_name = "lowercase" if __name__ == "__main__": From 9bbbff14d5f282833216124a39a0f629f79f569c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 11:36:04 +0100 Subject: [PATCH 277/477] system/ui: don't reset on PC --- system/ui/reset.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/system/ui/reset.py b/system/ui/reset.py index 80a1c10ea8..20b689934b 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -5,6 +5,7 @@ import sys import threading from enum import IntEnum +from openpilot.system.hardware import PC from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_label, gui_text_box @@ -31,7 +32,10 @@ class Reset: self.mode = mode self.reset_state = ResetState.NONE - def do_reset(self): + def _do_erase(self): + if PC: + return + # Best effort to wipe NVME os.system(f"sudo umount {NVME}") os.system(f"yes | sudo mkfs.ext4 {NVME}") @@ -48,7 +52,7 @@ class Reset: def start_reset(self): self.reset_state = ResetState.RESETTING - threading.Timer(0.1, self.do_reset).start() + threading.Timer(0.1, self._do_erase).start() def render(self, rect: rl.Rectangle): label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100) From 38c1bd096b5ec0f7bca5bed8700bb5899077b7a1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 19 May 2025 21:56:45 +0800 Subject: [PATCH 278/477] system/ui: Improve UI rendering smoothness for scaled display (#35280) improve smoothness --- system/ui/lib/application.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 19f01ca6ac..8639a0bda5 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -72,6 +72,7 @@ class GuiApplication: if self._scale != 1.0: rl.set_mouse_scale(1 / self._scale, 1 / self._scale) self._render_texture = rl.load_render_texture(self._width, self._height) + rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) rl.set_target_fps(fps) self._target_fps = fps From c4d202c6bb77465dffc9aab037ccf2bc52491d7f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 19 May 2025 11:49:44 -0400 Subject: [PATCH 279/477] ui: support selected button enabled for `ButtonParamControlSP` (#937) ui: support specific button enabled selections for `ButtonParamControlSP` Replaced setDisabledSelectedButton with setEnableSelectedButtons for improved flexibility. The new implementation allows enabling multiple buttons based on a given list and maintains clarity in handling button states. This enhances functionality and aligns with better code practices. --- selfdrive/ui/sunnypilot/qt/widgets/controls.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index 2a1bc20ac1..b6efd871d1 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -324,10 +324,11 @@ public: } } - void setDisabledSelectedButton(std::string val) { - int value = atoi(val.c_str()); + void setEnableSelectedButtons(bool enable, const std::vector& enabled_btns = {}) const { for (int i = 0; i < button_group->buttons().size(); i++) { - button_group->buttons()[i]->setEnabled(i != value); + // Enable the button if its index is in the enabled list + bool should_enable = std::find(enabled_btns.begin(), enabled_btns.end(), i) != enabled_btns.end(); + button_group->buttons()[i]->setEnabled(enable && should_enable); } } From 6eecb4f986df2e35386eabfec4cf3b4e3a4d534a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 17:31:42 +0100 Subject: [PATCH 280/477] system/ui: network widget improvements (#35284) * larger font size for confirmation dialog * try this * forget btn color * text color * font size * caps * Revert "caps" This reverts commit a3e6cfbf053e46158036728cbcd9d8bd9f99d5e5. * too much * fixme * do that? * keyboard: reset state on clear --- system/ui/lib/button.py | 12 ++++++++++-- system/ui/widgets/confirm_dialog.py | 1 + system/ui/widgets/keyboard.py | 2 ++ system/ui/widgets/network.py | 8 ++++---- 4 files changed, 17 insertions(+), 6 deletions(-) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 2d58aee640..69a5da646e 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -8,6 +8,7 @@ class ButtonStyle(IntEnum): PRIMARY = 1 # For main actions DANGER = 2 # For critical actions, like reboot or delete TRANSPARENT = 3 # For buttons with transparent background and border + ACTION = 4 class TextAlignment(IntEnum): @@ -20,6 +21,8 @@ ICON_PADDING = 15 DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255) BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) +ACTION_BUTTON_FONT_SIZE = 48 +ACTION_BUTTON_TEXT_COLOR = rl.Color(0, 0, 0, 255) BUTTON_BACKGROUND_COLORS = { @@ -27,6 +30,7 @@ BUTTON_BACKGROUND_COLORS = { ButtonStyle.PRIMARY: rl.Color(70, 91, 234, 255), ButtonStyle.DANGER: rl.Color(255, 36, 36, 255), ButtonStyle.TRANSPARENT: rl.BLACK, + ButtonStyle.ACTION: rl.Color(189, 189, 189, 255), } BUTTON_PRESSED_BACKGROUND_COLORS = { @@ -34,6 +38,7 @@ BUTTON_PRESSED_BACKGROUND_COLORS = { ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255), ButtonStyle.DANGER: rl.Color(255, 36, 36, 255), ButtonStyle.TRANSPARENT: rl.BLACK, + ButtonStyle.ACTION: rl.Color(130, 130, 130, 255), } @@ -47,13 +52,16 @@ def gui_button( border_radius: int = 10, # Corner rounding in pixels text_alignment: TextAlignment = TextAlignment.CENTER, text_padding: int = 20, # Padding for left/right alignment - icon = None, + icon=None, ) -> int: result = 0 if button_style in (ButtonStyle.PRIMARY, ButtonStyle.DANGER) and not is_enabled: button_style = ButtonStyle.NORMAL + if button_style == ButtonStyle.ACTION and font_size == DEFAULT_BUTTON_FONT_SIZE: + font_size = ACTION_BUTTON_FONT_SIZE + # Set background color based on button type bg_color = BUTTON_BACKGROUND_COLORS[button_style] if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect): @@ -105,7 +113,7 @@ def gui_button( # Draw the button text if any if text: - text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR + text_color = ACTION_BUTTON_TEXT_COLOR if button_style == ButtonStyle.ACTION else BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color) return result diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index 7a25682e27..f42220053b 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -34,6 +34,7 @@ def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") gui_text_box( text_rect, message, + font_size=88, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, ) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 5eebb49c83..85608c1ef5 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -77,6 +77,8 @@ class Keyboard: return self._input_box.text def clear(self): + self._layout_name = "lowercase" + self._caps_lock = False self._input_box.clear() def render(self, title: str, sub_title: str): diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 29d9a499da..32f8bcb4a4 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -3,7 +3,7 @@ from typing import Literal import pyray as rl from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.button import ButtonStyle, gui_button from openpilot.system.ui.lib.label import gui_label from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType @@ -134,7 +134,7 @@ class WifiManagerUI: if status_text: status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT) - rl.gui_label(status_text_rect, status_text) + gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) else: # If the network is saved, show the "Forget" button if network.is_saved: @@ -143,7 +143,7 @@ class WifiManagerUI: self.btn_width, 80, ) - if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked: + if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget", button_style=ButtonStyle.ACTION) and clicked: self.state = StateShowForgetConfirm(network) self._draw_status_icon(security_icon_rect, network) @@ -152,7 +152,7 @@ class WifiManagerUI: if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), ssid_rect) and clicked: if not network.is_saved: self.state = StateNeedsAuth(network) - else: + elif not network.is_connected: self.connect_to_network(network) def _draw_status_icon(self, rect, network: NetworkInfo): From a6eba52791cea780d70d0b8385a041d76c97df5d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 19 May 2025 13:08:53 -0400 Subject: [PATCH 281/477] ui: Add utility function to check if a brand is in a list (#939) * ui: Add utility function to check if a brand is in a list Introduces `isBrandInList` to simplify checking if a given brand exists within a list of strings. This improves code clarity and avoids repetitive implementations for the same logic. * Revert "ui: Add utility function to check if a brand is in a list" This reverts commit 26cde3a73e59cda678c9e017536702de45c8d151. * ui: Add utility function to check if a brand is in a list --- selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h index 2fe511cc48..ff25d3b64f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h @@ -12,6 +12,10 @@ #include "selfdrive/ui/qt/offroad/settings.h" +inline bool isBrandInList(const std::string &brand, const std::vector &list) { + return std::find(list.begin(), list.end(), brand) != list.end(); +} + class SettingsWindowSP : public SettingsWindow { Q_OBJECT From 41db0557e9ad3b865583bcb8e8e4ee686a6a4022 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 20 May 2025 01:56:25 +0800 Subject: [PATCH 282/477] system/ui: fix Wi-Fi conneciton flow for open networks (#35285) fix Wi-Fi conneciton flow for open networks --- system/ui/widgets/network.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 32f8bcb4a4..5877b3ff7a 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -150,21 +150,24 @@ class WifiManagerUI: self._draw_signal_strength_icon(signal_icon_rect, network) if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), ssid_rect) and clicked: - if not network.is_saved: + if not network.is_saved and network.security_type != SecurityType.OPEN: self.state = StateNeedsAuth(network) elif not network.is_connected: self.connect_to_network(network) def _draw_status_icon(self, rect, network: NetworkInfo): """Draw the status icon based on network's connection state""" - icon_file = "" + icon_file = None if network.is_connected: icon_file = "icons/checkmark.png" elif network.security_type == SecurityType.UNSUPPORTED: icon_file = "icons/circled_slash.png" - else: + elif network.security_type != SecurityType.OPEN: icon_file = "icons/lock_closed.png" + if not icon_file: + return + texture = gui_app.texture(icon_file, ICON_SIZE, ICON_SIZE) icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2) rl.draw_texture_v(texture, icon_rect, rl.WHITE) From d6e9df98e3cb73de7e0c0448dc04844776435e5b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 19 May 2025 19:18:48 +0100 Subject: [PATCH 283/477] system/ui: WPA3 is unsupported (#35286) --- system/ui/lib/wifi_manager.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 4ac7466cb7..96726bd999 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -596,7 +596,8 @@ class WifiManager: if flags == 0 and not (wpa_flags or rsn_flags): return SecurityType.OPEN if rsn_flags & 0x200: # SAE (WPA3 Personal) - return SecurityType.WPA3 + # TODO: support WPA3 + return SecurityType.UNSUPPORTED if rsn_flags: # RSN indicates WPA2 or higher return SecurityType.WPA2 if wpa_flags: # WPA flags indicate WPA From ddfb7420ca49243d1d8b13635883c167b6ddedd6 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 19 May 2025 14:25:26 -0400 Subject: [PATCH 284/477] MADS: prerequisite for partial platform support (#938) * MADS: prerequisite for partial platform support * ui: support specific button enabled selections for `ButtonParamControlSP` Replaced setDisabledSelectedButton with setEnableSelectedButtons for improved flexibility. The new implementation allows enabling multiple buttons based on a given list and maintains clarity in handling button states. This enhances functionality and aligns with better code practices. * don't think we need to * update --- .../offroad/settings/lateral/mads_settings.cc | 62 ++++++++++++++----- .../offroad/settings/lateral/mads_settings.h | 43 +++++++++++-- .../qt/offroad/settings/lateral_panel.cc | 15 +++++ .../qt/offroad/settings/lateral_panel.h | 11 ++++ sunnypilot/mads/helpers.py | 19 +++--- sunnypilot/mads/mads.py | 3 +- 6 files changed, 126 insertions(+), 27 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc index 97b78399d3..2469bfa593 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc @@ -21,22 +21,11 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) { ListWidget *list = new ListWidget(this, false); // Main cruise - madsMainCruiseToggle = new ParamControl( - "MadsMainCruiseAllowed", - tr("Toggle with Main Cruise"), - tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."), - ""); + madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", ""); list->addItem(madsMainCruiseToggle); // Unified Engagement Mode - madsUnifiedEngagementModeToggle = new ParamControl( - "MadsUnifiedEngagementMode", - tr("Unified Engagement Mode (UEM)"), - QString("%1
" - "

%2

") - .arg(tr("Engage lateral and longitudinal control with cruise control engagement.")) - .arg(tr("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.")), - ""); + madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", ""); list->addItem(madsUnifiedEngagementModeToggle); // Steering Mode On Brake @@ -62,8 +51,51 @@ void MadsSettings::updateToggles(bool _offroad) { std::clamp(mads_steering_mode_param, static_cast(MadsSteeringMode::REMAIN_ACTIVE), static_cast(MadsSteeringMode::DISENGAGE)) ); - madsSteeringMode->setEnabled(_offroad); - madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode)); + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) { + params.remove("MadsMainCruiseAllowed"); + params.putBool("MadsUnifiedEngagementMode", true); + params.put("MadsSteeringMode", std::to_string(static_cast(MadsSteeringMode::DISENGAGE))); + + madsMainCruiseToggle->setEnabled(false); + madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC)); + madsMainCruiseToggle->showDescription(); + + madsUnifiedEngagementModeToggle->setEnabled(false); + madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)); + madsUnifiedEngagementModeToggle->showDescription(); + + madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE}); + madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode))); + } else { + madsMainCruiseToggle->setEnabled(true); + madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC); + + madsUnifiedEngagementModeToggle->setEnabled(true); + madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC); + + madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues()); + madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode)); + } + } else { + madsMainCruiseToggle->setEnabled(false); + madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC)); + madsMainCruiseToggle->showDescription(); + + madsUnifiedEngagementModeToggle->setEnabled(false); + madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)); + madsUnifiedEngagementModeToggle->showDescription(); + + madsSteeringModeValues = {}; + madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode))); + } + + madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues); madsSteeringMode->showDescription(); offroad = _offroad; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h index 07ca07834d..405a2613d1 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h @@ -12,6 +12,8 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +const std::vector mads_limited_settings_brands = {"rivian"}; + enum class MadsSteeringMode { REMAIN_ACTIVE = 0, PAUSE = 1, @@ -46,15 +48,44 @@ private: ParamControl *madsUnifiedEngagementModeToggle; ButtonParamControl *madsSteeringMode; + std::vector madsSteeringModeValues = {}; + + const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."); + const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1
" + "

%2

") + .arg(tr("Engage lateral and longitudinal control with cruise control engagement.")) + .arg(tr("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.")); + + const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility."); + const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations."); + const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations."); + const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations."); + static const std::vector &madsSteeringModeOptions() { static const std::vector options = { - {MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")}, - {MadsSteeringMode::PAUSE, tr("Pause"), tr("Pause: ALC will pause when the brake pedal is pressed.")}, - {MadsSteeringMode::DISENGAGE, tr("Disengage"), tr("Disengage: ALC will disengage when the brake pedal is pressed.")}, + {MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")}, + {MadsSteeringMode::PAUSE, tr("Pause"), tr("Pause: ALC will pause when the brake pedal is pressed.")}, + {MadsSteeringMode::DISENGAGE, tr("Disengage"), tr("Disengage: ALC will disengage when the brake pedal is pressed.")}, }; return options; } + static std::vector getMadsSteeringModeValues() { + std::vector values; + for (const auto& option : madsSteeringModeOptions()) { + values.push_back(option.mode); + } + return values; + } + + static std::vector convertMadsSteeringModeValues(const std::vector &modes) { + std::vector values; + for (const auto& mode : modes) { + values.push_back(static_cast(mode)); + } + return values; + } + static std::vector madsSteeringModeTexts() { std::vector texts; for (const auto& option : madsSteeringModeOptions()) { @@ -63,7 +94,7 @@ private: return texts; } - static QString madsSteeringModeDescription(const MadsSteeringMode mode) { + static QString madsSteeringModeDescription(const MadsSteeringMode mode = MadsSteeringMode::REMAIN_ACTIVE) { QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot."); QString result = base_desc + "

"; @@ -77,4 +108,8 @@ private: return result; } + + static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) { + return "" + custom_description + "

" + base_description; + } }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc index 75cd13664d..0beae6e24f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc @@ -122,6 +122,21 @@ void LateralPanel::updateToggles(bool _offroad) { toggle->setEnabled(_offroad); } + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) { + madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC)); + } else { + madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC)); + } + } else { + madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC)); + } + madsSettingsButton->setEnabled(madsToggle->isToggled()); offroad = _offroad; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h index 1b77939ee8..cf003dfaf3 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h @@ -30,6 +30,7 @@ public slots: void updateToggles(bool _offroad); private: + Params params; QStackedLayout* main_layout = nullptr; QWidget* sunnypilotScreen = nullptr; ScrollViewSP *sunnypilotScroller = nullptr; @@ -42,4 +43,14 @@ private: PushButtonSP *laneChangeSettingsButton; LaneChangeSettings *laneChangeWidget = nullptr; NeuralNetworkLateralControl *nnlcToggle = nullptr; + + const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC)."); + + const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility."); + const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings."); + const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings."); + + static QString descriptionBuilder(const QString &custom_description, const QString &base_description) { + return "" + custom_description + "

" + base_description; + } }; diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py index 5f7f9840e2..5c7b575d14 100644 --- a/sunnypilot/mads/helpers.py +++ b/sunnypilot/mads/helpers.py @@ -46,12 +46,17 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE - # MADS is currently not supported in Tesla due to lack of consistent states to engage controls - # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling - if CP.brand == "tesla": - params.remove("Mads") + # MADS Partial Support + # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls + # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms + mads_partial_support = False + if mads_partial_support: + params.put("MadsSteeringMode", "2") + params.put_bool("MadsUnifiedEngagementMode", True) + params.remove("MadsMainCruiseAllowed") - # MADS is currently not supported in Rivian due to lack of consistent states to engage controls - # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling - if CP.brand == "rivian": + # MADS Disabled - No Support + # MADS is currently not supported for these platforms due to lack of consistent states to engage controls + # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling + if CP.brand in ("rivian", "tesla"): params.remove("Mads") diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 38d38230ab..ffe6e6efeb 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -33,6 +33,7 @@ class ModularAssistiveDrivingSystem: self.active = False self.available = False self.allow_always = False + self.no_main_cruise = False self.selfdrive = selfdrive self.selfdrive.enabled_prev = False self.state_machine = StateMachine(self) @@ -159,7 +160,7 @@ class ModularAssistiveDrivingSystem: else: self.events_sp.add(EventNameSP.lkasEnable) - if not CS.cruiseState.available: + if not CS.cruiseState.available and not self.no_main_cruise: self.events.remove(EventName.buttonEnable) if self.selfdrive.CS_prev.cruiseState.available: self.events_sp.add(EventNameSP.lkasDisable) From 8201f3edf450f9871e46f2c9db7b4d8483aac767 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 19 May 2025 16:55:43 -0400 Subject: [PATCH 285/477] MADS: Rivian support (#936) * MADS: Tesla and Rivian support * request lateral if acc is engaged * try this out * fix * make sure we keep the toggle off for tesla * namedtuple * disallow steering past 90 degrees for rivian * whoops * Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)" This reverts commit 8dec4ea5 * both rivian and tesla * enforce disengage on brake steering mode for Rivian and Tesla * wrong one * MADS: Steering Mode on Brake Pedal Press * bump * bump * descriptions * bump * bump * no tesla or rivian yet * codecov v5 * Revert "codecov v5" This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de. * cleanup * refactor description * sync name * fix * make sure we don't allow if brake was already being pressed * no longer needed * proper ui! * allow LKAS tx at all times with MADS * extra * this ain't right * try this * test only * bring them back * some dynamic checks * dynamic description for mads toggle * one place for limited platforms * just rivian * not here * Revert "not here" This reverts commit 53271b942839feb706e393254a3516097cc72890. * get them out * get them out * no longer needed * Revert "get them out" This reverts commit 532b671bfb8bf76d5b4ef6349e5a1e3cd760dc3e. * bump * bump * less * Revert "bump" This reverts commit 05ee4be04f190aaaa61bf18b0884b09accd74522. --- opendbc_repo | 2 +- sunnypilot/mads/helpers.py | 18 +++++++++++++----- sunnypilot/mads/mads.py | 7 +++++-- 3 files changed, 19 insertions(+), 8 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index a051754777..748a84787a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a051754777785cc93eb0be35b081d19f7fbce595 +Subproject commit 748a84787ad8b55125cf3953fd08de7f90da10c6 diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py index 5c7b575d14..806f8edbea 100644 --- a/sunnypilot/mads/helpers.py +++ b/sunnypilot/mads/helpers.py @@ -17,7 +17,14 @@ class MadsSteeringModeOnBrake: DISENGAGE = 2 -def read_steering_mode_param(params: Params): +def get_mads_limited_brands(CP: structs.CarParams) -> bool: + return CP.brand in ("rivian", ) + + +def read_steering_mode_param(CP: structs.CarParams, params: Params): + if get_mads_limited_brands(CP): + return MadsSteeringModeOnBrake.DISENGAGE + try: return int(params.get("MadsSteeringMode")) except (ValueError, TypeError): @@ -26,7 +33,7 @@ def read_steering_mode_param(params: Params): def set_alternative_experience(CP: structs.CarParams, params: Params): enabled = params.get_bool("Mads") - steering_mode = read_steering_mode_param(params) + steering_mode = read_steering_mode_param(CP, params) if enabled: CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS @@ -49,7 +56,8 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p # MADS Partial Support # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms - mads_partial_support = False + # TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling + mads_partial_support = get_mads_limited_brands(CP) if mads_partial_support: params.put("MadsSteeringMode", "2") params.put_bool("MadsUnifiedEngagementMode", True) @@ -57,6 +65,6 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p # MADS Disabled - No Support # MADS is currently not supported for these platforms due to lack of consistent states to engage controls - # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling - if CP.brand in ("rivian", "tesla"): + # TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling + if CP.brand in ("tesla", ): params.remove("Mads") diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index ffe6e6efeb..3b06290569 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -10,7 +10,7 @@ from cereal import log, custom from opendbc.car import structs from opendbc.car.hyundai.values import HyundaiFlags from opendbc.safety import ALTERNATIVE_EXPERIENCE -from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param +from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState @@ -45,10 +45,13 @@ class ModularAssistiveDrivingSystem: if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD): self.allow_always = True + if get_mads_limited_brands(self.CP): + self.no_main_cruise = True + # read params on init self.enabled_toggle = self.params.get_bool("Mads") self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed") - self.steering_mode_on_brake = read_steering_mode_param(self.params) + self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params) self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode") def read_params(self): From 8752071049e94a8fc8ff5d086f24071b1210f788 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 19 May 2025 16:16:30 -0700 Subject: [PATCH 286/477] [bot] Update Python packages (#35282) Update Python packages Co-authored-by: Vehicle Researcher --- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 88 +++++++++++++++++++++++++-------------------------- 3 files changed, 46 insertions(+), 46 deletions(-) diff --git a/panda b/panda index 8bd83750c2..471a455789 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8bd83750c2c0a5b8f68a00717f7516ae612fb5ab +Subproject commit 471a455789b88a0bf1098e87c49d564da266e890 diff --git a/tinygrad_repo b/tinygrad_repo index 6f77b938d7..f9a5ad24c5 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 6f77b938d77395a34f02c7d7d904d80fcd81b9cd +Subproject commit f9a5ad24c534c0fe3cb2ab8a307b2cc71efc13ea diff --git a/uv.lock b/uv.lock index cd9c84af69..0c4169e0bf 100644 --- a/uv.lock +++ b/uv.lock @@ -447,31 +447,31 @@ wheels = [ [[package]] name = "cython" -version = "3.1.0" +version = "3.1.1" source = { registry = "https://pypi.org/simple" } -sdist = { url = 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"Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)" This reverts commit 8dec4ea5 * both rivian and tesla * enforce disengage on brake steering mode for Rivian and Tesla * wrong one * MADS: Steering Mode on Brake Pedal Press * bump * bump * descriptions * bump * bump * no tesla or rivian yet * codecov v5 * Revert "codecov v5" This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de. * cleanup * refactor description * sync name * fix * make sure we don't allow if brake was already being pressed * no longer needed * proper ui! * allow LKAS tx at all times with MADS * extra * this ain't right * try this * test only * bring them back * some dynamic checks * dynamic description for mads toggle * one place for limited platforms * update tests * angle when long, lkas when mads * bump --- opendbc_repo | 2 +- .../qt/offroad/settings/lateral/mads_settings.h | 2 +- sunnypilot/mads/helpers.py | 10 ++-------- 3 files changed, 4 insertions(+), 10 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 748a84787a..5db6b93bc5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 748a84787ad8b55125cf3953fd08de7f90da10c6 +Subproject commit 5db6b93bc550edf5425d0b22e49c9bf51ec23eab diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h index 405a2613d1..af624865c7 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h @@ -12,7 +12,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" -const std::vector mads_limited_settings_brands = {"rivian"}; +const std::vector mads_limited_settings_brands = {"rivian", "tesla"}; enum class MadsSteeringMode { REMAIN_ACTIVE = 0, diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py index 806f8edbea..4b1095c63e 100644 --- a/sunnypilot/mads/helpers.py +++ b/sunnypilot/mads/helpers.py @@ -18,7 +18,7 @@ class MadsSteeringModeOnBrake: def get_mads_limited_brands(CP: structs.CarParams) -> bool: - return CP.brand in ("rivian", ) + return CP.brand in ("rivian", "tesla") def read_steering_mode_param(CP: structs.CarParams, params: Params): @@ -56,15 +56,9 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p # MADS Partial Support # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms - # TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling + # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling mads_partial_support = get_mads_limited_brands(CP) if mads_partial_support: params.put("MadsSteeringMode", "2") params.put_bool("MadsUnifiedEngagementMode", True) params.remove("MadsMainCruiseAllowed") - - # MADS Disabled - No Support - # MADS is currently not supported for these platforms due to lack of consistent states to engage controls - # TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling - if CP.brand in ("tesla", ): - params.remove("Mads") From f00bead198a9957c978f3622fee0aa45a9bfb483 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 20 May 2025 17:22:34 +0800 Subject: [PATCH 288/477] system/ui: improve button click logic for proper press-release interaction (#35289) improve button click logic for proper press,release interaction --- system/ui/lib/button.py | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 69a5da646e..4870e333df 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -41,6 +41,8 @@ BUTTON_PRESSED_BACKGROUND_COLORS = { ButtonStyle.ACTION: rl.Color(130, 130, 130, 255), } +_pressed_buttons: set[str] = set() # Track mouse press state globally + def gui_button( rect: rl.Rectangle, @@ -54,6 +56,7 @@ def gui_button( text_padding: int = 20, # Padding for left/right alignment icon=None, ) -> int: + button_id = f"{rect.x}_{rect.y}_{rect.width}_{rect.height}" result = 0 if button_style in (ButtonStyle.PRIMARY, ButtonStyle.DANGER) and not is_enabled: @@ -64,11 +67,24 @@ def gui_button( # Set background color based on button type bg_color = BUTTON_BACKGROUND_COLORS[button_style] - if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect): - if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + mouse_over = is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect) + + if mouse_over: + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + # Record that this button was pressed + _pressed_buttons.add(button_id) + bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style] + elif rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style] elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): - result = 1 + # Check if this button was previously pressed + if button_id in _pressed_buttons: + result = 1 + _pressed_buttons.remove(button_id) + + # Clean up pressed state if mouse is released anywhere + if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and button_id in _pressed_buttons: + _pressed_buttons.remove(button_id) # Draw the button with rounded corners roundness = border_radius / (min(rect.width, rect.height) / 2) From f646b4a17ba4cd7e0e396cce250539ea9838eecb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 20 May 2025 17:46:56 +0800 Subject: [PATCH 289/477] system/ui: remove special currency and symbol characters from keyboard (#35291) * remove special currency and symbol characters from keyboard * bring back --------- Co-authored-by: Cameron Clough --- system/ui/widgets/keyboard.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 85608c1ef5..dfe14e7f40 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -43,7 +43,7 @@ KEYBOARD_LAYOUTS = { ], "specials": [ ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="], - ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"], + ["_", "\\", "|", "~", "<", ">"], [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY], [ABC_KEY, SPACE_KEY, ".", ENTER_KEY], ], @@ -112,6 +112,10 @@ class Keyboard: new_width = (key_width * 3 + h_space * 2) if key == SPACE_KEY else (key_width * 2 + h_space if key == ENTER_KEY else key_width) key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height) + if (key_rect.x + key_rect.width) > (rect.x + rect.width): + key_rect.width = rect.x + rect.width - key_rect.x + new_width = key_rect.width + start_x += new_width is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size From cf7a295a2c0487d84f709298f6ae519a40407954 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 20 May 2025 18:01:31 +0800 Subject: [PATCH 290/477] system/ui: add key repeat functionality for backspace (#35288) add key repeat functionality for backspace Co-authored-by: Cameron Clough --- system/ui/widgets/keyboard.py | 34 ++++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index dfe14e7f40..2eda27b653 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -8,6 +8,8 @@ from openpilot.system.ui.lib.label import gui_label KEY_FONT_SIZE = 96 DOUBLE_CLICK_THRESHOLD = 0.5 # seconds +DELETE_REPEAT_DELAY = 0.5 +DELETE_REPEAT_INTERVAL = 0.07 # Constants for special keys CONTENT_MARGIN = 50 @@ -62,6 +64,11 @@ class Keyboard: self._password_mode = password_mode self._show_password_toggle = show_password_toggle + # Backspace key repeat tracking + self._backspace_pressed: bool = False + self._backspace_press_time: float = 0.0 + self._backspace_last_repeat:float = 0.0 + self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) self._key_icons = { @@ -80,6 +87,7 @@ class Keyboard: self._layout_name = "lowercase" self._caps_lock = False self._input_box.clear() + self._backspace_pressed = False def render(self, title: str, sub_title: str): rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) @@ -94,6 +102,21 @@ class Keyboard: input_box_rect = rl.Rectangle(rect.x + input_margin, rect.y + 160, rect.width - input_margin, 100) self._render_input_area(input_box_rect) + # Process backspace key repeat if it's held down + if not rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + self._backspace_pressed = False + + if self._backspace_pressed: + current_time = time.monotonic() + time_since_press = current_time - self._backspace_press_time + + # After initial delay, start repeating with shorter intervals + if time_since_press > DELETE_REPEAT_DELAY: + time_since_last_repeat = current_time - self._backspace_last_repeat + if time_since_last_repeat > DELETE_REPEAT_INTERVAL: + self._input_box.delete_char_before_cursor() + self._backspace_last_repeat = current_time + layout = KEYBOARD_LAYOUTS[self._layout_name] h_space, v_space = 15, 15 @@ -120,6 +143,17 @@ class Keyboard: is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size result = -1 + + # Check for backspace key press-and-hold + mouse_pos = rl.get_mouse_position() + mouse_over_key = rl.check_collision_point_rec(mouse_pos, key_rect) + + if key == BACKSPACE_KEY and mouse_over_key: + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + self._backspace_pressed = True + self._backspace_press_time = time.monotonic() + self._backspace_last_repeat = time.monotonic() + if key in self._key_icons: if key == SHIFT_ACTIVE_KEY and self._caps_lock: key = CAPS_LOCK_KEY From 69799fceb4c59c5c10ba30b511408130630e82aa Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 May 2025 14:54:06 +0100 Subject: [PATCH 291/477] Revert "system/ui: remove special currency and symbol characters from keyboard (#35291)" This reverts commit f646b4a17ba4cd7e0e396cce250539ea9838eecb. --- system/ui/widgets/keyboard.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 2eda27b653..e940f75d2e 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -45,7 +45,7 @@ KEYBOARD_LAYOUTS = { ], "specials": [ ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="], - ["_", "\\", "|", "~", "<", ">"], + ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"], [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY], [ABC_KEY, SPACE_KEY, ".", ENTER_KEY], ], @@ -135,10 +135,6 @@ class Keyboard: new_width = (key_width * 3 + h_space * 2) if key == SPACE_KEY else (key_width * 2 + h_space if key == ENTER_KEY else key_width) key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height) - if (key_rect.x + key_rect.width) > (rect.x + rect.width): - key_rect.width = rect.x + rect.width - key_rect.x - new_width = key_rect.width - start_x += new_width is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size From 566758319828471fc3d2c541957dea22f1e224c1 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 May 2025 15:47:10 +0100 Subject: [PATCH 292/477] system/ui: define character set for loading fonts (#35298) * system/ui: define font character set * remove debug print statement * shorter --- system/ui/lib/application.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 8639a0bda5..4d7ba6d24e 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -190,12 +190,23 @@ class GuiApplication: "Inter-Black.ttf", ) + # Create a character set from our keyboard layouts + from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS + all_chars = "" + for layout in KEYBOARD_LAYOUTS.values(): + all_chars.update(key for row in layout for key in row) + all_chars = "".join(all_chars) + + codepoint_count = rl.ffi.new("int *", 1) + codepoints = rl.load_codepoints(all_chars, codepoint_count) + 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, None, 0) + font = rl.load_font_ex(fspath.as_posix(), 120, codepoints, codepoint_count[0]) rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) self._fonts[index] = font + rl.unload_codepoints(codepoints) rl.gui_set_font(self._fonts[FontWeight.NORMAL]) def _set_styles(self): From 2722e12e6252049858dd1b3efbd98cb5d064a625 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 May 2025 15:48:44 +0100 Subject: [PATCH 293/477] fix(system/ui): typo --- system/ui/lib/application.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 4d7ba6d24e..37da413806 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -192,7 +192,7 @@ class GuiApplication: # Create a character set from our keyboard layouts from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS - all_chars = "" + all_chars = set() for layout in KEYBOARD_LAYOUTS.values(): all_chars.update(key for row in layout for key in row) all_chars = "".join(all_chars) From beb7f6c2bb80ce53470fd1f88c151c248a643b45 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 May 2025 02:23:05 +0800 Subject: [PATCH 294/477] system/ui: fix indentation (#35299) fix indentation --- system/ui/widgets/keyboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index e940f75d2e..7836b28184 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -140,7 +140,7 @@ class Keyboard: is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size result = -1 - # Check for backspace key press-and-hold + # Check for backspace key press-and-hold mouse_pos = rl.get_mouse_position() mouse_over_key = rl.check_collision_point_rec(mouse_pos, key_rect) From 4f512a5c6d9d103e024cb87f724d6f9ccf6f65cf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 May 2025 03:27:08 +0800 Subject: [PATCH 295/477] system/ui: fix navigation key repeat in input box (#35302) fix navigation key repeat in input fields --- system/ui/lib/inputbox.py | 44 ++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 8e53446b43..78ee03bdbd 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -13,7 +13,7 @@ class InputBox: self._last_key_pressed = 0 self._key_press_time = 0 self._repeat_delay = 30 - self._repeat_rate = 5 + self._repeat_rate = 4 @property def text(self): @@ -119,22 +119,29 @@ class InputBox: self.set_cursor_position(0) def _handle_keyboard_input(self): - """Process keyboard input.""" - key = rl.get_key_pressed() - - # Handle key repeats - if key == self._last_key_pressed and key != 0: - self._key_press_time += 1 - if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0: - # Process repeated key - pass - else: - return # Skip processing until repeat triggers - else: - self._last_key_pressed = key - self._key_press_time = 0 - # Handle navigation keys + key = rl.get_key_pressed() + if key != 0: + self._process_key(key) + if key in (rl.KEY_LEFT, rl.KEY_RIGHT, rl.KEY_BACKSPACE, rl.KEY_DELETE): + self._last_key_pressed = key + self._key_press_time = 0 + + # Handle repeats for held keys + elif self._last_key_pressed != 0: + if rl.is_key_down(self._last_key_pressed): + self._key_press_time += 1 + if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0: + self._process_key(self._last_key_pressed) + else: + self._last_key_pressed = 0 + + # Handle text input + char = rl.get_char_pressed() + if char != 0 and char >= 32: # Filter out control characters + self.add_char_at_cursor(chr(char)) + + def _process_key(self, key): if key == rl.KEY_LEFT: if self._cursor_position > 0: self.set_cursor_position(self._cursor_position - 1) @@ -149,8 +156,3 @@ class InputBox: self.set_cursor_position(0) elif key == rl.KEY_END: self.set_cursor_position(len(self._input_text)) - - # Handle text input - char = rl.get_char_pressed() - if char != 0 and char >= 32: # Filter out control characters - self.add_char_at_cursor(chr(char)) From e47d105b97c0f41812bc892e8f4157dcb48a5770 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 May 2025 14:28:30 -0700 Subject: [PATCH 296/477] revert extra GPU power draw to prep for release --- selfdrive/modeld/dmonitoringmodeld.py | 3 --- system/hardware/tici/tests/test_power_draw.py | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 94e117bc6a..2a3df3f652 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -173,9 +173,6 @@ def main(): model_output, gpu_execution_time = model.run(buf, calib, model_transform) t2 = time.perf_counter() - # run one more time, just for the load - model.run(buf, calib, model_transform) - pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time)) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index fd65ecd5cd..db0fab884c 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -33,7 +33,7 @@ class Proc: PROCS = [ Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 1.4, msgs=['driverStateV2']), + Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] From f5cf062a38d722d0f69dc9b5c66f58fd9c110d9c Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Tue, 20 May 2025 14:57:13 -0700 Subject: [PATCH 297/477] [bot] Update Python packages (#35303) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 86 +++++++++++++++++++++++++-------------------------- 4 files changed, 46 insertions(+), 46 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 447381dee2..0676642f40 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ac9222bff48cc10f71aba95fc7bfc3a979dfcf7e Mon Sep 17 00:00:00 2001 From: Ocheretovich Date: Wed, 21 May 2025 00:57:26 +0300 Subject: [PATCH 298/477] docs: added a link to the selfdrive badge (#35300) Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index b0248b0f54..86cccafad9 100644 --- a/README.md +++ b/README.md @@ -22,7 +22,7 @@ Quick start: `bash <(curl -fsSL openpilot.comma.ai)` -![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg) +[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml) [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE) [![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai) From 10fd0f9a5725bd9a7d514c142a8e0232d3480688 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 20 May 2025 16:45:33 -0700 Subject: [PATCH 299/477] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 871f065e97..d75699e6ab 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 871f065e97caf2d85c909d69f38939a79d8563b6 +Subproject commit d75699e6abf41636701775ba0eea8e07858599ad From 9cd939d35497bc6d96607d4f5de3441501facd6f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 May 2025 07:59:48 +0800 Subject: [PATCH 300/477] ui: rewrite installer using raylib, remove qt (#33756) * update SConscript Co-authored-by: Dean Lee * can't build on mac * raylib installer Co-authored-by: Dean Lee * rm * debug pls * cleanup * quotes * libs? * bump * hmm * progress bar color * more * not rounded * hardcode a font path..? * embed (a subset of) inter into the installer * different in CI * closer font sizes * closer * add that back * unnecessary * closer to previous impl * prefix is at start of string, substr between prefix and % * Revert "prefix is at start of string, substr between prefix and %" This reverts commit bc53fe8e356ca642680e90682285bd5e8d98ecb5. * bigger on device? * rm --------- Co-authored-by: Cameron Clough --- selfdrive/ui/SConscript | 26 ++-- selfdrive/ui/installer/installer.cc | 182 +++++++++++-------------- selfdrive/ui/installer/installer.h | 28 ---- selfdrive/ui/installer/inter-ascii.ttf | 3 + 4 files changed, 97 insertions(+), 142 deletions(-) delete mode 100644 selfdrive/ui/installer/installer.h create mode 100644 selfdrive/ui/installer/inter-ascii.ttf diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index e63359da05..7199399d41 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"] @@ -76,8 +75,15 @@ 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 = [ @@ -87,17 +93,19 @@ 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 From 6d0cac53051c80c019bc1f03bb027a21ed945037 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 20 May 2025 17:32:27 -0700 Subject: [PATCH 301/477] MultiButtonControl (#35307) * copy * remove params from it * split out --- selfdrive/ui/qt/widgets/controls.h | 37 ++++++++++++++++++++++-------- 1 file changed, 28 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index aebf934f2a..ca93110e5b 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -183,10 +183,10 @@ private: bool store_confirm = false; }; -class ButtonParamControl : public AbstractControl { +class MultiButtonControl : public AbstractControl { Q_OBJECT public: - ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + MultiButtonControl(const QString &title, const QString &desc, const QString &icon, const std::vector &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) { const QString style = R"( QPushButton { @@ -208,24 +208,19 @@ public: color: #33E4E4E4; } )"; - key = param.toStdString(); - int value = atoi(params.get(key).c_str()); button_group = new QButtonGroup(this); button_group->setExclusive(true); for (int i = 0; i < button_texts.size(); i++) { QPushButton *button = new QPushButton(button_texts[i], this); button->setCheckable(true); - button->setChecked(i == value); button->setStyleSheet(style); button->setMinimumWidth(minimum_button_width); hlayout->addWidget(button); button_group->addButton(button, i); } - QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { - params.put(key, std::to_string(id)); - }); + QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonClicked), this, &MultiButtonControl::buttonClicked); } void setEnabled(bool enable) { @@ -238,6 +233,31 @@ public: button_group->button(id)->setChecked(true); } +signals: + void buttonClicked(int id); + +protected: + QButtonGroup *button_group; +}; + +class ButtonParamControl : public MultiButtonControl { + Q_OBJECT +public: + ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const std::vector &button_texts, const int minimum_button_width = 225) : MultiButtonControl(title, desc, icon, + button_texts, minimum_button_width) { + key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + + if (value > 0 && value < button_group->buttons().size()) { + button_group->button(value)->setChecked(true); + } + + QObject::connect(this, QOverload::of(&MultiButtonControl::buttonClicked), [=](int id) { + params.put(key, std::to_string(id)); + }); + } + void refresh() { int value = atoi(params.get(key).c_str()); button_group->button(value)->setChecked(true); @@ -250,7 +270,6 @@ public: private: std::string key; Params params; - QButtonGroup *button_group; }; class ListWidget : public QWidget { From 472feefcfdf20a8f4823e28baf596868fd70391b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 21 May 2025 01:52:14 +0100 Subject: [PATCH 302/477] Revert "ui: rewrite installer using raylib, remove qt (#33756)" This reverts commit 9cd939d35497bc6d96607d4f5de3441501facd6f. --- selfdrive/ui/SConscript | 26 ++-- selfdrive/ui/installer/installer.cc | 182 ++++++++++++++----------- selfdrive/ui/installer/installer.h | 28 ++++ selfdrive/ui/installer/inter-ascii.ttf | 3 - 4 files changed, 142 insertions(+), 97 deletions(-) create mode 100644 selfdrive/ui/installer/installer.h delete mode 100644 selfdrive/ui/installer/inter-ascii.ttf diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 7199399d41..e63359da05 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,5 +1,6 @@ +import os import json -Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') base_libs = [common, messaging, visionipc, transformations, 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] @@ -75,15 +76,8 @@ if GetOption('extras'): if arch != "Darwin": # build installers - 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"] + senv = qt_env.Clone() + senv['LINKFLAGS'].append('-Wl,-strip-debug') release = "release3" installers = [ @@ -93,19 +87,17 @@ if GetOption('extras'): ("openpilot_internal", "nightly-dev"), ] - 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") + cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh", + "ld -r -b binary -o $TARGET $SOURCE") for name, branch in installers: d = {'BRANCH': f"'\"{branch}\"'"} if "internal" in name: d['INTERNAL'] = "1" - 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) + 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) # keep installers small - assert f[0].get_size() < 1300*1e3, f[0].get_size() + assert f[0].get_size() < 370*1e3 # 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 7326e089ab..84486e61be 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -1,15 +1,19 @@ -#include -#include +#include + +#include #include #include +#include + +#include +#include +#include +#include -#include "common/swaglog.h" #include "common/util.h" -#include "third_party/raylib/include/raylib.h" - -int freshClone(); -int cachedFetch(const std::string &cache); -int executeGitCommand(const std::string &cmd); +#include "selfdrive/ui/installer/installer.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/qt/qt_window.h" std::string get_str(std::string const s) { std::string::size_type pos = s.find('?'); @@ -24,108 +28,136 @@ 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 std::string CACHE_PATH = "/data/openpilot.cache"; +const QString CACHE_PATH = "/data/openpilot.cache"; #define INSTALL_PATH "/data/openpilot" #define TMP_INSTALL_PATH "/data/tmppilot" extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_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); } -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(); +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; + } + )"); } -int doInstall() { +void Installer::updateProgress(int percent) { + bar->setValue(percent); + val->setText(QString("%1%").arg(percent)); + update(); +} + +void Installer::doInstall() { // wait for valid time while (!util::system_time_valid()) { - util::sleep_for(500); - LOGD("Waiting for valid time"); + usleep(500 * 1000); + qDebug() << "Waiting for valid time"; } // cleanup previous install attempts run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH); // do the install - if (util::file_exists(CACHE_PATH)) { - return cachedFetch(CACHE_PATH); + if (QDir(CACHE_PATH).exists()) { + cachedFetch(CACHE_PATH); } else { - return freshClone(); + freshClone(); } } -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::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 cachedFetch(const std::string &cache) { - LOGD("Fetching with cache: %s", cache.c_str()); +void Installer::cachedFetch(const QString &cache) { + qDebug() << "Fetching with cache: " << cache; - 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()); + 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()); - renderProgress(10); + updateProgress(10); - return executeGitCommand(util::string_format("cd %s && git fetch --progress origin %s 2>&1", TMP_INSTALL_PATH, BRANCH_STR.c_str())); + proc.setWorkingDirectory(TMP_INSTALL_PATH); + proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()}); } -int executeGitCommand(const std::string &cmd) { - static const std::array stages = { +void Installer::readProgress() { + const QVector> stages = { // prefix, weight in percentage - std::pair{"Receiving objects: ", 91}, - std::pair{"Resolving deltas: ", 2}, - std::pair{"Updating files: ", 7}, + {"Receiving objects: ", 91}, + {"Resolving deltas: ", 2}, + {"Updating files: ", 7}, }; - FILE *pipe = popen(cmd.c_str(), "r"); - if (!pipe) return -1; + auto line = QString(proc.readAllStandardError()); - 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; + 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; } + base += kv.second; } - return pclose(pipe); } -void cloneFinished(int exitCode) { - LOGD("git finished with %d", exitCode); +void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) { + qDebug() << "git finished with " << exitCode; assert(exitCode == 0); - renderProgress(100); + updateProgress(100); // ensure correct branch is checked out int err = chdir(TMP_INSTALL_PATH); @@ -171,17 +203,13 @@ void cloneFinished(int exitCode) { run("mv /data/continue.sh.new " CONTINUE_PATH); // wait for the installed software's UI to take over - util::sleep_for(60 * 1000); + QTimer::singleShot(60 * 1000, &QCoreApplication::quit); } int main(int argc, char *argv[]) { - 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; + initApp(argc, argv); + QApplication a(argc, argv); + Installer installer; + setMainWindow(&installer); + return a.exec(); } diff --git a/selfdrive/ui/installer/installer.h b/selfdrive/ui/installer/installer.h new file mode 100644 index 0000000000..de3af0ff39 --- /dev/null +++ b/selfdrive/ui/installer/installer.h @@ -0,0 +1,28 @@ +#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 deleted file mode 100644 index 5d480c515a..0000000000 --- a/selfdrive/ui/installer/inter-ascii.ttf +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1ef26a4099ef867f3493389379d882381a2491cdbfa41a086be8899a2154dcb3 -size 26160 From 350a235303029020a365a4819888a3ba25635223 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 May 2025 19:41:58 -0700 Subject: [PATCH 303/477] modeld: more USB GPU fixes (#35306) * fixups * builds --- selfdrive/modeld/SConscript | 45 +++++++++++++------ selfdrive/modeld/modeld.py | 4 +- .../modeld/models/big_driving_policy.onnx | 1 + .../modeld/models/big_driving_vision.onnx | 1 + tinygrad_repo | 2 +- 5 files changed, 37 insertions(+), 16 deletions(-) create mode 120000 selfdrive/modeld/models/big_driving_policy.onnx create mode 120000 selfdrive/modeld/models/big_driving_vision.onnx diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index a6be5c15da..10f3876190 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -38,18 +38,35 @@ for model_name in ['driving_vision', 'driving_policy']: cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) -# Compile tinygrad model -pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' -for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - if "USBGPU" in os.environ and not model_name.startswith("dmon"): - device_string = "AMD=1 AMD_LLVM=1 NOLOCALS=0 IMAGE=0" - elif arch == 'larch64': - device_string = 'QCOM=1' - elif arch == 'Darwin': - device_string = 'CPU=1 IMAGE=0 JIT=2' - else: - device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2' - +def tg_compile(flags, model_name): + pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath - cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' - lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd) + return lenv.Command( + fn + "_tinygrad.pkl", + [fn + ".onnx"] + tinygrad_files, + f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + ) + +# Compile small models +for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: + flags = { + 'larch64': 'QCOM=1', + 'Darwin': 'CPU=1 IMAGE=0 JIT=2', + }.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2') + tg_compile(flags, model_name) + +# Compile BIG model if USB GPU is available +import subprocess +from tinygrad import Device + +# because tg doesn't support multi-process +devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True) +if b"AMD" in devs: + del Device + print("USB GPU detected... building") + flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0" + bp = tg_compile(flags, "big_driving_policy") + bv = tg_compile(flags, "big_driving_vision") + lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially +else: + print("USB GPU not detected... skipping") diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index cdb16a6f63..1e3d1782e6 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -4,6 +4,7 @@ from openpilot.system.hardware import TICI USBGPU = "USBGPU" in os.environ if USBGPU: os.environ['AMD'] = '1' + os.environ['AMD_IFACE'] = 'USB' elif TICI: from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address os.environ['QCOM'] = '1' @@ -196,11 +197,12 @@ def main(demo=False): # also need to move the aux USB interrupts for good timings config_realtime_process(7, 54) + st = time.monotonic() cloudlog.warning("setting up CL context") cl_context = CLContext() cloudlog.warning("CL context ready; loading model") model = ModelState(cl_context) - cloudlog.warning("models loaded, modeld starting") + cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # visionipc clients while True: diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx new file mode 120000 index 0000000000..e1b653a14a --- /dev/null +++ b/selfdrive/modeld/models/big_driving_policy.onnx @@ -0,0 +1 @@ +driving_policy.onnx \ No newline at end of file diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx new file mode 120000 index 0000000000..28ee71dd74 --- /dev/null +++ b/selfdrive/modeld/models/big_driving_vision.onnx @@ -0,0 +1 @@ +driving_vision.onnx \ No newline at end of file diff --git a/tinygrad_repo b/tinygrad_repo index 2895198c36..519dec6677 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2895198c368e226e2176aae37d5e545691ce85cb +Subproject commit 519dec6677f98718ee4f2d07be1936eb91dde73b From 623ef9f59288e1178b5b4145800e21d4d9f4b1d4 Mon Sep 17 00:00:00 2001 From: Nayan Date: Wed, 21 May 2025 01:14:08 -0400 Subject: [PATCH 304/477] ui: add expandable row widget (#916) * expandable_row widget * make MinMaxValue protected to allow inheritence * add function to set width * no more layout warnings * format --------- Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/SConscript | 1 + selfdrive/ui/sunnypilot/qt/widgets/controls.h | 13 +++-- .../sunnypilot/qt/widgets/expandable_row.cc | 31 ++++++++++++ .../ui/sunnypilot/qt/widgets/expandable_row.h | 50 +++++++++++++++++++ 4 files changed, 91 insertions(+), 4 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc create mode 100644 selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 379adfcede..d189751843 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -3,6 +3,7 @@ widgets_src = [ "sunnypilot/qt/widgets/toggle.cc", "sunnypilot/qt/widgets/controls.cc", "sunnypilot/qt/widgets/drive_stats.cc", + "sunnypilot/qt/widgets/expandable_row.cc", "sunnypilot/qt/widgets/prime.cc", "sunnypilot/qt/widgets/scrollview.cc", "sunnypilot/qt/network/networking.cc", diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h index b6efd871d1..b5411f3bf1 100644 --- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h +++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h @@ -441,15 +441,16 @@ public: class OptionControlSP : public AbstractControlSP_SELECTOR { Q_OBJECT -private: - bool is_inline_layout; - QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout; - +protected: struct MinMaxValue { int min_value; int max_value; }; +private: + bool is_inline_layout; + QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout; + int getParamValue() { const auto param_value = QString::fromStdString(params.get(key)); const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value; @@ -551,6 +552,10 @@ public: request_update = _update; } + void setFixedWidth(int width) { + label.setFixedWidth(width); + } + inline void setLabel(const QString &text) { label.setText(text); } void setEnabled(bool enabled) { diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc new file mode 100644 index 0000000000..b918938d11 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc @@ -0,0 +1,31 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h" + +ExpandableToggleRow::ExpandableToggleRow(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent) + : ToggleControlSP(title, desc, icon, false, parent) { + + key = param.toStdString(); + QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked); + + collapsibleWidget = new QFrame(this); + collapsibleWidget->setContentsMargins(0, 0, 0, 0); + collapsibleWidget->setVisible(false); + QVBoxLayout *collapsible_layout = new QVBoxLayout(); + collapsibleWidget->setLayout(collapsible_layout); + + list = new ListWidgetSP(this, false); + + main_layout->addWidget(collapsibleWidget); + collapsible_layout->addWidget(list); +} + +void ExpandableToggleRow::toggleClicked(bool state) { + params.putBool(key, state); + collapsibleWidget->setVisible(state); +} diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h new file mode 100644 index 0000000000..4bfcb9ef55 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h @@ -0,0 +1,50 @@ +/** + * 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/widgets/controls.h" + +class ExpandableToggleRow : public ToggleControlSP { + Q_OBJECT + +public: + ExpandableToggleRow(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr); + + void addItem(QWidget *widget) { + list->addItem(widget); + } + + ListWidgetSP *innerList() { + return list; + } + + void refresh() { + bool state = params.getBool(key); + if (state != toggle.on) { + toggle.togglePosition(); + } + collapsibleWidget->setVisible(state); + } + + bool isToggled() { + return params.getBool(key); + } + + void showEvent(QShowEvent *event) override { + refresh(); + } + +private: + void toggleClicked(bool state); + + std::string key; + Params params; + + ListWidgetSP *list; + QFrame *collapsibleWidget = nullptr; +}; From 7ea8277e399e57937379323650d0d7888f95d80d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 May 2025 19:28:04 +0800 Subject: [PATCH 305/477] system/ui: improve button press behavior (#35309) improve button press behavior --- system/ui/lib/button.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 4870e333df..9ca82c9732 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -68,19 +68,22 @@ def gui_button( # Set background color based on button type bg_color = BUTTON_BACKGROUND_COLORS[button_style] mouse_over = is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect) + is_pressed = button_id in _pressed_buttons if mouse_over: if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): - # Record that this button was pressed + # Only this button enters pressed state _pressed_buttons.add(button_id) + is_pressed = True + + # Use pressed color when mouse is down over this button + if is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style] - elif rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): - bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style] - elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): - # Check if this button was previously pressed - if button_id in _pressed_buttons: - result = 1 - _pressed_buttons.remove(button_id) + + # Handle button click + if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and is_pressed: + result = 1 + _pressed_buttons.remove(button_id) # Clean up pressed state if mouse is released anywhere if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and button_id in _pressed_buttons: From 4c9655b5e4e87e0abc35bd442e3075af61fc1c19 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 22 May 2025 00:44:49 +0800 Subject: [PATCH 306/477] system/ui: add text scrolling support to InputBox for long text (#35310) * add text scrolling support to InputBox for long text * add 2 pixels buffer to the scissor region --- system/ui/lib/inputbox.py | 66 +++++++++++++++++++++++++++++++++------ 1 file changed, 57 insertions(+), 9 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 78ee03bdbd..b164fa4f2a 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -14,6 +14,8 @@ class InputBox: self._key_press_time = 0 self._repeat_delay = 30 self._repeat_rate = 4 + self._text_offset = 0 + self._visible_width = 0 @property def text(self): @@ -23,6 +25,7 @@ class InputBox: def text(self, value): self._input_text = value[: self._max_text_size] self._cursor_position = len(self._input_text) + self._update_text_offset() def set_password_mode(self, password_mode): self._password_mode = password_mode @@ -30,6 +33,7 @@ class InputBox: def clear(self): self._input_text = '' self._cursor_position = 0 + self._text_offset = 0 def set_cursor_position(self, position): """Set the cursor position and reset the blink counter.""" @@ -37,6 +41,29 @@ class InputBox: self._cursor_position = position self._blink_counter = 0 self._show_cursor = True + self._update_text_offset() + + def _update_text_offset(self): + """Ensure the cursor is visible by adjusting text offset.""" + if self._visible_width == 0: + return + + font = gui_app.font() + display_text = "*" * len(self._input_text) if self._password_mode else self._input_text + padding = 10 + + if self._cursor_position > 0: + cursor_x = rl.measure_text_ex(font, display_text[: self._cursor_position], self._font_size, 0).x + else: + cursor_x = 0 + + visible_width = self._visible_width - (padding * 2) + + # Adjust offset if cursor would be outside visible area + if cursor_x < self._text_offset: + self._text_offset = max(0, cursor_x - padding) + elif cursor_x > self._text_offset + visible_width: + self._text_offset = cursor_x - visible_width + padding def add_char_at_cursor(self, char): """Add a character at the current cursor position.""" @@ -63,6 +90,10 @@ class InputBox: return False def render(self, rect, color=rl.BLACK, border_color=rl.DARKGRAY, text_color=rl.WHITE, font_size=80): + # Store dimensions for text offset calculations + self._visible_width = rect.width + self._font_size = font_size + # Handle mouse input self._handle_mouse_input(rect, font_size) @@ -82,10 +113,14 @@ class InputBox: font = gui_app.font() display_text = "*" * len(self._input_text) if self._password_mode else self._input_text padding = 10 + + # Clip text within input box bounds + buffer = 2 + rl.begin_scissor_mode(int(rect.x + padding - buffer), int(rect.y), int(rect.width - padding * 2 + buffer * 2), int(rect.height)) rl.draw_text_ex( font, display_text, - rl.Vector2(int(rect.x + padding), int(rect.y + rect.height / 2 - font_size / 2)), + rl.Vector2(int(rect.x + padding - self._text_offset), int(rect.y + rect.height / 2 - font_size / 2)), font_size, 0, text_color, @@ -97,9 +132,14 @@ class InputBox: if len(display_text) > 0 and self._cursor_position > 0: cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x + # Apply text offset to cursor position + cursor_x -= self._text_offset + cursor_height = font_size + 4 cursor_y = rect.y + rect.height / 2 - cursor_height / 2 - rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.LIGHTGRAY) + rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.WHITE) + + rl.end_scissor_mode() def _handle_mouse_input(self, rect, font_size): """Handle mouse clicks to position cursor.""" @@ -107,14 +147,22 @@ class InputBox: if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect): # Calculate cursor position from click if len(self._input_text) > 0: - text_width = rl.measure_text_ex(gui_app.font(), self._input_text, font_size, 0).x - text_pos_x = rect.x + 10 + font = gui_app.font() + display_text = "*" * len(self._input_text) if self._password_mode else self._input_text - if mouse_pos.x - text_pos_x > text_width: - self.set_cursor_position(len(self._input_text)) - else: - click_ratio = (mouse_pos.x - text_pos_x) / text_width - self.set_cursor_position(int(len(self._input_text) * click_ratio)) + # Find the closest character position to the click + relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset + best_pos = 0 + min_distance = float('inf') + + for i in range(len(self._input_text) + 1): + char_width = rl.measure_text_ex(font, display_text[:i], font_size, 0).x + distance = abs(relative_x - char_width) + if distance < min_distance: + min_distance = distance + best_pos = i + + self.set_cursor_position(best_pos) else: self.set_cursor_position(0) From 68fa8c56ab73169612312914147270baace2664c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 22 May 2025 02:17:03 +0800 Subject: [PATCH 307/477] =?UTF-8?q?system/ui:=20use=20=E2=80=A2=20for=20pa?= =?UTF-8?q?ssword=20masking=20in=20InputBox=20(#35313)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit use • for password masking --- system/ui/lib/inputbox.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index b164fa4f2a..87e0e92d51 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -2,6 +2,9 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app +PASSWORD_MASK_CHAR = "•" + + class InputBox: def __init__(self, max_text_size=255, password_mode=False): self._max_text_size = max_text_size @@ -49,7 +52,7 @@ class InputBox: return font = gui_app.font() - display_text = "*" * len(self._input_text) if self._password_mode else self._input_text + display_text = PASSWORD_MASK_CHAR * len(self._input_text) if self._password_mode else self._input_text padding = 10 if self._cursor_position > 0: @@ -111,7 +114,7 @@ class InputBox: # Display text font = gui_app.font() - display_text = "*" * len(self._input_text) if self._password_mode else self._input_text + display_text = PASSWORD_MASK_CHAR * len(self._input_text) if self._password_mode else self._input_text padding = 10 # Clip text within input box bounds @@ -148,7 +151,7 @@ class InputBox: # Calculate cursor position from click if len(self._input_text) > 0: font = gui_app.font() - display_text = "*" * len(self._input_text) if self._password_mode else self._input_text + display_text = PASSWORD_MASK_CHAR * len(self._input_text) if self._password_mode else self._input_text # Find the closest character position to the click relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset From 19ad50a185bb80bbe2de4f6154cc0b93bafee506 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 21 May 2025 11:33:47 -0700 Subject: [PATCH 308/477] feat(route.py): add metadata, events retrieval (#35261) * feat(route.py): add metadata, events retrieval * whitespace * raise for status --- tools/lib/route.py | 30 +++++++++++++++++++++++++++--- 1 file changed, 27 insertions(+), 3 deletions(-) diff --git a/tools/lib/route.py b/tools/lib/route.py index ddb8b0486e..0a4700f083 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,12 +1,13 @@ import os import re +import requests from functools import cache from urllib.parse import urlparse from collections import defaultdict from itertools import chain from openpilot.tools.lib.auth_config import get_token -from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst'] @@ -19,6 +20,7 @@ ECAMERA_FILENAMES = ['ecamera.hevc'] class Route: def __init__(self, name, data_dir=None): + self._metadata = None self._name = RouteName(name) self.files = None if data_dir is not None: @@ -27,6 +29,13 @@ class Route: self._segments = self._get_segments_remote() self.max_seg_number = self._segments[-1].name.segment_num + @property + def metadata(self): + if not self._metadata: + api = CommaApi(get_token()) + self._metadata = api.get('v1/route/' + self.name.canonical_name) + return self._metadata + @property def name(self): return self._name @@ -78,6 +87,7 @@ class Route: url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, + self.metadata['url'], ) else: segments[segment_name] = Segment( @@ -88,6 +98,7 @@ class Route: url if fn in DCAMERA_FILENAMES else None, url if fn in ECAMERA_FILENAMES else None, url if fn in QCAMERA_FILENAMES else None, + self.metadata['url'], ) return sorted(segments.values(), key=lambda seg: seg.name.segment_num) @@ -153,7 +164,7 @@ class Route: except StopIteration: qcamera_path = None - segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) + segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, self.metadata['url'])) if len(segments) == 0: raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}') @@ -161,8 +172,10 @@ class Route: class Segment: - def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path): + def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, url): + self._events = None self._name = SegmentName(name) + self.url = f'{url}/{self._name.segment_num}' self.log_path = log_path self.qlog_path = qlog_path self.camera_path = camera_path @@ -174,6 +187,17 @@ class Segment: def name(self): return self._name + @property + def events(self): + if not self._events: + try: + resp = requests.get(f'{self.url}/events.json') + resp.raise_for_status() + self._events = resp.json() + except Exception as e: + raise APIError(f'error getting events for segment {self._name}') from e + return self._events + class RouteName: def __init__(self, name_str: str): From b4d6b52edd815364b9d3503aff6dd3ce1005fe45 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 21 May 2025 11:48:49 -0700 Subject: [PATCH 309/477] Vegan Filet o Fish model (#35240) e30305e9-5fb8-48bd-a278-f714e880aef1/700 --- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3601bbb5da..5da6d85300 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 sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 -size 15966721 +oid sha256:abbb1f5a74a6d047ed4b7f376b19451a9443986660f136afd0f8d76fc254a579 +size 15976894 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index aee6d8f1bf..6c8cf592b0 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 sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 +oid sha256:6dfffac033d7ae8e68aa5763bd9b5dd99ddc748f6a95523c84fc2523eefdec55 size 34882971 From 4423b47b6c11ca8148b18feaed8e24ca194b339f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 22 May 2025 03:44:15 +0800 Subject: [PATCH 310/477] system/ui: add password mask delay to InputBox (#35316) add password mask delay to InputBox --- system/ui/lib/inputbox.py | 29 ++++++++++++++++++++++++++--- system/ui/widgets/keyboard.py | 2 +- 2 files changed, 27 insertions(+), 4 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 87e0e92d51..367e0dc7e4 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -1,8 +1,10 @@ import pyray as rl +import time from openpilot.system.ui.lib.application import gui_app PASSWORD_MASK_CHAR = "•" +PASSWORD_MASK_DELAY = 1.5 # Seconds to show character before masking class InputBox: @@ -19,6 +21,8 @@ class InputBox: self._repeat_rate = 4 self._text_offset = 0 self._visible_width = 0 + self._last_char_time = 0 # Track when last character was added + self._masked_length = 0 # How many characters are currently masked @property def text(self): @@ -52,7 +56,7 @@ class InputBox: return font = gui_app.font() - display_text = PASSWORD_MASK_CHAR * len(self._input_text) if self._password_mode else self._input_text + display_text = self._get_display_text() padding = 10 if self._cursor_position > 0: @@ -73,6 +77,10 @@ class InputBox: if len(self._input_text) < self._max_text_size: self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position :] self.set_cursor_position(self._cursor_position + 1) + + if self._password_mode: + self._last_char_time = time.time() + return True return False @@ -114,7 +122,7 @@ class InputBox: # Display text font = gui_app.font() - display_text = PASSWORD_MASK_CHAR * len(self._input_text) if self._password_mode else self._input_text + display_text = self._get_display_text() padding = 10 # Clip text within input box bounds @@ -144,6 +152,21 @@ class InputBox: rl.end_scissor_mode() + def _get_display_text(self): + """Get text to display, applying password masking with delay if needed.""" + if not self._password_mode: + return self._input_text + + # Show character at last edited position if within delay window + masked_text = PASSWORD_MASK_CHAR * len(self._input_text) + recent_edit = time.time() - self._last_char_time < PASSWORD_MASK_DELAY + if recent_edit and self._input_text: + last_pos = max(0, self._cursor_position - 1) + if last_pos < len(self._input_text): + return masked_text[:last_pos] + self._input_text[last_pos] + masked_text[last_pos + 1 :] + + return masked_text + def _handle_mouse_input(self, rect, font_size): """Handle mouse clicks to position cursor.""" mouse_pos = rl.get_mouse_position() @@ -151,7 +174,7 @@ class InputBox: # Calculate cursor position from click if len(self._input_text) > 0: font = gui_app.font() - display_text = PASSWORD_MASK_CHAR * len(self._input_text) if self._password_mode else self._input_text + display_text = self._get_display_text() # Find the closest character position to the click relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 7836b28184..0e22f1b527 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -221,7 +221,7 @@ class Keyboard: if __name__ == "__main__": gui_app.init_window("Keyboard") - keyboard = Keyboard(min_text_size=8) + keyboard = Keyboard(min_text_size=8, show_password_toggle=True) for _ in gui_app.render(): result = keyboard.render("Keyboard", "Type here") if result == 1: From 786b46c0b4621638aa72e67321d338a8157c53dc Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 21 May 2025 12:45:05 -0700 Subject: [PATCH 311/477] feat: `op esim` and esim.py 2 (#35314) * init: lpa interface * handle multiple messages * handle timeouts * delete old LPA, add enable/disable/validation * check if valid * keep old file the same for easier diff * keep * nickname, bug fixes * space * simple * need to test this on slow conn * initial HITL test for eSIM provisioning * cleanup * lint * test flakes if lpac called concurrently * no * cleanup * org * comment * vibe coded uts * Revert "vibe coded uts" This reverts commit 8b4d8f8ade50dbeaf3fa44f1df1aa2d809deca18. * much simpler test * no value * remove no value add comments * only one test flow now * simpler * reorganize * replace impl * brevity * moar * why didnt u rename * moar * check lpac installed * Profile dataclass * shorten * print out profiles * better * plurals * argparse * download/nickname * move to end to show change * just end early if already enabled * --reboot * reconfigure conn * mutations require reboot today * not needed * lint * guard delete * better * print help * spaceg * rename * support at device * choose backend * desc * more * brackets * op esim * Revert "brackets" This reverts commit 124dbc0cbcc07d93f556ca80a6dc47aa118fda5c. * Update Jenkinsfile --- Jenkinsfile | 2 + system/hardware/tici/esim.py | 233 +++++++++++++++--------- system/hardware/tici/tests/test_esim.py | 51 ++++++ tools/op.sh | 7 + 4 files changed, 204 insertions(+), 89 deletions(-) create mode 100644 system/hardware/tici/tests/test_esim.py diff --git a/Jenkinsfile b/Jenkinsfile index b1a0746ea3..a14bf59299 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -268,6 +268,8 @@ node { step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"), step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]), step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"), + // TODO: enable once new AGNOS is available + // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"), step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]), ]) }, diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py index df76c1a5fd..0a07e77e16 100755 --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -1,115 +1,170 @@ #!/usr/bin/env python3 + +import argparse +import json import os -import math -import time -import binascii -import requests -import serial +import shutil import subprocess +from dataclasses import dataclass +from typing import Literal +@dataclass +class Profile: + iccid: str + nickname: str + enabled: bool + provider: str -def post(url, payload): - print() - print("POST to", url) - r = requests.post( - url, - data=payload, - verify=False, - headers={ - "Content-Type": "application/json", - "X-Admin-Protocol": "gsma/rsp/v2.2.0", - "charset": "utf-8", - "User-Agent": "gsma-rsp-lpad", - }, - ) - print("resp", r) - print("resp text", repr(r.text)) - print() - r.raise_for_status() +class LPAError(RuntimeError): + pass - ret = f"HTTP/1.1 {r.status_code}" - ret += ''.join(f"{k}: {v}" for k, v in r.headers.items() if k != 'Connection') - return ret.encode() + r.content +class LPAProfileNotFoundError(LPAError): + pass class LPA: - def __init__(self): - self.dev = serial.Serial('/dev/ttyUSB2', baudrate=57600, timeout=1, bytesize=8) - self.dev.reset_input_buffer() - self.dev.reset_output_buffer() - assert "OK" in self.at("AT") + def __init__(self, interface: Literal['qmi', 'at'] = 'qmi'): + self.env = os.environ.copy() + self.env['LPAC_APDU'] = interface + self.env['QMI_DEVICE'] = '/dev/cdc-wdm0' + self.env['AT_DEVICE'] = '/dev/ttyUSB2' - def at(self, cmd): - print(f"==> {cmd}") - self.dev.write(cmd.encode() + b'\r\n') + self.timeout_sec = 45 - r = b"" - cnt = 0 - while b"OK" not in r and b"ERROR" not in r and cnt < 20: - r += self.dev.read(8192).strip() - cnt += 1 - r = r.decode() - print(f"<== {repr(r)}") - return r + if shutil.which('lpac') is None: + raise LPAError('lpac not found, must be installed!') - def download_ota(self, qr): - return self.at(f'AT+QESIM="ota","{qr}"') + def list_profiles(self) -> list[Profile]: + msgs = self._invoke('profile', 'list') + self._validate_successful(msgs) + return [Profile( + iccid=p['iccid'], + nickname=p['profileNickname'], + enabled=p['profileState'] == 'enabled', + provider=p['serviceProviderName'] + ) for p in msgs[-1]['payload']['data']] - def download(self, qr): - smdp = qr.split('$')[1] - out = self.at(f'AT+QESIM="download","{qr}"') - for _ in range(5): - line = out.split("+QESIM: ")[1].split("\r\n\r\nOK")[0] + def get_active_profile(self) -> Profile | None: + return next((p for p in self.list_profiles() if p.enabled), None) - parts = [x.strip().strip('"') for x in line.split(',', maxsplit=4)] - print(repr(parts)) - trans, ret, url, payloadlen, payload = parts - assert trans == "trans" and ret == "0" - assert len(payload) == int(payloadlen) + 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.disable_profile(latest.iccid) + self._validate_successful(self._invoke('profile', 'enable', iccid)) + self.process_notifications() - r = post(f"https://{smdp}/{url}", payload) - to_send = binascii.hexlify(r).decode() + def disable_profile(self, iccid: str) -> None: + self._validate_profile_exists(iccid) + latest = self.get_active_profile() + if latest is not None and latest.iccid != iccid: + return + self._validate_successful(self._invoke('profile', 'disable', iccid)) + self.process_notifications() - chunk_len = 1400 - for i in range(math.ceil(len(to_send) / chunk_len)): - state = 1 if (i+1)*chunk_len < len(to_send) else 0 - data = to_send[i * chunk_len : (i+1)*chunk_len] - out = self.at(f'AT+QESIM="trans",{len(to_send)},{state},{i},{len(data)},"{data}"') - assert "OK" in out + def delete_profile(self, iccid: str) -> None: + self._validate_profile_exists(iccid) + latest = self.get_active_profile() + if latest is not None and latest.iccid == iccid: + self.disable_profile(iccid) + self._validate_successful(self._invoke('profile', 'delete', iccid)) + self.process_notifications() - if '+QESIM:"download",1' in out: - raise Exception("profile install failed") - elif '+QESIM:"download",0' in out: - print("done, successfully loaded") - break + def download_profile(self, qr: str, nickname: str | None = None) -> None: + msgs = self._invoke('profile', 'download', '-a', qr) + self._validate_successful(msgs) + new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None) + if new_profile is None: + raise LPAError('no new profile found') + if nickname: + self.nickname_profile(new_profile['payload']['data']['iccid'], nickname) + self.process_notifications() - def enable(self, iccid): - self.at(f'AT+QESIM="enable","{iccid}"') + def nickname_profile(self, iccid: str, nickname: str) -> None: + self._validate_profile_exists(iccid) + self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) - def disable(self, iccid): - self.at(f'AT+QESIM="disable","{iccid}"') + def process_notifications(self) -> None: + """ + Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier. + """ + self._validate_successful(self._invoke('notification', 'process', '-a', '-r')) - def delete(self, iccid): - self.at(f'AT+QESIM="delete","{iccid}"') + def _invoke(self, *cmd: str): + proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) + try: + out, err = proc.communicate(timeout=self.timeout_sec) + except subprocess.TimeoutExpired as e: + proc.kill() + raise LPAError(f"lpac {cmd} timed out after {self.timeout_sec} seconds") from e - def list_profiles(self): - out = self.at('AT+QESIM="list"') - return out.strip().splitlines()[1:] + messages = [] + for line in out.decode().strip().splitlines(): + if line.startswith('{'): + message = json.loads(line) + + # lpac response format validations + assert 'type' in message, 'expected type in message' + assert message['type'] == 'lpa' or message['type'] == 'progress', 'expected lpa or progress message type' + assert 'payload' in message, 'expected payload in message' + assert 'code' in message['payload'], 'expected code in message payload' + assert 'data' in message['payload'], 'expected data in message payload' + + msg_ret_code = message['payload']['code'] + if msg_ret_code != 0: + raise LPAError(f"lpac {' '.join(cmd)} failed with code {msg_ret_code}: <{message['payload']['message']}> {message['payload']['data']}") + + messages.append(message) + + if len(messages) == 0: + raise LPAError(f"lpac {cmd} returned no messages") + + return messages + + def _validate_profile_exists(self, iccid: str) -> None: + if not any(p.iccid == iccid for p in self.list_profiles()): + raise LPAProfileNotFoundError(f'profile {iccid} does not exist') + + def _validate_successful(self, msgs: list[dict]) -> None: + assert msgs[-1]['payload']['message'] == 'success', 'expected success notification' if __name__ == "__main__": - import sys + parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') + parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') + parser.add_argument('--enable', metavar='iccid', help='enable profile; will disable current profile') + parser.add_argument('--disable', metavar='iccid', help='disable profile') + parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') + parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)') + parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile') + args = parser.parse_args() - if "RESTART" in os.environ: - subprocess.check_call("sudo systemctl stop ModemManager", shell=True) - subprocess.check_call("/usr/comma/lte/lte.sh stop_blocking", shell=True) - subprocess.check_call("/usr/comma/lte/lte.sh start", shell=True) - while not os.path.exists('/dev/ttyUSB2'): - time.sleep(1) - time.sleep(3) + lpa = LPA(interface=args.backend) + if args.enable: + lpa.enable_profile(args.enable) + print('enabled profile, please restart device to apply changes') + elif args.disable: + lpa.disable_profile(args.disable) + print('disabled profile, please restart device to apply changes') + 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') + else: + print('cancelled') + exit(0) + elif args.download: + lpa.download_profile(args.download[0], args.download[1]) + elif args.nickname: + lpa.nickname_profile(args.nickname[0], args.nickname[1]) + else: + parser.print_help() - lpa = LPA() - print(lpa.list_profiles()) - if len(sys.argv) > 1: - lpa.download(sys.argv[1]) - print(lpa.list_profiles()) + profiles = lpa.list_profiles() + print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:') + for p in profiles: + print(f'- {p.iccid} (nickname: {p.nickname or ""}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}') diff --git a/system/hardware/tici/tests/test_esim.py b/system/hardware/tici/tests/test_esim.py new file mode 100644 index 0000000000..d36bdaa27b --- /dev/null +++ b/system/hardware/tici/tests/test_esim.py @@ -0,0 +1,51 @@ +import pytest + +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.esim import LPA, LPAProfileNotFoundError + +# https://euicc-manual.osmocom.org/docs/rsp/known-test-profile +# iccid is always the same for the given activation code +TEST_ACTIVATION_CODE = 'LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5' +TEST_ICCID = '8944476500001944011' + +TEST_NICKNAME = 'test_profile' + +def cleanup(): + lpa = LPA() + try: + lpa.delete_profile(TEST_ICCID) + except LPAProfileNotFoundError: + pass + lpa.process_notifications() + +class TestEsim: + + @classmethod + def setup_class(cls): + if not TICI: + pytest.skip() + cleanup() + + @classmethod + def teardown_class(cls): + cleanup() + + def test_provision_enable_disable(self): + lpa = LPA() + current_active = lpa.get_active_profile() + + lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME) + assert any(p.iccid == TEST_ICCID and p.nickname == TEST_NICKNAME for p in lpa.list_profiles()) + + lpa.enable_profile(TEST_ICCID) + new_active = lpa.get_active_profile() + assert new_active is not None + assert new_active.iccid == TEST_ICCID + assert new_active.nickname == TEST_NICKNAME + + lpa.disable_profile(TEST_ICCID) + new_active = lpa.get_active_profile() + assert new_active is None + + if current_active: + lpa.enable_profile(current_active.iccid) diff --git a/tools/op.sh b/tools/op.sh index a7ed964812..7c17c949e4 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -293,6 +293,11 @@ function op_check() { unset VERBOSE } +function op_esim() { + op_before_cmd + op_run_command system/hardware/tici/esim.py "$@" +} + function op_build() { CDIR=$(pwd) op_before_cmd @@ -392,6 +397,7 @@ function op_default() { echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}" echo -e " ${BOLD}auth${NC} Authenticate yourself for API use" echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot" + echo -e " ${BOLD}esim${NC} Manage eSIM profiles on your comma device" echo -e " ${BOLD}venv${NC} Activate the python virtual environment" echo -e " ${BOLD}setup${NC} Install openpilot dependencies" echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory" @@ -448,6 +454,7 @@ function _op() { auth ) shift 1; op_auth "$@" ;; venv ) shift 1; op_venv "$@" ;; check ) shift 1; op_check "$@" ;; + esim ) shift 1; op_esim "$@" ;; setup ) shift 1; op_setup "$@" ;; build ) shift 1; op_build "$@" ;; juggle ) shift 1; op_juggle "$@" ;; From 163332f368e0f91259243c627d52eb70341c4a3f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 21 May 2025 12:50:08 -0700 Subject: [PATCH 312/477] pandad: fix premature USB panda recovery (#35287) Update pandad.py --- selfdrive/pandad/pandad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index fd6668feba..b33ffb6473 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -87,7 +87,7 @@ def main() -> None: # TODO: remove this in the next AGNOS # wait until USB is up before counting - if time.monotonic() < 25.: + if time.monotonic() < 35.: no_internal_panda_count = 0 # Handle missing internal panda From 9c40c487292956618c58a4e77b4c9d825d5ae91b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 22 May 2025 03:55:19 +0200 Subject: [PATCH 313/477] Revert "Enable online lag learning (#34968)" (#35322) * Revert "Enable online lag learning (#34968)" * Update ref commit --- selfdrive/locationd/torqued.py | 7 +++---- selfdrive/modeld/modeld.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 8 insertions(+), 9 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 5ed86e457f..fcaa19df73 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets): class TorqueEstimator(ParameterEstimator): def __init__(self, CP, decimated=False, track_all_points=False): self.hist_len = int(HISTORY / DT_MDL) - self.lag = 0.0 + self.lag = CP.steerActuatorDelay + .2 # from controlsd self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters if decimated: self.min_bucket_points = MIN_BUCKET_POINTS / 10 @@ -175,8 +175,7 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["steer_override"].append(msg.steeringPressed) elif which == "liveCalibration": self.calibrator.feed_live_calib(msg) - elif which == "liveDelay": - self.lag = msg.lateralDelay + # calculate lateral accel from past steering torque elif which == "livePose": if len(self.raw_points['steer_torque']) == self.hist_len: @@ -242,7 +241,7 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose') params = Params() estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1e3d1782e6..96520a4b15 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -229,7 +229,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) publish_state = PublishState() params = Params() @@ -256,6 +256,7 @@ def main(demo=False): # TODO this needs more thought, use .2s extra for now to estimate other delays # TODO Move smooth seconds to action function + lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -299,7 +300,6 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) - lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8de2e60055..d87a330fdd 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -564,7 +564,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"], + pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, @@ -573,7 +573,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"], + pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"], subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f916e7b306..eef00985f3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8e57f774d0e8302e1bf1834f84720bb1f9211ae3 \ No newline at end of file +a6c19d1dacbebccee6d14313314e68c5140b836c \ No newline at end of file From 3f53133da5a268c6e32f1abd5f6daaf225d9e66e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 21 May 2025 19:58:18 -0700 Subject: [PATCH 314/477] AGNOS 12.2 (#35317) * agnos 12.2 * non-staging --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 52 ++++++++-------- system/hardware/tici/all-partitions.json | 76 ++++++++++++------------ 3 files changed, 65 insertions(+), 65 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 73a7a89789..6f31fcf776 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="12.1" + export AGNOS_VERSION="12.2" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index a415851a10..e209613f42 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,25 +1,25 @@ [ { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz", - "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c", - "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz", + "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", + "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", "size": 3282256, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247" + "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089" }, { "name": "xbl_config", - 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"ondevice_hash": "0b5b2402c9caa1ed7b832818e66580c974251e735bda91f2f226c41499d5616e" + "ondevice_hash": "1a2f2d14c922bd2895073446460a0bd680711a7b14318a4402631635e6d133b3" } ] \ No newline at end of file From c9f3cd5ad2ce223f3ff9bc623453aafc0327c8cd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 22 May 2025 11:31:50 +0800 Subject: [PATCH 315/477] system/ui: enhance scroll panel with iPhone-like physics and behavior (#35312) * improve scroll panel for iphone-like experience * add comments * increase demo run time for easier testing --- system/ui/lib/scroll_panel.py | 168 ++++++++++++++++++++++++++++------ system/ui/text.py | 2 +- 2 files changed, 139 insertions(+), 31 deletions(-) diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 7dc2fdb917..43111504bb 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -1,16 +1,23 @@ import pyray as rl from enum import IntEnum +# Scroll constants for smooth scrolling behavior MOUSE_WHEEL_SCROLL_SPEED = 30 -INERTIA_FRICTION = 0.95 # The rate at which the inertia slows down -MIN_VELOCITY = 0.1 # Minimum velocity before stopping the inertia -DRAG_THRESHOLD = 5 # Pixels of movement to consider it a drag, not a click +INERTIA_FRICTION = 0.92 # The rate at which the inertia slows down +MIN_VELOCITY = 0.5 # Minimum velocity before stopping the inertia +DRAG_THRESHOLD = 5 # Pixels of movement to consider it a drag, not a click +BOUNCE_FACTOR = 0.2 # Elastic bounce when scrolling past boundaries +BOUNCE_RETURN_SPEED = 0.15 # How quickly it returns from the bounce +MAX_BOUNCE_DISTANCE = 150 # Maximum distance for bounce effect +FLICK_MULTIPLIER = 1.8 # Multiplier for flick gestures +VELOCITY_HISTORY_SIZE = 5 # Track velocity over multiple frames for smoother motion class ScrollState(IntEnum): IDLE = 0 DRAGGING_CONTENT = 1 DRAGGING_SCROLLBAR = 2 + BOUNCING = 3 class GuiScrollPanel: @@ -22,14 +29,33 @@ class GuiScrollPanel: self._view = rl.Rectangle(0, 0, 0, 0) self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar self._velocity_y = 0.0 # Velocity for inertia - self._is_dragging = False + self._is_dragging: bool = False + self._bounce_offset: float = 0.0 + self._last_frame_time = rl.get_time() + self._velocity_history: list[float] = [] + self._last_drag_time: float = 0.0 + self._content_rect: rl.Rectangle | None = None + self._bounds_rect: rl.Rectangle | None = None def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2: - mouse_pos = rl.get_mouse_position() + # Store rectangles for reference + self._content_rect = content + self._bounds_rect = bounds - # Handle dragging logic + # Calculate time delta + current_time = rl.get_time() + delta_time = current_time - self._last_frame_time + self._last_frame_time = current_time + + # Prevent large jumps + delta_time = min(delta_time, 0.05) + + mouse_pos = rl.get_mouse_position() + max_scroll_y = max(content.height - bounds.height, 0) + + # Start dragging on mouse press if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): - if self._scroll_state == ScrollState.IDLE: + if self._scroll_state == ScrollState.IDLE or self._scroll_state == ScrollState.BOUNCING: self._scroll_state = ScrollState.DRAGGING_CONTENT if self._show_vertical_scroll_bar: scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH) @@ -38,51 +64,133 @@ class GuiScrollPanel: self._scroll_state = ScrollState.DRAGGING_SCROLLBAR self._last_mouse_y = mouse_pos.y - self._start_mouse_y = mouse_pos.y # Record starting position - self._velocity_y = 0.0 # Reset velocity when drag starts - self._is_dragging = False # Reset dragging flag + self._start_mouse_y = mouse_pos.y + self._last_drag_time = current_time + self._velocity_history = [] + self._velocity_y = 0.0 + self._bounce_offset = 0.0 + self._is_dragging = False - if self._scroll_state != ScrollState.IDLE: + # Handle active dragging + if self._scroll_state == ScrollState.DRAGGING_CONTENT or self._scroll_state == ScrollState.DRAGGING_SCROLLBAR: if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): delta_y = mouse_pos.y - self._last_mouse_y - # Check if movement exceeds the drag threshold + # Track velocity for inertia + time_since_last_drag = current_time - self._last_drag_time + if time_since_last_drag > 0: + drag_velocity = delta_y / time_since_last_drag / 60.0 + self._velocity_history.append(drag_velocity) + + if len(self._velocity_history) > VELOCITY_HISTORY_SIZE: + self._velocity_history.pop(0) + + self._last_drag_time = current_time + + # Detect actual dragging total_drag = abs(mouse_pos.y - self._start_mouse_y) if total_drag > DRAG_THRESHOLD: self._is_dragging = True if self._scroll_state == ScrollState.DRAGGING_CONTENT: + # Add resistance at boundaries + if (self._offset.y > 0 and delta_y > 0) or (self._offset.y < -max_scroll_y and delta_y < 0): + delta_y *= BOUNCE_FACTOR + self._offset.y += delta_y elif self._scroll_state == ScrollState.DRAGGING_SCROLLBAR: - delta_y = -delta_y + scroll_ratio = content.height / bounds.height + self._offset.y -= delta_y * scroll_ratio self._last_mouse_y = mouse_pos.y - self._velocity_y = delta_y # Update velocity during drag - elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): - self._scroll_state = ScrollState.IDLE - # Handle mouse wheel scrolling + elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + # Calculate flick velocity + if self._velocity_history: + total_weight = 0 + weighted_velocity = 0.0 + + for i, v in enumerate(self._velocity_history): + weight = i + 1 + weighted_velocity += v * weight + total_weight += weight + + if total_weight > 0: + avg_velocity = weighted_velocity / total_weight + self._velocity_y = avg_velocity * FLICK_MULTIPLIER + + # Check bounds + if self._offset.y > 0 or self._offset.y < -max_scroll_y: + self._scroll_state = ScrollState.BOUNCING + else: + self._scroll_state = ScrollState.IDLE + + # Handle mouse wheel wheel_move = rl.get_mouse_wheel_move() - if self._show_vertical_scroll_bar: - self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20) - rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view) - else: - self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED + if wheel_move != 0: + self._velocity_y = 0.0 + + if self._show_vertical_scroll_bar: + self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20) + rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view) + else: + self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED + + if self._offset.y > 0 or self._offset.y < -max_scroll_y: + self._scroll_state = ScrollState.BOUNCING # Apply inertia (continue scrolling after mouse release) if self._scroll_state == ScrollState.IDLE: - self._offset.y += self._velocity_y - self._velocity_y *= INERTIA_FRICTION # Slow down velocity over time + if abs(self._velocity_y) > MIN_VELOCITY: + self._offset.y += self._velocity_y + self._velocity_y *= INERTIA_FRICTION - # Stop scrolling when velocity is low - if abs(self._velocity_y) < MIN_VELOCITY: + if self._offset.y > 0 or self._offset.y < -max_scroll_y: + self._scroll_state = ScrollState.BOUNCING + else: self._velocity_y = 0.0 - # Ensure scrolling doesn't go beyond bounds - max_scroll_y = max(content.height - bounds.height, 0) - self._offset.y = max(min(self._offset.y, 0), -max_scroll_y) + # Handle bouncing effect + elif self._scroll_state == ScrollState.BOUNCING: + target_y = 0.0 + if self._offset.y < -max_scroll_y: + target_y = -max_scroll_y + + distance = target_y - self._offset.y + bounce_step = distance * BOUNCE_RETURN_SPEED + self._offset.y += bounce_step + self._velocity_y *= INERTIA_FRICTION * 0.8 + + if abs(distance) < 0.5 and abs(self._velocity_y) < MIN_VELOCITY: + self._offset.y = target_y + self._velocity_y = 0.0 + self._scroll_state = ScrollState.IDLE + + # Limit bounce distance + if self._scroll_state != ScrollState.DRAGGING_CONTENT: + if self._offset.y > MAX_BOUNCE_DISTANCE: + self._offset.y = MAX_BOUNCE_DISTANCE + elif self._offset.y < -(max_scroll_y + MAX_BOUNCE_DISTANCE): + self._offset.y = -(max_scroll_y + MAX_BOUNCE_DISTANCE) return self._offset def is_click_valid(self) -> bool: - return self._scroll_state == ScrollState.IDLE and not self._is_dragging and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) + # Check if this is a click rather than a drag + return ( + self._scroll_state == ScrollState.IDLE + and not self._is_dragging + and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) + ) + + def get_normalized_scroll_position(self) -> float: + """Returns the current scroll position as a value from 0.0 to 1.0""" + if not self._content_rect or not self._bounds_rect: + return 0.0 + + max_scroll_y = max(self._content_rect.height - self._bounds_rect.height, 0) + if max_scroll_y == 0: + return 0.0 + + normalized = -self._offset.y / max_scroll_y + return max(0.0, min(1.0, normalized)) diff --git a/system/ui/text.py b/system/ui/text.py index 33e8167c64..82e64d836f 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -88,4 +88,4 @@ class TextWindow(BaseWindow[TextWindowRenderer]): if __name__ == "__main__": with TextWindow(DEMO_TEXT): - time.sleep(5) + time.sleep(30) From f38a98fc0932abc9c6889528ae558132e2b96fc5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 21 May 2025 20:45:47 -0700 Subject: [PATCH 316/477] Metered Wi-Fi toggle (#35293) * draft * here too * fixes * fix * ugh more fix, wifiManager is craze * more * be optimistic and let refresh happen naturally, the immediate refresh causes some paths/active connect to temporarily be unavailable selfdrive/ui/qt/network/wifi_manager.cc: DBus call error: "Did not receive a reply. Possible causes include: the remote application did not send a reply, the message bus security policy blocked the reply, the re ply timeout expired, or the network connection was broken." selfdrive/ui/qt/network/wifi_manager.cc: DBus call error: "Object path cannot be empty" * nm is slow -- it takes 2s to commit to disk, and dbus errors are raised if you try again while previous is running (this is an ubuntu 24.04 bug) * nice experience * rm * minor * clean up * self-explanatory * rename * rm this too * revert * draft * Revert "draft" This reverts commit 15283d977880fc60b8f9732772256e8337d6ac8e. * Reapply "draft" This reverts commit 8629921b0086ca71b88746d77ec7b8d3af3cd289. * rm colors * trinary, bit more code * choose default when disabled * only if enabling, wait for disable as normal * remove original binary toggle * clean up * collapse * clean up wifimanager * update comment * lite is a word --- pyproject.toml | 2 +- selfdrive/ui/qt/network/networking.cc | 46 ++++++++++++++++++++++--- selfdrive/ui/qt/network/networking.h | 3 +- selfdrive/ui/qt/network/wifi_manager.cc | 39 +++++++++++++++++++++ selfdrive/ui/qt/network/wifi_manager.h | 7 ++++ selfdrive/ui/qt/widgets/controls.h | 4 +++ 6 files changed, 94 insertions(+), 7 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 464b605f86..b9a9fcab55 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -169,7 +169,7 @@ testpaths = [ [tool.codespell] quiet-level = 3 # if you've got a short variable name that's getting flagged, add it here -ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl" +ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite" builtin = "clear,rare,informal,code,names,en-GB_to_en-US" skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*" diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 93f7ff3f21..bb914b6449 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -173,14 +173,36 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid }); list->addItem(editApnButton); - // Metered toggle + // Cellular metered toggle (prime lite or none) const bool metered = params.getBool("GsmMetered"); - meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered); - QObject::connect(meteredToggle, &SshToggle::toggleFlipped, [=](bool state) { + cellularMeteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered cellular connection"), "", metered); + QObject::connect(cellularMeteredToggle, &SshToggle::toggleFlipped, [=](bool state) { params.putBool("GsmMetered", state); wifi->updateGsmSettings(params.getBool("GsmRoaming"), QString::fromStdString(params.get("GsmApn")), state); }); - list->addItem(meteredToggle); + list->addItem(cellularMeteredToggle); + + // 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); + QObject::connect(wifiMeteredToggle, &MultiButtonControl::buttonClicked, [=](int id) { + wifiMeteredToggle->setEnabled(false); + MeteredType metered = MeteredType::UNKNOWN; + if (id == NM_METERED_YES) { + metered = MeteredType::YES; + } else if (id == NM_METERED_NO) { + metered = MeteredType::NO; + } + auto pending_call = wifi->setCurrentNetworkMetered(metered); + if (pending_call) { + QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(*pending_call); + QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, [=]() { + refresh(); + watcher->deleteLater(); + }); + } + }); + list->addItem(wifiMeteredToggle); // Hidden Network hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT")); @@ -211,18 +233,32 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid void AdvancedNetworking::setGsmVisible(bool visible) { roamingToggle->setVisible(visible); editApnButton->setVisible(visible); - meteredToggle->setVisible(visible); + cellularMeteredToggle->setVisible(visible); } void AdvancedNetworking::refresh() { ipLabel->setText(wifi->ipv4_address); tetheringToggle->setEnabled(true); + + if (wifi->isTetheringEnabled() || wifi->ipv4_address == "") { + wifiMeteredToggle->setEnabled(false); + wifiMeteredToggle->setCheckedButton(0); + } else if (wifi->ipv4_address != "") { + MeteredType metered = wifi->currentNetworkMetered(); + wifiMeteredToggle->setEnabled(true); + wifiMeteredToggle->setCheckedButton(static_cast(metered)); + } + update(); } void AdvancedNetworking::toggleTethering(bool enabled) { wifi->setTetheringEnabled(enabled); tetheringToggle->setEnabled(false); + if (enabled) { + wifiMeteredToggle->setEnabled(false); + wifiMeteredToggle->setCheckedButton(0); + } } // WifiUI functions diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 4fd604039b..0bdf64e459 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -65,7 +65,8 @@ private: ToggleControl* roamingToggle; ButtonControl* editApnButton; ButtonControl* hiddenNetworkButton; - ToggleControl* meteredToggle; + ToggleControl* cellularMeteredToggle; + MultiButtonControl* wifiMeteredToggle; WifiManager* wifi = nullptr; Params params; diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index 3d4bb9e7d1..d4ad8974b0 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -353,6 +353,7 @@ void WifiManager::activateModemConnection(const QDBusObjectPath &path) { } // function matches tici/hardware.py +// FIXME: it can mistakenly show CELL when connected to WIFI NetworkType WifiManager::currentNetworkType() { auto primary_conn = call(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "PrimaryConnection"); auto primary_type = call(primary_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"); @@ -372,6 +373,44 @@ NetworkType WifiManager::currentNetworkType() { return NetworkType::NONE; } +MeteredType WifiManager::currentNetworkMetered() { + MeteredType metered = MeteredType::UNKNOWN; + for (const auto &active_conn : getActiveConnections()) { + QString type = call(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"); + if (type == "802-11-wireless") { + QDBusObjectPath conn = call(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Connection"); + if (!conn.path().isEmpty()) { + Connection settings = getConnectionSettings(conn); + int metered_prop = settings.value("connection").value("metered").toInt(); + if (metered_prop == NM_METERED_YES) { + metered = MeteredType::YES; + } else if (metered_prop == NM_METERED_NO) { + metered = MeteredType::NO; + } + } + break; + } + } + return metered; +} + +std::optional WifiManager::setCurrentNetworkMetered(MeteredType metered) { + for (const auto &active_conn : getActiveConnections()) { + QString type = call(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"); + if (type == "802-11-wireless") { + if (!isTetheringEnabled()) { + QDBusObjectPath conn = call(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Connection"); + if (!conn.path().isEmpty()) { + Connection settings = getConnectionSettings(conn); + settings["connection"]["metered"] = static_cast(metered); + return asyncCall(conn.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "Update", QVariant::fromValue(settings)); + } + } + } + } + return std::nullopt; +} + void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) { if (!lteConnectionPath.path().isEmpty()) { bool changes = false; diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h index e5f79c5149..cab932a388 100644 --- a/selfdrive/ui/qt/network/wifi_manager.h +++ b/selfdrive/ui/qt/network/wifi_manager.h @@ -22,6 +22,11 @@ enum class NetworkType { CELL, ETHERNET }; +enum class MeteredType { + UNKNOWN, + YES, + NO +}; typedef QMap Connection; typedef QVector IpConfig; @@ -53,6 +58,8 @@ public: bool isKnownConnection(const QString &ssid); std::optional activateWifiConnection(const QString &ssid); NetworkType currentNetworkType(); + MeteredType currentNetworkMetered(); + std::optional setCurrentNetworkMetered(MeteredType metered); void updateGsmSettings(bool roaming, QString apn, bool metered); void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {}); diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index ca93110e5b..3342de5324 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -204,6 +204,9 @@ public: QPushButton:checked:enabled { background-color: #33Ab4C; } + QPushButton:checked:disabled { + background-color: #9933Ab4C; + } QPushButton:disabled { color: #33E4E4E4; } @@ -214,6 +217,7 @@ public: for (int i = 0; i < button_texts.size(); i++) { QPushButton *button = new QPushButton(button_texts[i], this); button->setCheckable(true); + button->setChecked(i == 0); button->setStyleSheet(style); button->setMinimumWidth(minimum_button_width); hlayout->addWidget(button); From fdfba3f9f7792df5725260023d18f93bd503b094 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 May 2025 02:23:50 +0800 Subject: [PATCH 317/477] system/ui: update camera view shader to support rendering on device (#35326) update shader to support rendering on device --- system/ui/widgets/cameraview.py | 31 ++++++++++++++++++++++++++----- 1 file changed, 26 insertions(+), 5 deletions(-) diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index 841440ae3a..09fe306176 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -2,20 +2,41 @@ import pyray as rl from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.system.ui.lib.application import gui_app + +VERTEX_SHADER = """ +#version 300 es +in vec3 vertexPosition; +in vec2 vertexTexCoord; +in vec3 vertexNormal; +in vec4 vertexColor; +uniform mat4 mvp; +out vec2 fragTexCoord; +out vec4 fragColor; +void main() { + fragTexCoord = vertexTexCoord; + fragColor = vertexColor; + gl_Position = mvp * vec4(vertexPosition, 1.0); +} +""" + FRAME_FRAGMENT_SHADER = """ -#version 330 core -in vec2 fragTexCoord; uniform sampler2D texture0, texture1; out vec4 fragColor; +#version 300 es +precision mediump float; +in vec2 fragTexCoord; +uniform sampler2D texture0; +uniform sampler2D texture1; +out vec4 fragColor; void main() { float y = texture(texture0, fragTexCoord).r; vec2 uv = texture(texture1, fragTexCoord).ra - 0.5; fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0); -}""" - +} +""" class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): self.client = VisionIpcClient(name, stream_type, False) - self.shader = rl.load_shader_from_memory(rl.ffi.NULL, FRAME_FRAGMENT_SHADER) + self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) self.texture_y: rl.Texture | None = None self.texture_uv: rl.Texture | None = None self.frame = None From 9b642ed01664b920bdac0e238720c27e70562b0d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 22 May 2025 17:49:27 -0700 Subject: [PATCH 318/477] bump opendbc (#35323) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0676642f40..afb464bd7a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0676642f4029b02758405b3052d1ef8ad2a5528d +Subproject commit afb464bd7a3134ab5511d26c0ca9060cb2793ed5 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eef00985f3..0ca95ec5fa 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a6c19d1dacbebccee6d14313314e68c5140b836c \ No newline at end of file +280cd05fe44e47474d04f2cf7435fb0000a562e5 \ No newline at end of file From f37fc62ed25a189cf128d6be7be3cefe0832f628 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 22 May 2025 20:54:43 -0400 Subject: [PATCH 319/477] Update Python packages (#942) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 5db6b93bc5..ac3d40b757 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5db6b93bc550edf5425d0b22e49c9bf51ec23eab +Subproject commit ac3d40b7570d85ba4f8056ac542a10cc8a82ccea From 312658756dbe16b802a90b2e9e9d8d8dcc868779 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 23 May 2025 03:33:55 +0200 Subject: [PATCH 320/477] lagd: handle ambiguous cases (#35257) * Mechanism to handle ambiguous estimates * Use it * Fix static * Fix * Comment * Comment v2 * Use quantile instead * Fix * Make it better * Make it confidence * Make it a constant * min_confidence as arg * Make the test signal more like the real one * Relax sample requirements * Use constant * Reduce confidence --- selfdrive/locationd/lagd.py | 33 ++++++++++++++++++++------- selfdrive/locationd/test/test_lagd.py | 4 ++-- 2 files changed, 27 insertions(+), 10 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index b4f4e1f663..4e207b4882 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -16,17 +16,20 @@ from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next BLOCK_SIZE = 100 BLOCK_NUM = 50 BLOCK_NUM_NEEDED = 5 -MOVING_WINDOW_SEC = 300.0 +MOVING_WINDOW_SEC = 60.0 MIN_OKAY_WINDOW_SEC = 25.0 MIN_RECOVERY_BUFFER_SEC = 2.0 MIN_VEGO = 15.0 -MIN_ABS_YAW_RATE = np.radians(1.0) +MIN_ABS_YAW_RATE = 0.0 MAX_YAW_RATE_SANITY_CHECK = 1.0 MIN_NCC = 0.95 MAX_LAG = 1.0 MAX_LAG_STD = 0.1 MAX_LAT_ACCEL = 2.0 MAX_LAT_ACCEL_DIFF = 0.6 +MIN_CONFIDENCE = 0.7 +CORR_BORDER_OFFSET = 5 +LAG_CANDIDATE_CORR_THRESHOLD = 0.9 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int): @@ -154,7 +157,7 @@ class LateralLagEstimator: block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC, - max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF): + max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -166,6 +169,7 @@ class LateralLagEstimator: self.min_vego = min_vego self.min_yr = min_yr self.min_ncc = min_ncc + self.min_confidence = min_confidence self.max_lat_accel = max_lat_accel self.max_lat_accel_diff = max_lat_accel_diff @@ -292,14 +296,14 @@ class LateralLagEstimator: new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])) - delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG) - if corr < self.min_ncc or not is_valid: + delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG) + if corr < self.min_ncc or confidence < self.min_confidence or not is_valid: return self.block_avg.update(delay) self.last_estimate_t = self.t - def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]: + def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]: assert len(expected_sig) == len(actual_sig) max_lag_samples = int(max_lag / dt) padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples) @@ -307,13 +311,26 @@ class LateralLagEstimator: ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size) # only consider lags from 0 to max_lag - roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] + roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] + extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET] + roi_ncc = ncc[roi] + extended_roi_ncc = ncc[extended_roi] max_corr_index = np.argmax(roi_ncc) corr = roi_ncc[max_corr_index] lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt - return lag, corr + # to estimate lag confidence, gather all high-correlation candidates and see how spread they are + # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case + ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min() + good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh + good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0) + starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1 + run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1 + width = ends[run_idx] - starts[run_idx] + 1 + confidence = np.clip(1 - width * dt, 0, 1) + + return lag, corr, confidence def retrieve_initial_lag(params: Params, CP: car.CarParams): diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index 13aea60a26..b805f1759d 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -23,8 +23,8 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti for i in range(n_frames): t = i * estimator.dt - desired_la = np.cos(t) * 0.1 - actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1 + desired_la = np.cos(10 * t) * 0.1 + actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1 # if sample is masked out, set it to desired value (no lag) rejected = random.uniform(0, 1) < rejection_threshold From 9622427044253bacfa314e47fa0808779252116e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 May 2025 16:32:19 -0700 Subject: [PATCH 321/477] car interfaces: improve steering pressed signal (#35333) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index afb464bd7a..c495fa822c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit afb464bd7a3134ab5511d26c0ca9060cb2793ed5 +Subproject commit c495fa822c845b0bfc6e1511ced3425d111f3fe4 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0ca95ec5fa..5f5cb89089 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -280cd05fe44e47474d04f2cf7435fb0000a562e5 \ No newline at end of file +5c8f6c360b66f269a24d519e699addf9e9bcaefe \ No newline at end of file From 70644e23172e6952da70978ba0fb91d96e7ae195 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 May 2025 16:54:50 -0700 Subject: [PATCH 322/477] VW: low steer speed alert in CarState (#35331) * move to opendbc * func * clean up * bump * move cmt * bump --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 9 --------- 2 files changed, 1 insertion(+), 10 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index c495fa822c..0c8b12328e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c495fa822c845b0bfc6e1511ced3425d111f3fe4 +Subproject commit 0c8b12328ec4fcb7481806f62cd90310573d4c0c diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index c5edb484af..ed3a0cb9d8 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -2,7 +2,6 @@ from cereal import car, log import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs from opendbc.car.interfaces import MAX_CTRL_SPEED -from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams from openpilot.selfdrive.selfdrived.events import Events @@ -112,14 +111,6 @@ class CarSpecificEvents: events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], pcm_enable=self.CP.pcmCruise) - # Low speed steer alert hysteresis logic - if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.): - self.low_speed_alert = True - elif CS.vEgo > (self.CP.minSteerSpeed + 2.): - self.low_speed_alert = False - if self.low_speed_alert: - events.add(EventName.belowSteerSpeed) - if self.CP.openpilotLongitudinalControl: if CS.vEgo < self.CP.minEnableSpeed + 0.5: events.add(EventName.belowEngageSpeed) From ce8ea163037fa3da32df17062e0f7d94eaa366fb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 23 May 2025 18:50:20 -0700 Subject: [PATCH 323/477] update release notes --- RELEASES.md | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 5730877f94..acdb709c9b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,13 +1,11 @@ -Version 0.9.9 (2025-05-15) +Version 0.9.9 (2025-05-23) ======================== * New driving model - * New training architecture supervised by MLSIM -* Steering actuator delay is now learned online + * New training architecture using parts from MLSIM +* Steering actuation delay is now learned online +* Hyundai Nexo 2021 support thanks to sunnyhaibin! * Tesla Model 3 and Y support thanks to lukasloetkolben! * Lexus RC 2023 support thanks to nelsonjchen! -* Coming soon - * New Honda models - * Bigger vision model Version 0.9.8 (2025-02-28) ======================== From 97ad175243a01f89151b0156afac3a2fa2b3be3f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Sat, 24 May 2025 04:31:17 +0200 Subject: [PATCH 324/477] Reapply "Enable online lag learning (#34968)" (#35327) * Revert "Revert "Enable online lag learning (#34968)" (#35322)" This reverts commit 9c40c487292956618c58a4e77b4c9d825d5ae91b. * Update ref commit * Update ref * Update ref commit --- selfdrive/locationd/torqued.py | 7 ++++--- selfdrive/modeld/modeld.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 9 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index fcaa19df73..5ed86e457f 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets): class TorqueEstimator(ParameterEstimator): def __init__(self, CP, decimated=False, track_all_points=False): self.hist_len = int(HISTORY / DT_MDL) - self.lag = CP.steerActuatorDelay + .2 # from controlsd + self.lag = 0.0 self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters if decimated: self.min_bucket_points = MIN_BUCKET_POINTS / 10 @@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["steer_override"].append(msg.steeringPressed) elif which == "liveCalibration": self.calibrator.feed_live_calib(msg) - + elif which == "liveDelay": + self.lag = msg.lateralDelay # calculate lateral accel from past steering torque elif which == "livePose": if len(self.raw_points['steer_torque']) == self.hist_len: @@ -241,7 +242,7 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose') params = Params() estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 96520a4b15..1e3d1782e6 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -229,7 +229,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) publish_state = PublishState() params = Params() @@ -256,7 +256,6 @@ def main(demo=False): # TODO this needs more thought, use .2s extra for now to estimate other delays # TODO Move smooth seconds to action function - lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -300,6 +299,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) + lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index d87a330fdd..8de2e60055 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -564,7 +564,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"], + pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, @@ -573,7 +573,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"], + pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"], subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f5cb89089..b091f2b689 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5c8f6c360b66f269a24d519e699addf9e9bcaefe \ No newline at end of file +6ad91de126c2a9827b1a0536068fd79d9244eaa2 \ No newline at end of file From c24f3498079a8b5f7202ccd62dc786e0e0380bce Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 May 2025 19:43:17 -0700 Subject: [PATCH 325/477] GM: low steer speed alert in CarState (#35332) * simple * rm * bump to master * update refs * update refs --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 2 -- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0c8b12328e..3ae4dc13cd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0c8b12328ec4fcb7481806f62cd90310573d4c0c +Subproject commit 3ae4dc13cd9e628672a01651896021214b7c3c17 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index ed3a0cb9d8..d441c648ff 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -104,8 +104,6 @@ class CarSpecificEvents: events.add(EventName.belowEngageSpeed) if CS.cruiseState.standstill: events.add(EventName.resumeRequired) - if CS.vEgo < self.CP.minSteerSpeed: - events.add(EventName.belowSteerSpeed) elif self.CP.brand == 'volkswagen': events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b091f2b689..e692f56eba 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6ad91de126c2a9827b1a0536068fd79d9244eaa2 \ No newline at end of file +9e2fe2942fbf77f24bccdbef15893831f9c0b390 \ No newline at end of file From b51043770b1accf00a05f74cd4ec71a9405b6ba2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 24 May 2025 16:20:57 -0400 Subject: [PATCH 326/477] `CarControlSP`: live params (#943) * car: initialize sunnypilot interface immediately * init * Revert "car: initialize sunnypilot interface immediately" This reverts commit 2e0fc4d87eb312a3a74a61bb8cbc780e33efbfc7. * show int * show int * work properly with cereal * unused * in its own module * bump * not yet * not yet * list comp and use structs directly * allow default key if needed * lint * send it with None * bump --- cereal/custom.capnp | 6 ++++ opendbc_repo | 2 +- selfdrive/car/helpers.py | 1 + selfdrive/controls/controlsd.py | 29 +++++++++++---- .../selfdrive/controls/controlsd_ext.py | 18 +++++++--- .../selfdrive/controls/lib/param_store.py | 35 +++++++++++++++++++ 6 files changed, 79 insertions(+), 12 deletions(-) create mode 100644 sunnypilot/selfdrive/controls/lib/param_store.py diff --git a/cereal/custom.capnp b/cereal/custom.capnp index eb932b484e..503a2be86c 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -167,6 +167,12 @@ struct CarParamsSP @0x80ae746ee2596b11 { struct CarControlSP @0xa5cd762cd951a455 { mads @0 :ModularAssistiveDrivingSystem; + params @1 :List(Param); + + struct Param { + key @0 :Text; + value @1 :Text; + } } struct BackupManagerSP @0xf98d843bfd7004a3 { diff --git a/opendbc_repo b/opendbc_repo index ac3d40b757..52d2957b47 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ac3d40b7570d85ba4f8056ac542a10cc8a82ccea +Subproject commit 52d2957b47360e36c02d626ed02981123af79b24 diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py index 3f7a322c08..6ebacfc976 100644 --- a/selfdrive/car/helpers.py +++ b/selfdrive/car/helpers.py @@ -55,5 +55,6 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)})) struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {}))) + struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])] return struct_dataclass diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a5d97c3db0..576e73b7e6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,5 +1,7 @@ #!/usr/bin/env python3 import math +import threading +import time from typing import SupportsFloat from cereal import car, log @@ -36,7 +38,7 @@ class Controls(ControlsExt): cloudlog.info("controlsd got CarParams") # Initialize sunnypilot controlsd extension - ControlsExt.__init__(self, self.params) + ControlsExt.__init__(self, self.CP, self.params) self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP) @@ -222,14 +224,27 @@ class Controls(ControlsExt): cc_send.carControl = CC self.pm.send('carControl', cc_send) + def params_thread(self, evt): + while not evt.is_set(): + self.get_params_sp() + + time.sleep(0.1) + def run(self): rk = Ratekeeper(100, print_delay_threshold=None) - while True: - self.update() - CC, lac_log = self.state_control() - self.publish(CC, lac_log) - self.run_ext(self.sm, self.pm) - rk.monitor_time() + e = threading.Event() + t = threading.Thread(target=self.params_thread, args=(e,)) + try: + t.start() + while True: + self.update() + CC, lac_log = self.state_control() + self.publish(CC, lac_log) + self.run_ext(self.sm, self.pm) + rk.monitor_time() + finally: + e.set() + t.join() def main(): diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index 68131001ad..4978c01332 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -4,16 +4,22 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ - import cereal.messaging as messaging from cereal import custom +from opendbc.car import structs from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog +from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore class ControlsExt: - def __init__(self, params: Params): + def __init__(self, CP: structs.CarParams, params: Params): + self.CP = CP + self.params = params + self.param_store = ParamStore(self.CP) + self.get_params_sp() + cloudlog.info("controlsd_ext is waiting for CarParamsSP") self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP) cloudlog.info("controlsd_ext got CarParamsSP") @@ -21,6 +27,9 @@ class ControlsExt: self.sm_services_ext = ['selfdriveStateSP'] self.pm_services_ext = ['carControlSP'] + def get_params_sp(self) -> None: + self.param_store.update(self.params) + @staticmethod def get_lat_active(sm: messaging.SubMaster) -> bool: ss_sp = sm['selfdriveStateSP'] @@ -31,13 +40,14 @@ class ControlsExt: # MADS not available, use stock state to engage return bool(sm['selfdriveState'].active) - @staticmethod - def state_control_ext(sm: messaging.SubMaster) -> custom.CarControlSP: + def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP: CC_SP = custom.CarControlSP.new_message() # MADS state CC_SP.mads = sm['selfdriveStateSP'].mads + CC_SP.params = self.param_store.publish() + return CC_SP @staticmethod diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py new file mode 100644 index 0000000000..b2701bc010 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/param_store.py @@ -0,0 +1,35 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import capnp + +from cereal import custom + +from opendbc.car import structs +from openpilot.common.params import Params + + +class ParamStore: + keys: list[str] + values: dict[str, str] + + def __init__(self, CP: structs.CarParams): + universal_params: list[str] = [] + brand_params: list[str] = [] + + self.keys = universal_params + brand_params + self.values = {} + + def update(self, params: Params) -> None: + self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys} + + def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]: + params_list: list[capnp.lib.capnp._DynamicStructBuilder] = [] + + for k in self.keys: + params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k])) + + return params_list From b939efc7736bd94e4fb7e731a123da1c76823c42 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 25 May 2025 00:51:58 -0400 Subject: [PATCH 327/477] Hyundai CAN: re-enable auto-enable radar tracks (#945) * Hyundai CAN: re-enable auto-enable radar tracks * check if radar tracks config bit is already enabled * only show success message if already enabled * test if it would actually skip * 5 bytes only * tested skipping, revert * lint * move to opendbc right after fping * more * lint * bump --- common/params_keys.h | 4 -- opendbc_repo | 2 +- selfdrive/car/card.py | 1 - selfdrive/selfdrived/selfdrived.py | 1 - selfdrive/ui/qt/offroad/developer_panel.cc | 17 -------- selfdrive/ui/qt/offroad/developer_panel.h | 1 - sunnypilot/selfdrive/car/car_specific.py | 10 ----- sunnypilot/selfdrive/car/interfaces.py | 45 +--------------------- sunnypilot/selfdrive/selfdrived/events.py | 4 -- 9 files changed, 3 insertions(+), 82 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index d3a9ea7d6d..cb6f50cacd 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -165,10 +165,6 @@ inline static std::unordered_map keys = { // sunnypilot car specific params {"HyundaiLongitudinalTuning", PERSISTENT}, - {"HyundaiRadarTracks", PERSISTENT}, - {"HyundaiRadarTracksConfirmed", PERSISTENT}, - {"HyundaiRadarTracksPersistent", PERSISTENT}, - {"HyundaiRadarTracksToggle", PERSISTENT}, {"DynamicExperimentalControl", PERSISTENT}, }; diff --git a/opendbc_repo b/opendbc_repo index 52d2957b47..c5d42d5493 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 52d2957b47360e36c02d626ed02981123af79b24 +Subproject commit c5d42d54934a55808bea1a8acb081cfc62a273bc diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index fa4b10e0d1..64e180367b 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -274,7 +274,6 @@ class Car: # Initialize CarInterface, once controls are ready # TODO: this can make us miss at least a few cycles when doing an ECU knockout self.CI.init(self.CP, self.CP_SP, *self.can_callbacks) - sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks) # signal pandad to switch to car safety mode self.params.put_bool_nonblocking("ControlsReady", True) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 0b825869f4..2ebc2815bb 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -545,7 +545,6 @@ class SelfdriveD(CruiseHelper): self.personality = self.read_personality_param() self.mads.read_params() - self.car_events_sp.read_params() time.sleep(0.1) def run(self): diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc index 4d9d8a6ce7..3e9647d2cf 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.cc +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -45,18 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(experimentalLongitudinalToggle); - // TODO-SP: Move to Vehicles panel when ported back - hyundaiRadarTracksToggle = new ParamControl( - "HyundaiRadarTracksToggle", - tr("Hyundai: Enable Radar Tracks"), - tr("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."), ""); - hyundaiRadarTracksToggle->setConfirmation(true, false); - QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) { - updateToggles(offroad); - }); - addItem(hyundaiRadarTracksToggle); - enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), ""); addItem(enableGithubRunner); @@ -96,9 +84,6 @@ void DeveloperPanel::updateToggles(bool _offroad) { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); - auto hyundai = CP.getBrand() == "hyundai"; - auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096); - if (!CP.getAlphaLongitudinalAvailable() || is_release) { params.remove("AlphaLongitudinalEnabled"); experimentalLongitudinalToggle->setEnabled(false); @@ -112,11 +97,9 @@ void DeveloperPanel::updateToggles(bool _offroad) { experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release); longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad); - hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP)); } else { longManeuverToggle->setEnabled(false); experimentalLongitudinalToggle->setVisible(false); - hyundaiRadarTracksToggle->setVisible(false); } experimentalLongitudinalToggle->refresh(); diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h index 591e5f0fdf..c15b574f5a 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.h +++ b/selfdrive/ui/qt/offroad/developer_panel.h @@ -19,7 +19,6 @@ private: ButtonControl* errorLogBtn; ParamControl* longManeuverToggle; ParamControl* experimentalLongitudinalToggle; - ParamControl* hyundaiRadarTracksToggle; ParamControl* enableGithubRunner; bool is_release; bool offroad = false; diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py index 649aceca01..7e6f300d73 100644 --- a/sunnypilot/selfdrive/car/car_specific.py +++ b/sunnypilot/selfdrive/car/car_specific.py @@ -23,12 +23,6 @@ class CarSpecificEventsSP: self.params = params self.low_speed_alert = False - self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks") - self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed") - - def read_params(self): - self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks") - self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed") def update(self, CS: structs.CarState, events: Events): events_sp = EventsSP() @@ -48,8 +42,4 @@ class CarSpecificEventsSP: if self.low_speed_alert: events.add(EventName.belowSteerSpeed) - if self.CP.brand == 'hyundai': - if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed: - events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed) - return events_sp diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py index f2019f5ed7..e2a232a3ef 100644 --- a/sunnypilot/selfdrive/car/interfaces.py +++ b/sunnypilot/selfdrive/car/interfaces.py @@ -5,12 +5,8 @@ This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from opendbc.car import Bus, structs -from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable -from opendbc.car.car_helpers import can_fingerprint +from opendbc.car import structs from opendbc.car.interfaces import CarInterfaceBase -from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR -from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP from openpilot.common.params import Params @@ -26,6 +22,7 @@ def log_fingerprint(CP: structs.CarParams) -> None: else: sentry.capture_fingerprint(CP.carFingerprint, CP.brand) + def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None: if params is None: @@ -63,47 +60,9 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match -def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None: - if params is None: - params = Params() - - if CP.brand == 'hyundai': - if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable: - # Having this automatic without a toggle causes a weird process replay diff because - # somehow it sees fewer logs than intended - if params.get_bool("HyundaiRadarTracksToggle"): - CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value - if params.get_bool("HyundaiRadarTracks"): - CP.radarUnavailable = False - - def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: CP = CI.CP CP_SP = CI.CP_SP _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params) _initialize_neural_network_lateral_control(CI, CP, CP_SP, params) - _initialize_radar_tracks(CP, CP_SP, params) - - -def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable, - params: Params) -> None: - if CP.brand == 'hyundai': - if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS: - can_recv() - _, fingerprint = can_fingerprint(can_recv) - radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint] - - radar_tracks = params.get_bool("HyundaiRadarTracks") - radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent") - - params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks) - - if not radar_tracks_persistent: - params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable) - params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True) - - -def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params, - can_recv: CanRecvCallable, can_send: CanSendCallable): - _enable_radar_tracks(CP, CP_SP, can_recv, params) diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py index 67672649c5..d81345a14e 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -122,10 +122,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"), }, - EventNameSP.hyundaiRadarTracksConfirmed: { - ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize") - }, - EventNameSP.experimentalModeSwitched: { ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5) }, From 3c36374bed2387c86b3d7231aa56e4f5a64ac066 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 25 May 2025 10:50:09 +0200 Subject: [PATCH 328/477] ci: build upstream (tinnygrad) models from our pipeline (#498) * Add job to fetch and upload model artifacts Introduced a new `get_model` job to retrieve and upload model artifacts as part of the workflow. Updated the `build_model` job to download and clean up model files before building, ensuring an isolated and streamlined process. These changes improve modularity and artifact handling in the CI pipeline. * Refine model file handling in build workflow Restrict deletion and download commands to ".onnx" files to prevent unintended removal or overwriting of non-ONNX files. This ensures a more targeted and safer workflow for handling model artifacts. * Update model artifact handling in build workflow Changed artifact upload path to include only .onnx files and commented out the deletion of existing models. Also added a dependency for the build stage to ensure proper execution sequence. * Update build workflow to refine model artifact handling Removed unused code for deleting models and fixed the artifact path. Added a reference file logging custom name and upstream branch for better traceability. These changes streamline the workflow and improve clarity. * Set dynamic run-name for sunnypilot build workflow Added a customizable `run-name` field in the sunnypilot build model workflow. This allows more informative and dynamic naming based on input parameters such as `custom_name` or `upstream_branch`. Improves clarity and traceability in workflow runs. * Add customization options and metadata generation to build Introduce new inputs for file name prefix and 20Hz model specification in the workflow. Enable renaming of model files, generation of file hashes, and creation of a `metadata.json` file containing build details. This improves flexibility and enhances artifact information management. * remove EOF * No need for this hack anymore * Add support for compiling ONNX models to Tinygrad format * Add model directory environment variable and metadata generation script * Fix quoting in model generator script command * Refactor conditional flag for 20Hz input in build model script * meh * Add powersave management to build model workflow * Add environment variable setup to build model workflow * make it path call it a day * kill me * kill me x2 * mmm * mmm * Generate metadata.pkl * Generate metadata.pkl * ignore failure on getting model metadata * Cleanup the existing onnxs * Fix rm command syntax in build model script * Cleaning a little * Add optional file name parameter to generate_metadata function * update * stg * linter * more formatting * Update sunnypilot model build workflow: improve custom naming, handle 20Hz default, and add commit date as output. * Update commit date format in workflow script Changed the commit date format in sunnypilot-build-model.yaml to a more human-readable format ('Month DD, YYYY'). This improves readability and consistency in the workflow outputs. * Fix output naming in sunnypilot-build-model workflow Corrected the output name from 'model_date' to 'commit_date' to match its usage. This ensures consistency and prevents potential errors in the workflow. Add debug echo for model date in GitHub workflow This change adds a debug echo statement to display the model date in the sunnypilot-build-model workflow. It helps verify the correct commit date is being set during the workflow process. * Update BUILD_DIR path in sunnypilot workflow Replaced hardcoded BUILD_DIR with a dynamic path using `github.workspace`. This enhances flexibility and ensures compatibility with different environments or runners. * Revert "Update BUILD_DIR path in sunnypilot workflow" This reverts commit 376971b616298f0ef72b4995868c25cbe12f0cae. * Refactor model metadata generation to use short names Replaced `file_name` with generated `short_name` for metadata and file naming. Introduced `create_short_name` function to simplify short name creation from custom names. Updated scripts and workflow to reflect the new parameter and improve metadata handling. * `Use timezone-aware UTC timestamp for build_time` Updated the code to use `datetime.now(timezone.utc)` instead of `datetime.utcnow()`. This ensures that the generated timestamps are timezone-aware, improving consistency and correctness in the output. * Refactor short name generation logic in model metadata Enhanced the `create_short_name` function to better handle name conversion by incorporating new rules for handling parentheses, alphanumeric words, and version pairs. Updated related variable names in metadata functions for improved clarity and consistency. * Fix syntax error in assigning 'models' key in metadata Corrected a typo where 'models' was missing quotes, causing it to be interpreted as a variable instead of a string key. This ensures proper metadata dictionary structure. Update model metadata structure and JSON generation Revised metadata to include detailed download URIs and a type field for artifacts. Enhanced the JSON generator with new fields like environment, runner, and overrides for better configurability. These changes aim to improve metadata clarity and compatibility with downstream processes. * Refactor variable name from "escaped_name" to "short_name" Renamed "escaped_name" to "short_name" across function parameters and internal logic for clarity and consistency. This improves readability and better aligns with its use case in the metadata generation process. No functional changes were introduced. * Refactor variable names and improve type annotations. Updated parameter names to align with Python naming conventions, enhancing readability and consistency. Added type annotations for function parameters to improve code clarity and maintainability. * Refactor type annotations and clarify comments. Updated type annotations to use "Str" for consistency with custom typing conventions. Improved clarity of a comment describing the normal case logic in the shortening function. * Fix dict formatting in model_generator.py Moved the "overrides" key for better alignment and consistency in the dictionary format. This improves readability without changing functionality. Refactor model short name generation logic Simplify and clarify the `create_short_name` function by improving readability and condensing comments. Adjust casing and truncation logic for single-word cases and handle versioned names more intuitively. * Ensure custom file names are converted to lowercase. When renaming files using a custom short name, enforce lowercase conversion to maintain consistency and prevent potential issues with case-sensitive file systems. This change applies to both the tinygrad and metadata file names. * Use UTC alias for timezone in datetime imports Replaced `timezone.utc` with `UTC` from the `datetime` module for clarity and consistency. This simplifies the representation of time zones and aligns with Python's updated best practices. --------- Co-authored-by: Jason Wen --- .github/workflows/sunnypilot-build-model.yaml | 142 +++++++++++------- release/ci/model_generator.py | 131 ++++++++++++++++ 2 files changed, 220 insertions(+), 53 deletions(-) create mode 100755 release/ci/model_generator.py diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml index e845d80c66..dc02d1d8d2 100644 --- a/.github/workflows/sunnypilot-build-model.yaml +++ b/.github/workflows/sunnypilot-build-model.yaml @@ -5,6 +5,8 @@ env: OUTPUT_DIR: ${{ github.workspace }}/output SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache UPSTREAM_REPO: "commaai/openpilot" + TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo + MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models on: workflow_dispatch: @@ -15,35 +17,55 @@ on: default: 'master' type: string custom_name: - description: 'Custom name for the model' - required: false - type: string - file_name: - description: 'File name prefix for the model files' + description: 'Custom name for the model (no date, only name)' required: false type: string is_20hz: description: 'Is this a 20Hz model' required: false type: boolean - default: false + default: true run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}] jobs: - build_model: - runs-on: self-hosted - + get_model: + runs-on: ubuntu-latest + outputs: + model_date: ${{ steps.commit-date.outputs.model_date }} steps: - uses: actions/checkout@v4 with: repository: ${{ env.UPSTREAM_REPO }} ref: ${{ github.event.inputs.upstream_branch }} submodules: recursive + - name: Get commit date + id: commit-date + run: | + # Get the commit date in YYYY-MM-DD format + commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y') + echo "model_date=${commit_date}" >> $GITHUB_OUTPUT + cat $GITHUB_OUTPUT + - run: git lfs pull + - name: 'Upload Artifact' + uses: actions/upload-artifact@v4 + with: + name: models + path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx + + build_model: + runs-on: self-hosted + needs: get_model + env: + MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }}) + + steps: + - uses: actions/checkout@v4 + with: + submodules: recursive - run: git lfs pull - - name: Cache SCons uses: actions/cache@v4 with: @@ -60,31 +82,63 @@ jobs: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }} scons-${{ runner.os }}-${{ runner.arch }} + - name: Set environment variables + id: set-env + run: | + # Set up common environment + source /etc/profile; + export UV_PROJECT_ENVIRONMENT=${HOME}/venv + export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT + printenv >> $GITHUB_ENV + if [[ "${{ runner.debug }}" == "1" ]]; then + cat $GITHUB_OUTPUT + fi + - name: Setup build environment run: | mkdir -p "${BUILD_DIR}/" sudo find $BUILD_DIR/ -mindepth 1 -delete echo "Starting build stage..." - echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}" - - - name: Patch SConstruct to pass arbitrary cache - run: | - sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct - printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct - cat ${{ github.workspace }}/SConstruct + echo "BUILD_DIR: ${BUILD_DIR}" + echo "CI_DIR: ${CI_DIR}" + echo "VERSION: ${{ steps.set-env.outputs.version }}" + echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}" + echo "VIRTUAL_ENV: ${VIRTUAL_ENV}" + echo "-------" + if [[ "${{ runner.debug }}" == "1" ]]; then + printenv + fi + PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable + rm -rf ${{ env.MODELS_DIR }}/*.onnx + + - name: Download model artifacts + uses: actions/download-artifact@v4 + with: + name: models + path: ${{ github.workspace }}/selfdrive/modeld/models - name: Build Model run: | source /etc/profile export UV_PROJECT_ENVIRONMENT=${HOME}/venv export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT - scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld + export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}" + + # Loop through all .onnx files + find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do + base_name=$(basename "$onnx_file" .onnx) + output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl" + + echo "Compiling: $onnx_file -> $output_file" + QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file" + QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true + done - name: Prepare Output run: | - sudo rm -rf ${OUTPUT_DIR} - mkdir -p ${OUTPUT_DIR} - + sudo rm -rf ${{ env.OUTPUT_DIR }} + mkdir -p ${{ env.OUTPUT_DIR }} + # Copy the model files rsync -avm \ --include='*.dlc' \ @@ -94,40 +148,22 @@ jobs: --exclude='*' \ --delete-excluded \ --chown=comma:comma \ - ./selfdrive/modeld/models/ ${OUTPUT_DIR}/ - - # Rename files if file_name is provided - if [ ! -z "${{ inputs.file_name }}" ]; then - mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed - mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl - fi - - # Calculate SHA256 hashes - HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1) - METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1) - - # Create metadata.json - cat > ${OUTPUT_DIR}/metadata.json << EOF - { - "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}", - "full_name": "${{ inputs.file_name || 'default' }}", - "is_20hz": ${{ inputs.is_20hz || false }}, - "files": { - "drive_model": { - "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)", - "sha256": "${HASH}" - }, - "metadata": { - "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)", - "sha256": "${METADATA_HASH}" - } - }, - "ref": "${{ inputs.upstream_branch }}", - "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")" - } + ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/ + + python3 "${{ github.workspace }}/release/ci/model_generator.py" \ + --model-dir "${{ env.MODELS_DIR }}" \ + --output-dir "${{ env.OUTPUT_DIR }}" \ + --custom-name "${{ env.MODEL_NAME }}" \ + --upstream-branch "${{ inputs.upstream_branch }}" \ + ${{ inputs.is_20hz && '--is-20hz' || '' }} - name: Upload Build Artifacts uses: actions/upload-artifact@v4 with: - name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }} + name: model-${{ env.MODEL_NAME }}-${{ github.run_number }} path: ${{ env.OUTPUT_DIR }} + + - name: Re-enable powersave + if: always() + run: | + PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py new file mode 100755 index 0000000000..069b8e41af --- /dev/null +++ b/release/ci/model_generator.py @@ -0,0 +1,131 @@ +import os +import sys +import hashlib +import json +import re +from pathlib import Path +from datetime import datetime, UTC + + +def create_short_name(full_name): + # Remove parentheses and extract alphanumeric words + clean_name = re.sub(r'\([^)]*\)', '', full_name) + words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)] + + if len(words) == 1: + # If there's only one word, return it as is, lowercased, truncated to 8 characters + truncated = words[0][:8] + return truncated.lower() if truncated.isupper() else truncated + + # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1") + if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]): + first_word = words[0].lower() if words[0].isupper() else words[0] + return (first_word + words[1])[:8] + + # Normal case: first letter and trailing numbers from each word + result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words) + return result[:8] + + +def generate_metadata(model_path: Path, output_dir: Path, short_name: str): + model_path = model_path + output_path = output_dir + base = model_path.stem + + # Define output files for tinygrad and metadata + tinygrad_file = output_path / f"{base}_tinygrad.pkl" + metadata_file = output_path / f"{base}_metadata.pkl" + + if not tinygrad_file.exists() or not metadata_file.exists(): + print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr) + return + + # Calculate the sha256 hashes + with open(tinygrad_file, 'rb') as f: + tinygrad_hash = hashlib.sha256(f.read()).hexdigest() + + with open(metadata_file, 'rb') as f: + metadata_hash = hashlib.sha256(f.read()).hexdigest() + + # Rename the files if a custom file name is provided + if short_name: + tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl") + metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl") + + # Build the metadata structure + model_metadata = { + "type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring", + "artifact": { + "file_name": tinygrad_file.name, + "download_uri": { + "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/", + "sha256": tinygrad_hash + } + }, + "metadata": { + "file_name": metadata_file.name, + "download_uri": { + "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/", + "sha256": metadata_hash + } + } + } + + # Return model metadata + return model_metadata + + +def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"): + metadata_json = { + "short_name": short_name, + "display_name": custom_name or upstream_branch, + "is_20hz": is_20hz, + "ref": upstream_branch, + "environment": "development", + "runner": "tinygrad", + "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"), + "models": models, + "overrides": {}, + "index": -1, + "minimum_selector_version": "-1", + "generation": "-1", + } + + # Write metadata to output_dir + with open(output_dir / "metadata.json", "w") as f: + json.dump(metadata_json, f, indent=2) + + print(f"Generated metadata.json with {len(models)} models.") + + +if __name__ == "__main__": + import argparse + import glob + + parser = argparse.ArgumentParser(description="Generate metadata for model files") + parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files") + parser.add_argument("--output-dir", default="./output", help="Output directory for metadata") + parser.add_argument("--custom-name", help="Custom display name for the model") + parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model") + parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name") + args = parser.parse_args() + + # Find all ONNX files in the given directory + model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx")) + if not model_paths: + print(f"No ONNX files found in {args.model_dir}", file=sys.stderr) + sys.exit(1) + + _output_dir = Path(args.output_dir) + _output_dir.mkdir(exist_ok=True, parents=True) + _models = [] + + for _model_path in model_paths: + _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name)) + if _model_metadata: + _models.append(_model_metadata) + + if _models: + create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch) + else: + print("No models processed.", file=sys.stderr) From 9b7502bd857476e536616214fc6c5f566c2a52ce Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 25 May 2025 17:10:16 +0200 Subject: [PATCH 329/477] model: Refactor modeld with modular runners and split model support (#877) * Refactor model runner methods for improved abstraction. Moved slicing logic to a private `_slice_outputs` method and decoupled `_run_model` for clearer subclass implementation. Removed redundant `output` attribute in `ModelState` to streamline data handling. * Add output parsing to model_runner and remove duplicate logic Integrates an output parser directly into `model_runner` for streamlined inference and parsing. Removes redundant parser initialization from `modeld` to avoid duplication and enhance maintainability. * Reordering * linter * linter * Refactor model handling with `ModelData` abstraction Introduce a `ModelData` class to encapsulate model and metadata logic, improving code clarity and modularity. Refactor `ModelRunner` to manage multiple models and add conditional handling for fallback scenarios. Adjust `TinygradRunner` to validate and use the new `ModelData` structure. * Refactor model handling to use dictionary-based structure Replaces the model list with a dictionary keyed by model type to improve clarity and maintainability. Updates related logic and ensures consistent handling of model metadata and inputs. Adds `slice_outputs` implementation to the `TinygradRunner` for proper output parsing. * Refactor model runners to support policy and vision separation Introduced `TinygradPolicyRunner`, `TinygradVisionRunner`, and `TinygradSplitRunner` to enable separate handling of policy and vision models. Updated `TinygradRunner` initialization and input preparation to accommodate modular processing. Adjusted `modeld` to utilize the new runners, ensuring compatibility with separated model workflows. * Refactor model runner initialization and simplify logic Introduce `get_model_runner` to centralize model runner selection logic, replacing multiple conditional instantiations. Simplify the handling of model metadata by removing fallback logic and restructuring output slicing to enforce proper loading of model data. These changes improve code maintainability and clarity. * Refactor model data access for TinygradRunner initialization Update references to access nested artifact properties and align with structural changes to the model data schema. This simplifies input shapes handling and ensures compatibility with updated model attributes. * Refactor imports and clean up redundant code. Removed unused imports and improved formatting for clarity and maintainability. These changes simplify the codebase by eliminating unnecessary dependencies and ensuring consistency. * Refactor model output parsing with specialized parsers. Introduce abstract `_parse_outputs` method to standardize parsing logic. Add `SplitParser` for specialized parsing in `TinygradVisionRunner` and `TinygradPolicyRunner`. This improves modularity and paves the way for easier parser customization. * Add parser for model output processing in modeld_v2 Introduce a new `Parser` class to handle parsing and processing of model outputs, including MDN, binary cross-entropy, and categorical cross-entropy outputs. This modularizes the logic, improves clarity, and prepares for handling various types of model data. * Add `input_shapes` property to model runners Introduce a new `input_shapes` property in the abstract base class and its implementation in derived classes. This provides a standardized way to access the input shapes of models, improving clarity and consistency in the model runners. * Refactor model runner to use private `_model_data` attribute Replaced public `model_data` with private `_model_data` for improved encapsulation. Updated all references and property accessors accordingly. Simplified model type handling by using raw types where applicable. * Remove debug print statement from model_runner.py The unnecessary `print(model_type)` statement was removed as it served no functional purpose in the code. This improves code cleanliness and avoids unintended console output during execution. * Refactor `_parse_outputs` call in `run_model`. Replaced the use of `self.parser.parse_outputs` with `self._parse_outputs` for clarity and consistency. Updated method signature to align with the revised usage. * Refactor model output parsing for clarity and scope separation Moved specific parsing logic (e.g., lane_lines, lead) from `parse_model_outputs` to `parse_policy_outputs` to better align with functional responsibilities. This improves modularity and readability while maintaining existing functionality. * Refactor model_runner to simplify result handling Renamed variable `result` to `parsed_result` for clarity and removed unnecessary slicing during model output parsing. These changes improve code readability and maintain consistency within the `run_model` method. * Adjust _parse_outputs method signature in model_runner Updated the method signature of _parse_outputs to accept a single np.ndarray instead of a dictionary. This aligns with the intended data structure and ensures consistency across subclasses implementing this abstract method. * Refactor ModelRunner to enforce abstract base class compliance Updated `ModelRunner` and its subclasses to properly inherit from `ABC` while refactoring methods to ensure compliance with Python's abstract base class standards. Streamlined the handling of `_parse_outputs` and added a new `input_shapes` property for improved functionality. * Fix buffer length issue in 20Hz model initialization Adjusted `FULL_HISTORY_BUFFER_LEN` by adding +1 for `full_features_20Hz` to address compatibility issues with the current FoF model. Added a comment noting potential failure for other models with this adjustment. * Refactor TinygradRunner to remove abstract methods. Simplified the TinygradRunner class by removing unnecessary @abstractmethod decorators and redundant method definitions. This streamlines the code and aligns it more effectively with its current usage and implementation. * Refactor model runner classes and enhance type annotations Simplified model runner implementations, added type annotations, and improved code readability and maintainability. Introduced new type definitions, updated metadata handling, and standardized input/output parsing across all runner classes. Minor comment update in `modeld.py` for clarity. * Refactor model runner classes with detailed docstrings. Enhanced class and function docstrings across model_runner.py for better clarity and maintainability. Descriptions now include detailed explanations of attributes, purposes, and workflows to aid understanding and future development. * Refactor model runner classes and add TICI hardware optimization Simplified and clarified class definitions, comments, and functionality for ModelRunner subclasses. Introduced the use of QCOM environment variable on TICI for potential hardware acceleration. Enhanced input/output handling and error reporting across Tinygrad and ONNX implementations. * Update parser import and usage to use CombinedParser Replaced the Parser class with CombinedParser in model_runner.py. This change ensures consistency with the updated parsing logic, aligning with the latest requirements for combined model output handling. * Refactor TinygradRunner hierarchy for modular parsers Reorganized the TinygradRunner and its specialized runners (Vision, Policy, and Supercombo) into a cleaner, modular structure using composable classes. This consolidates parser logic, removes redundancy, and simplifies initialization by leveraging a shared base class with a dictionary-based parser method. * Refactor model runners to use ModularRunner as abstract base. Introduce a new `ModularRunner` class to enforce a consistent interface across model runners. Updated existing runners, including `ModelRunner`, `SupercomboTinygrad`, `PolicyTinygrad`, and `VisionTinygrad`, to extend `ModularRunner`. Added abstract methods and properties to enhance modularity and code maintainability. * Refactor model runners into modular components. This commit separates the logic for Tinygrad, ONNX, and split runners into clearly defined modules and components. It introduces `PolicyTinygrad`, `VisionTinygrad`, `SupercomboTinygrad`, and centralized helpers for cleaner architecture. The changes improve modularity and maintainability of the model running and parsing workflows. * Simplify imports and clean up unused code in ONNXRunner. Removed unused imports and redundant environmental variables to streamline the codebase. Consolidated necessary imports and organized type definitions for improved readability and maintenance. * Standardize imports and add model data validation. Updated import paths to ensure consistency across modules by using `openpilot` as the base. Introduced validation in `_parse_outputs` methods to handle cases where `_model_data` is not initialized, preventing potential runtime errors. * Remove unused import and fix whitespace in runners The unused import `ModelData` was removed from `tinygrad_runner.py` to clean up the code. Additionally, extraneous whitespace was corrected in `onnx_runner.py` for improved readability and consistency. * Remove unnecessary blank line in import statements Cleaned up import section by removing an extra blank line. This helps maintain consistency and adheres to code style conventions. * BROKEN!! Staging code but its not gonna work. Also I realized we need to run the split models in 2 stages because the output of one is immediately needed for the input of the other. We might handle it inside of the model_runner instead * update smooth * Revert "update smooth" This reverts commit c335712e6e1ee189459ce34dfc9d4028feb9470f. * match case made this very hard to read. * shouldnt be there * Refactor to allow TR (soon TM) * TR 7 is .1 * metadata * .2=3 * Remove redundant comments and clean up conditional blocks in modeld.py. * Undoing wrong buffer * Refactor model initialization and adjust ONNX runner import Reorganized numpy input buffer initialization and updated `temporal_idxs` logic for better clarity and efficiency. Conditional import for ONNXRunner added for non-TICI platforms to optimize imports. These changes improve maintainability and compatibility across platforms. * Update CURRENT_SELECTOR_VERSION to 4 Bump the CURRENT_SELECTOR_VERSION constant from 3 to 4 to reflect changes in the selector logic or requirements. This ensures compatibility with the updated selector version while maintaining the minimum required version as 2. * Add output_slices property to model runners Introduce output_slices property to provide access to the output slices for individual and combined models. This ensures consistent handling of output slices across vision and policy models, improving modularity and usability. * Refactor imports to use SplitModelConstants consistently Updated import references to use the renamed `SplitModelConstants` class for consistency across files. This change ensures clarity and better alignment with the updated class naming convention. * Refactor buffer initialization and desired curvature handling Refactored model input buffer initialization for improved clarity and consistency, leveraging dynamic shape calculations. Extracted `process_desired_curvature` method to encapsulate logic for handling 3D and non-3D cases. Simplified temporal index generation and related calculations for better maintainability. * Refactor desire reshape dims logic in modeld.py Adjust logic for setting desire reshape dimensions to handle `is_20hz_3d` separately. This improves clarity and ensures proper handling of different model runner configurations. * Fix off-by-one error in full_desire buffer initialization The full_desire buffer length was mistakenly set to full_history_buffer_len + 1. This change corrects it to match the intended full_history_buffer_len, ensuring proper alignment with other buffers. * Simplify desire reshape logic by removing unused condition. Removed the `is_20hz_3d` condition and associated reshape logic since it is no longer needed. This streamlines the code and avoids unnecessary checks for unused configurations. * Refactor buffer initialization for 20Hz model variants Reorganized buffer initialization logic to prioritize the 20Hz_3D condition. This improves clarity and ensures specific handling of different 20Hz configurations. Adjusted the order of conditions to streamline execution flow. * Refactor: Move `get_action_from_model` and constants to `Model` class to improve encapsulation and readability. * 12 line reshaping red diff * .2 to match old models delay * mypy fixes * Revert "12 line reshaping red diff" This reverts commit 8c7280f629043f0485749e2536a20af74c9209b2. * mypy * remove this * Fix desired curvature for models which do not output desired_curvature * fix FoF * flip policy and vision outs to allow FoF and tomb raider to live in harmony using conditional `if 'this' in outs:'` * noqa * single * sunnypilot modeld.py * action * overrides methodology * combine split outputs to its own method * comments * Fix static checker line length * static will fail on line length lines: 286, 206, 70 - 77, 159, 168 * Address E501 line length violations * This will make TR better while not effecting FoF/VFF at all * Reduce this to one conditional and just call normally in vision/policy * Align with upstream in our own way. * check for desired curvature in outputs first * outputs * Use a cleaner import method * Fix output * Clean up some values * Only call on init * slight cleanup * names!!!!!!!!! * Refactor overrides structure to support key-value pairs. The overrides structure now uses a list of key-value pairs instead of fixed lat/long fields. This change improves flexibility, allowing dynamic addition of override parameters. Code adjustments ensure backward compatibility and consistent behavior throughout the application. * Refactor: Use local variable for SplitModelConstants Introduce a local `constants` variable to replace repeated access to `SplitModelConstants`. This simplifies code readability and adheres to linter recommendations for line length. * Refactor model constant handling to improve modularity Replaced direct usage of model constants with dynamic access through model runners for better scalability and maintainability. This change centralizes constant definitions, reduces redundancy, and ensures clearer integration with different model types. --------- Co-authored-by: discountchubbs Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen --- cereal/custom.capnp | 8 +- .../controls/lib/longitudinal_planner.py | 4 - sunnypilot/modeld/constants.py | 5 +- sunnypilot/modeld/fill_model_msg.py | 15 +- sunnypilot/modeld/modeld.py | 32 +++- sunnypilot/modeld_v2/fill_model_msg.py | 35 ++-- sunnypilot/modeld_v2/get_model_metadata.py | 24 ++- sunnypilot/modeld_v2/model_runner.py | 142 -------------- sunnypilot/modeld_v2/modeld.py | 121 ++++++++---- .../modeld_v2/parse_model_outputs_split.py | 127 +++++++++++++ sunnypilot/models/fetcher.py | 14 +- sunnypilot/models/helpers.py | 2 +- sunnypilot/models/runners/constants.py | 18 ++ sunnypilot/models/runners/helpers.py | 35 ++++ sunnypilot/models/runners/model_runner.py | 176 ++++++++++++++++++ sunnypilot/models/runners/onnx/onnx_runner.py | 62 ++++++ .../models/runners/tinygrad/model_types.py | 59 ++++++ .../runners/tinygrad/tinygrad_runner.py | 129 +++++++++++++ sunnypilot/models/split_model_constants.py | 94 ++++++++++ .../controls/lib/longitudinal_planner.py | 2 - 20 files changed, 879 insertions(+), 225 deletions(-) delete mode 100644 sunnypilot/modeld_v2/model_runner.py create mode 100644 sunnypilot/modeld_v2/parse_model_outputs_split.py create mode 100644 sunnypilot/models/runners/constants.py create mode 100644 sunnypilot/models/runners/helpers.py create mode 100644 sunnypilot/models/runners/model_runner.py create mode 100644 sunnypilot/models/runners/onnx/onnx_runner.py create mode 100644 sunnypilot/models/runners/tinygrad/model_types.py create mode 100644 sunnypilot/models/runners/tinygrad/tinygrad_runner.py create mode 100644 sunnypilot/models/split_model_constants.py diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 503a2be86c..8ae77875f2 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -78,6 +78,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { stock @2; } + struct Override { + key @0 :Text; + value @1 :Text; + } + struct ModelBundle { index @0 :UInt32; internalName @1 :Text; @@ -88,8 +93,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { environment @6 :Text; runner @7 :Runner; is20hz @8 :Bool; - ref @9 :Text; # New field + ref @9 :Text; minimumSelectorVersion @10 :UInt32; + overrides @11 :List(Override); } } diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 377ce7c2cb..4e842f8d1b 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -178,10 +178,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP): output_a_target = min(output_a_target_mpc, output_a_target_e2e) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc - if not self.is_stock: - # To support non Tomb Raider models - output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc - for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1]) diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py index 8f63afa461..18abc6c960 100644 --- a/sunnypilot/modeld/constants.py +++ b/sunnypilot/modeld/constants.py @@ -1,7 +1,8 @@ import numpy as np def index_function(idx, max_val=192, max_idx=32): - return (max_val) * ((idx/max_idx)**2) + return max_val * ((idx/max_idx)**2) + class ModelConstants: # time and distance indices @@ -63,6 +64,7 @@ class ModelConstants: POLY_PATH_DEGREE = 4 + # model outputs slices class Plan: POSITION = slice(0, 3) @@ -71,6 +73,7 @@ class Plan: T_FROM_CURRENT_EULER = slice(9, 12) ORIENTATION_RATE = slice(12, 15) + class Meta: ENGAGED = slice(0, 1) # next 2, 4, 6, 8, 10 seconds diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py index 1c40425bdd..608f24424d 100644 --- a/sunnypilot/modeld/fill_model_msg.py +++ b/sunnypilot/modeld/fill_model_msg.py @@ -50,7 +50,7 @@ def fill_xyz_poly(builder, degree, x, y, z): builder.zCoefficients = coeffs[:, 2].tolist() def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, - net_output_data: dict[str, np.ndarray], publish_state: PublishState, + net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float, valid: bool, v_ego: float, steer_delay: float, meta_const) -> None: @@ -76,8 +76,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D driving_model_data.frameDropPerc = frame_drop_perc driving_model_data.modelExecutionTime = model_execution_time - action = driving_model_data.action - action.desiredCurvature = desired_curvature + # Populate drivingModelData.action + driving_model_data_action = driving_model_data.action + driving_model_data_action.desiredAcceleration = action.desiredAcceleration + driving_model_data_action.shouldStop = action.shouldStop + driving_model_data_action.desiredCurvature = desired_curvature modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id @@ -111,8 +114,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) # lateral planning - action = modelV2.action - action.desiredCurvature = desired_curvature + modelV2_action = modelV2.action + modelV2_action.desiredAcceleration = action.desiredAcceleration + modelV2_action.shouldStop = action.shouldStop + modelV2_action.desiredCurvature = desired_curvature # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py index 744b90465b..2ac3f5700e 100755 --- a/sunnypilot/modeld/modeld.py +++ b/sunnypilot/modeld/modeld.py @@ -18,12 +18,15 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value + from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime from openpilot.sunnypilot.modeld.parse_model_outputs import Parser from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState -from openpilot.sunnypilot.modeld.constants import ModelConstants +from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan +from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext -from openpilot.sunnypilot.models.helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants + PROCESS_NAME = "selfdrive.modeld.modeld_snpe" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -34,6 +37,7 @@ MODEL_PATHS = { METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' + class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -55,6 +59,10 @@ class ModelState: self.frame = ModelFrame(context) self.wide_frame = ModelFrame(context) self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + bundle = get_active_bundle() + overrides = {override.key: override.value for override in bundle.overrides} + self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2")) + self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0")) model_paths = get_model_path() self.model_metadata = load_metadata() @@ -118,6 +126,15 @@ class ModelState: self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :] return outputs + def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, + long_action_t: float) -> log.ModelDataV2.Action: + plan = model_output['plan'][0] + desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], ModelConstants.T_IDXS, + action_t=long_action_t) + desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS) + + return log.ModelDataV2.Action(desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop)) + def main(demo=False): cloudlog.warning("modeld init") @@ -158,7 +175,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) publish_state = PublishState() params = Params() @@ -184,8 +201,10 @@ def main(demo=False): cloudlog.info("modeld got CarParams: %s", CP.brand) - # TODO this needs more thought, use .2s extra for now to estimate other delays - steer_delay = CP.steerActuatorDelay + .2 + # Enable lagd support for sunnypilot modeld + steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS + long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS + prev_action = log.ModelDataV2.Action() DH = DesireHelper() @@ -280,7 +299,8 @@ def main(demo=False): modelv2_send = messaging.new_message('modelV2') drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, + action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL) + fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, v_ego, steer_delay, model.meta) diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py index c6129936ca..411b8177f3 100644 --- a/sunnypilot/modeld_v2/fill_model_msg.py +++ b/sunnypilot/modeld_v2/fill_model_msg.py @@ -3,30 +3,21 @@ import capnp import numpy as np from cereal import log from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan -from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED +from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') ConfidenceClass = log.ModelDataV2.ConfidenceClass -def curv_from_psis(psi_target, psi_rate, vego, delay): - vego = np.clip(vego, MIN_SPEED, np.inf) - curv_from_psi = psi_target / (vego * delay) # epsilon to prevent divide-by-zero - return 2 * curv_from_psi - psi_rate / vego +def get_curvature_from_output(output, vego, lat_action_t, current_generation=None): + if current_generation != 11: + if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly + return float(desired_curv[0, 0]) - -def get_curvature_from_plan(plan, vego, delay): - psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2]) - psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2] - return curv_from_psis(psi_target, psi_rate, vego, delay) - - -def get_curvature_from_output(output, vego, delay): - if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly - return float(desired_curv[0, 0]) - - return float(get_curvature_from_plan(output['plan'][0], vego, delay)) + plan_output = output['plan'][0] + return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2], + ModelConstants.T_IDXS, vego, lat_action_t)) class PublishState: @@ -76,7 +67,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs): builder.rightProb = lane_line_probs[2] def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, - net_output_data: dict[str, np.ndarray], v_ego: float, delay: float, + net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float, valid: bool, model_meta) -> None: @@ -85,15 +76,13 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D extended_msg.valid = valid base_msg.valid = valid - desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay)) - driving_model_data = base_msg.drivingModelData driving_model_data.frameId = vipc_frame_id driving_model_data.frameIdExtra = vipc_frame_id_extra driving_model_data.frameDropPerc = frame_drop_perc driving_model_data.modelExecutionTime = model_execution_time - driving_model_data.action.desiredCurvature = desired_curvature + driving_model_data.action = action modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id @@ -126,8 +115,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) - # lateral planning - modelV2.action.desiredCurvature = desired_curvature + # action (includes lateral planning now) + modelV2.action = action # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py index 144860204f..e0b5adc51b 100755 --- a/sunnypilot/modeld_v2/get_model_metadata.py +++ b/sunnypilot/modeld_v2/get_model_metadata.py @@ -4,22 +4,34 @@ import pathlib import onnx import codecs import pickle +from typing import Any + def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) name = value_info.name return name, shape + +def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any: + for prop in model.metadata_props: + if prop.key == name: + return prop.value + return None + + if __name__ == "__main__": model_path = pathlib.Path(sys.argv[1]) model = onnx.load(str(model_path)) - i = [x.key for x in model.metadata_props].index('output_slices') - output_slices = model.metadata_props[i].value + output_slices = get_metadata_value_by_name(model, 'output_slices') + assert output_slices is not None, 'output_slices not found in metadata' - metadata = {} - metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64")) - metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input]) - metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output]) + metadata = { + 'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'), + 'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")), + 'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]), + 'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output]) + } metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') with open(metadata_path, 'wb') as f: diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py deleted file mode 100644 index 10c80b8769..0000000000 --- a/sunnypilot/modeld_v2/model_runner.py +++ /dev/null @@ -1,142 +0,0 @@ -import os -import pickle -from abc import ABC, abstractmethod -import numpy as np - -from cereal import custom -from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH -from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem -from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES -from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address -from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser -from openpilot.system.hardware import TICI -from openpilot.system.hardware.hw import Paths - -from openpilot.sunnypilot.models.helpers import get_active_bundle -from tinygrad.tensor import Tensor - -if TICI: - os.environ['QCOM'] = '1' - -SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') -CUSTOM_MODEL_PATH = Paths.model_root() -ModelManager = custom.ModelManagerSP - - -class ModelRunner(ABC): - """Abstract base class for model runners that defines the interface for running ML models.""" - - def __init__(self): - """Initialize the model runner with paths to model and metadata files.""" - metadata_path = METADATA_PATH - self.is_20hz = None - self._drive_model = None - self._metadata_model = None - - if bundle := get_active_bundle(): - bundle_models = {model.type.raw: model for model in bundle.models} - self._drive_model = bundle_models.get(ModelManager.Model.Type.supercombo) - self._metadata_model = self._drive_model.metadata - self.is_20hz = bundle.is20hz - - # Override the metadata path if a metadata model is found in the active bundle - if self._metadata_model: - metadata_path = f"{CUSTOM_MODEL_PATH}/{self._metadata_model.fileName}" - - with open(metadata_path, 'rb') as f: - self.model_metadata = pickle.load(f) - - self.input_shapes = self.model_metadata['input_shapes'] - self.output_slices = self.model_metadata['output_slices'] - self.inputs: dict = {} - self.parser = Parser() - - @abstractmethod - def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict: - """Prepare inputs for model inference.""" - raise NotImplementedError - - @abstractmethod - def _run_model(self): - """Run model inference with prepared inputs.""" - raise NotImplementedError("This method should be implemented in subclasses.") - - def _slice_outputs(self, model_outputs: np.ndarray) -> dict: - """Slice model outputs according to metadata configuration.""" - parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()} - if SEND_RAW_PRED: - parsed_outputs['raw_pred'] = model_outputs.copy() - return parsed_outputs - - def run_model(self) -> dict[str, np.ndarray]: - """Run model inference with prepared inputs and parse outputs.""" - result: dict[str, np.ndarray] = self.parser.parse_outputs(self._slice_outputs(self._run_model())) - return result - - -class TinygradRunner(ModelRunner): - """Tinygrad implementation of model runner for TICI hardware.""" - - def __init__(self): - super().__init__() - - model_pkl_path = MODEL_PKL_PATH - if self._drive_model: - model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.artifact.fileName}" - assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner" - - # Load Tinygrad model - with open(model_pkl_path, "rb") as f: - try: - self.model_run = pickle.load(f) - except FileNotFoundError as e: - assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC" - raise - - self.input_to_dtype = {} - self.input_to_device = {} - - for idx, name in enumerate(self.model_run.captured.expected_names): - self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2] # 2 is the dtype - self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3] # 3 is the device - - def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict: - # Initialize image tensors if not already done - for key in imgs_cl: - if TICI and key not in self.inputs: - self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key]) - elif not TICI: - shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]) - self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize() - - # Update numpy inputs - for key, value in numpy_inputs.items(): - if key not in imgs_cl: - self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize() - - return self.inputs - - def _run_model(self): - return self.model_run(**self.inputs).numpy().flatten() - - -class ONNXRunner(ModelRunner): - """ONNX implementation of model runner for non-TICI hardware.""" - - def __init__(self): - super().__init__() - self.runner = make_onnx_cpu_runner(MODEL_PATH) - - self.input_to_nptype = { - model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type] - for model_input in self.runner.get_inputs() - } - - def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict: - self.inputs = numpy_inputs - for key in imgs_cl: - self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key]) - return self.inputs - - def _run_model(self): - return self.runner.run(None, self.inputs)[0].flatten() diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index a52d844aeb..4c8acafcad 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -1,7 +1,4 @@ #!/usr/bin/env python3 -from openpilot.system.hardware import TICI - -# import time import numpy as np import cereal.messaging as messaging @@ -13,20 +10,22 @@ from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.common.realtime import config_realtime_process +from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState -from openpilot.sunnypilot.modeld_v2.constants import ModelConstants -from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output +from openpilot.sunnypilot.modeld_v2.constants import Plan +from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants -from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner + +from openpilot.sunnypilot.models.helpers import get_active_bundle +from openpilot.sunnypilot.models.runners.helpers import get_model_runner PROCESS_NAME = "selfdrive.modeld.modeld" -LAT_SMOOTH_SECONDS = 0.0 class FrameMeta: @@ -38,23 +37,32 @@ class FrameMeta: if vipc is not None: self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof + class ModelState: frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] prev_desire: np.ndarray # for tracking the rising edge of the pulse + temporal_idxs: slice | np.ndarray def __init__(self, context: CLContext): try: - self.model_runner = TinygradRunner() if TICI else ONNXRunner() + self.model_runner = get_model_runner() + self.constants = self.model_runner.constants except Exception as e: cloudlog.exception(f"Failed to initialize model runner: {str(e)}") + raise + + model_bundle = get_active_bundle() + self.generation = model_bundle.generation + overrides = {override.key: override.value for override in model_bundle.overrides} + + self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2")) + self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0")) + self.MIN_LAT_CONTROL_SPEED = 0.3 buffer_length = 5 if self.model_runner.is_20hz else 2 self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)} - self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - if self.model_runner.is_20hz: - self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) - self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) + self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32) # img buffers are managed in openCL transform code self.numpy_inputs = {} @@ -63,11 +71,19 @@ class ModelState: if key not in self.frames: # Managed by opencl self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32) - if self.model_runner.is_20hz: + if self.model_runner.is_20hz_3d: # split models + self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.FEATURE_LEN), dtype=np.float32) + self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32) + self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32) + self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP) + elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d: + self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32) + self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32) num_elements = self.numpy_inputs['features_buffer'].shape[1] step_size = int(-100 / num_elements) - self.full_features_buffer_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1] - self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2]) + self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1] + self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, + self.numpy_inputs['desire'].shape[2]) def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: @@ -76,11 +92,15 @@ class ModelState: new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) self.prev_desire[:] = inputs['desire'] - if self.model_runner.is_20hz: + if self.model_runner.is_20hz_3d: # split models + self.full_desire[0,:-1] = self.full_desire[0,1:] + self.full_desire[0,-1] = new_desire + self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2) + elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d: # 20hz supercombo self.full_desire[:-1] = self.full_desire[1:] self.full_desire[-1] = new_desire self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2) - else: + else: # not 20hz length = inputs['desire'].shape[0] self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:] self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length] @@ -101,11 +121,15 @@ class ModelState: # Run model inference outputs = self.model_runner.run_model() - if self.model_runner.is_20hz: + if self.model_runner.is_20hz_3d: # split models + self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:] + self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :] + self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs] + elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d: # 20hz supercombo self.full_features_buffer[:-1] = self.full_features_buffer[1:] self.full_features_buffer[-1] = outputs['hidden_state'][0, :] - self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.full_features_buffer_idxs] - else: + self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs] + else: # not 20hz feature_len = outputs['hidden_state'].shape[1] self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:] self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len] @@ -119,11 +143,36 @@ class ModelState: input_name_prev = 'prev_desired_curv' if input_name_prev is not None: - length = outputs['desired_curvature'][0].size - self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0] - self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0] + self.process_desired_curvature(outputs, input_name_prev) return outputs + def process_desired_curvature(self, outputs, input_name_prev): + if self.model_runner.is_20hz_3d: # split models + self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] + self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :] + self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs] + if self.generation == 11: + self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] + else: + length = outputs['desired_curvature'][0].size + self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0] + self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0] + + def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, + lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: + plan = model_output['plan'][0] + desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS, + action_t=long_action_t) + desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS) + + desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation) + if v_ego > self.MIN_LAT_CONTROL_SPEED: + desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS) + else: + desired_curvature = prev_action.desiredCurvature + + return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop)) + def main(demo=False): cloudlog.warning("modeld init") @@ -170,7 +219,7 @@ def main(demo=False): params = Params() # setup filter to track dropped frames - frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ) frame_id = 0 last_vipc_frame_id = 0 run_count = 0 @@ -189,8 +238,9 @@ def main(demo=False): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("modeld got CarParams: %s", CP.brand) - # Enable lagd support for modeld_v2 - steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS + # TODO Move smooth seconds to action function + long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS + prev_action = log.ModelDataV2.Action() DH = DesireHelper() @@ -220,7 +270,7 @@ def main(demo=False): if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ - extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") + extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") else: # Use single camera @@ -232,18 +282,20 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) + steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] - model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) + model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, + False).astype(np.float32) model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) live_calib_seen = True traffic_convention = np.zeros(2) traffic_convention[int(is_rhd)] = 1 - vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - if desire >= 0 and desire < ModelConstants.DESIRE_LEN: + vec_desire = np.zeros(model.constants.DESIRE_LEN, dtype=np.float32) + if desire >= 0 and desire < model.constants.DESIRE_LEN: vec_desire[desire] = 1 # tracked dropped frames @@ -276,7 +328,10 @@ def main(demo=False): modelv2_send = messaging.new_message('modelV2') drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay, + + action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego) + prev_action = action + fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants()) diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py new file mode 100644 index 0000000000..7fab66e038 --- /dev/null +++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py @@ -0,0 +1,127 @@ +import numpy as np +from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants + + +def safe_exp(x, out=None): + # -11 is around 10**14, more causes float16 overflow + return np.exp(np.clip(x, -np.inf, 11), out=out) + + +def sigmoid(x): + return 1. / (1. + safe_exp(-x)) + + +def softmax(x, axis=-1): + x -= np.max(x, axis=axis, keepdims=True) + if x.dtype == np.float32 or x.dtype == np.float64: + safe_exp(x, out=x) + else: + x = safe_exp(x) + x /= np.sum(x, axis=axis, keepdims=True) + return x + + +class Parser: + def __init__(self, ignore_missing=False): + self.ignore_missing = ignore_missing + + def check_missing(self, outs, name): + if name not in outs and not self.ignore_missing: + raise ValueError(f"Missing output {name}") + return name not in outs + + def parse_categorical_crossentropy(self, name, outs, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + if out_shape is not None: + raw = raw.reshape((raw.shape[0],) + out_shape) + outs[name] = softmax(raw, axis=-1) + + def parse_binary_crossentropy(self, name, outs): + if self.check_missing(outs, name): + return + raw = outs[name] + outs[name] = sigmoid(raw) + + def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) + + n_values = (raw.shape[2] - out_N)//2 + pred_mu = raw[:,:,:n_values] + pred_std = safe_exp(raw[:,:,n_values: 2*n_values]) + + if in_N > 1: + weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) + for i in range(out_N): + weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1) + + if out_N == 1: + for fidx in range(weights.shape[0]): + idxs = np.argsort(weights[fidx][:,0])[::-1] + weights[fidx] = weights[fidx][idxs] + pred_mu[fidx] = pred_mu[fidx][idxs] + pred_std[fidx] = pred_std[fidx][idxs] + full_shape = tuple([raw.shape[0], in_N] + list(out_shape)) + outs[name + '_weights'] = weights + outs[name + '_hypotheses'] = pred_mu.reshape(full_shape) + outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape) + + pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + for fidx in range(weights.shape[0]): + for hidx in range(out_N): + idxs = np.argsort(weights[fidx,:,hidx])[::-1] + pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]] + pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]] + else: + pred_mu_final = pred_mu + pred_std_final = pred_std + + if out_N > 1: + final_shape = tuple([raw.shape[0], out_N] + list(out_shape)) + else: + final_shape = tuple([raw.shape[0],] + list(out_shape)) + outs[name] = pred_mu_final.reshape(final_shape) + outs[name + '_stds'] = pred_std_final.reshape(final_shape) + + def split_outputs(self, outs: dict[str, np.ndarray]) -> None: + if 'lane_lines' in outs: + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, + out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, + out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION, + out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH)) + if 'sim_pose' in outs: + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) + + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,)) + self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,)) + self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,)) + self.split_outputs(outs) + self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH)) + self.parse_binary_crossentropy('meta', outs) + return outs + + def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION, + out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH)) + self.split_outputs(outs) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,)) + self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,)) + return outs + + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + outs = self.parse_vision_outputs(outs) + outs = self.parse_policy_outputs(outs) + return outs diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py index 7076cf1861..27fac08673 100644 --- a/sunnypilot/models/fetcher.py +++ b/sunnypilot/models/fetcher.py @@ -43,6 +43,16 @@ class ModelParser: model.metadata = ModelParser._parse_artifact(metadata) return model + @staticmethod + def _parse_overrides(overrides_data: dict[str, str]) -> list[custom.ModelManagerSP.Override]: + overrides = [] + for key, value in overrides_data.items(): + override = custom.ModelManagerSP.Override() + override.key = key + override.value = value + overrides.append(override) + return overrides + @staticmethod def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle: model_bundle = custom.ModelManagerSP.ModelBundle() @@ -56,6 +66,7 @@ class ModelParser: model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe) model_bundle.is20hz = bundle.get("is_20hz", False) model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"]) + model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {})) return model_bundle @@ -149,8 +160,9 @@ if __name__ == "__main__": bundles = model_fetcher.get_available_bundles() for bundle in bundles: for model in bundle.models: + model_overrides = {override.key: override.value for override in bundle.overrides} # Print model details - print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}") + print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}") # Print artifact details print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}") # Print metadata details diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index e6001f2642..344a5179c9 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -19,7 +19,7 @@ from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths from pathlib import Path -CURRENT_SELECTOR_VERSION = 3 +CURRENT_SELECTOR_VERSION = 4 REQUIRED_MIN_SELECTOR_VERSION = 2 USE_ONNX = os.getenv('USE_ONNX', PC) diff --git a/sunnypilot/models/runners/constants.py b/sunnypilot/models/runners/constants.py new file mode 100644 index 0000000000..cbd1fdb376 --- /dev/null +++ b/sunnypilot/models/runners/constants.py @@ -0,0 +1,18 @@ +import os +import numpy as np +from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem +from openpilot.system.hardware.hw import Paths +from cereal import custom + +# Type definitions for clarity +NumpyDict = dict[str, np.ndarray] +ShapeDict = dict[str, tuple[int, ...]] +SliceDict = dict[str, slice] +CLMemDict = dict[str, CLMem] +FrameDict = dict[str, DrivingModelFrame] + +ModelType = custom.ModelManagerSP.Model.Type +Model = custom.ModelManagerSP.Model + +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +CUSTOM_MODEL_PATH = Paths.model_root() diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py new file mode 100644 index 0000000000..6a128b340e --- /dev/null +++ b/sunnypilot/models/runners/helpers.py @@ -0,0 +1,35 @@ +from openpilot.sunnypilot.models.helpers import get_active_bundle +from openpilot.sunnypilot.models.runners.model_runner import ModelRunner +from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner +from openpilot.sunnypilot.models.runners.constants import ModelType +from openpilot.system.hardware import TICI + +if not TICI: + from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner + +def get_model_runner() -> ModelRunner: + """ + Factory function to create and return the appropriate ModelRunner instance. + + Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner + (for TICI platforms), choosing TinygradSplitRunner if separate vision/policy + models are detected in the active bundle. + + :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner). + """ + if not TICI: + return ONNXRunner() + + # On TICI platforms, use Tinygrad runners + bundle = get_active_bundle() + if bundle and bundle.models: + model_types = {m.type.raw for m in bundle.models} + # Check if the bundle uses separate vision and policy models + if ModelType.vision in model_types or ModelType.policy in model_types: + return TinygradSplitRunner() + # Otherwise, assume a single model (likely supercombo) + if bundle.models: + return TinygradRunner(bundle.models[0].type.raw) + + # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete + return TinygradRunner(ModelType.supercombo) diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py new file mode 100644 index 0000000000..c210d5b87e --- /dev/null +++ b/sunnypilot/models/runners/model_runner.py @@ -0,0 +1,176 @@ +import os +from abc import abstractmethod, ABC + +import numpy as np +from openpilot.sunnypilot.models.helpers import get_active_bundle +from openpilot.system.hardware import TICI +from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED +from openpilot.system.hardware.hw import Paths +import pickle + +CUSTOM_MODEL_PATH = Paths.model_root() + + +# Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration +if TICI: + os.environ['QCOM'] = '1' + + +class ModelData: + """ + Stores metadata and configuration for a specific machine learning model. + + This class loads model metadata (like input shapes and output slices) + from a pickle file associated with a model instance. + + :param model: The machine learning model object containing metadata. + """ + def __init__(self, model: Model): + self.model = model + self.metadata = model.metadata + self.input_shapes: ShapeDict = {} + self.output_slices: SliceDict = {} + if self.metadata: + self._load_metadata() + + def _load_metadata(self) -> None: + """Loads input shapes and output slices from the model's metadata pickle file.""" + metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}" + with open(metadata_path, 'rb') as f: + model_metadata = pickle.load(f) + self.input_shapes = model_metadata.get('input_shapes', {}) + self.output_slices = model_metadata.get('output_slices', {}) + + +class ModularRunner(ABC): + """ + Represents a modular runner for handling and slicing model outputs. + + This abstract base class is designed to provide an interface for modular + parsing and processing of model outputs. Classes inheriting from it must + implement the specified abstract methods, defining how model outputs + should be handled and stored. The primary goal is to enable structured + parsing of outputs through a dictionary-based method mapping. + + :ivar parser_method_dict: Mapping dictionary containing parser methods + for handling specific types of outputs. + :type parser_method_dict: dict + """ + + @property + @abstractmethod + def parser_method_dict(self) -> dict: + pass + + @parser_method_dict.setter + @abstractmethod + def parser_method_dict(self, value: dict) -> None: + pass + + @abstractmethod + def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + pass + + +class ModelRunner(ModularRunner): + """ + Abstract base class for managing and executing machine learning models. + + Provides a common interface for loading models, preparing inputs, running + inference, and slicing/parsing outputs based on model metadata. Derived + classes implement the specifics of input preparation and model execution + for different frameworks (e.g., Tinygrad, ONNX). + """ + + def __init__(self): + """Initializes the model runner, loading the active model bundle.""" + self.is_20hz: bool | None = None + self.is_20hz_3d: bool | None = None + self.models: dict[int, ModelData] = {} + self._model_data: ModelData | None = None # Active model data for current operation + self._parser_method_dict: dict = {} + self.inputs: dict = {} + self._parser = None + self._load_models() + self._constants = None + + @property + def constants(self): + return self._constants + + @property + def parser_method_dict(self) -> dict: + """Returns the dictionary mapping model types to their respective parsing methods.""" + return self._parser_method_dict + + @parser_method_dict.setter + def parser_method_dict(self, value: dict) -> None: + """Sets the dictionary mapping model types to their respective parsing methods.""" + self._parser_method_dict = value + + def _load_models(self) -> None: + """Loads the active model bundle configuration and sets up ModelData.""" + bundle = get_active_bundle() + if not bundle: + raise ValueError("No active model bundle found, why are we being executed?") + + self.models = {model.type.raw: ModelData(model) for model in bundle.models} + self.is_20hz = bundle.is20hz + self.is_20hz_3d = False + + @property + def input_shapes(self) -> ShapeDict: + """Returns the input shapes for the currently active model.""" + if self._model_data: + return self._model_data.input_shapes + raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + + @property + def output_slices(self) -> SliceDict: + """Returns the output slices for the currently active model.""" + if self._model_data: + return self._model_data.output_slices + raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + + @abstractmethod + def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict: + """ + Abstract method to prepare inputs for model inference. + + :param imgs_cl: Dictionary of OpenCL memory objects for image inputs. + :param numpy_inputs: Dictionary of numpy arrays for non-image inputs. + :param frames: Dictionary of DrivingModelFrame objects for context. + :return: Dictionary of prepared inputs ready for the model. + """ + raise NotImplementedError + + @abstractmethod + def _run_model(self) -> NumpyDict: + """ + Abstract method to execute model inference with prepared inputs. + + :return: Dictionary containing the model's raw output arrays. + """ + raise NotImplementedError + + def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """ + Slices the raw model output array based on the output_slices metadata. + + :param model_outputs: The raw numpy array output from the model. + :return: A dictionary where keys are output names and values are sliced numpy arrays. + """ + if not self._model_data: + raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()} + if SEND_RAW_PRED: + sliced_outputs['raw_pred'] = model_outputs.copy() # Optionally include the full raw output + return sliced_outputs + + def run_model(self) -> NumpyDict: + """ + Executes the model inference pipeline: runs the model and parses outputs. + + :return: Dictionary containing the final parsed model outputs. + """ + return self._run_model() # Parsing is handled within specific runner implementations diff --git a/sunnypilot/models/runners/onnx/onnx_runner.py b/sunnypilot/models/runners/onnx/onnx_runner.py new file mode 100644 index 0000000000..1ffead4560 --- /dev/null +++ b/sunnypilot/models/runners/onnx/onnx_runner.py @@ -0,0 +1,62 @@ +import numpy as np + +from openpilot.sunnypilot.modeld_v2 import MODEL_PATH +from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES +from openpilot.sunnypilot.models.runners.constants import ModelType, ShapeDict, CLMemDict, NumpyDict, FrameDict +from openpilot.sunnypilot.models.runners.model_runner import ModelRunner +from openpilot.sunnypilot.modeld_v2.constants import ModelConstants + + +class ONNXRunner(ModelRunner): + """ + A ModelRunner implementation for executing ONNX models using ONNX Runtime CPU. + + Handles loading the ONNX model, preparing inputs as numpy arrays, running + inference, and parsing outputs. This runner is typically used on non-TICI platforms. + """ + def __init__(self): + super().__init__() + # Initialize ONNX Runtime session for the model at MODEL_PATH + self.runner = make_onnx_cpu_runner(MODEL_PATH) + # Map expected input names to numpy dtypes + self.input_to_nptype = { + model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type] + for model_input in self.runner.get_inputs() + } + # For ONNX, _model_data isn't strictly necessary as shapes/types come from the runner + # However, we might still need output_slices if custom models define them. + # We assume supercombo type for potentially loading output_slices metadata if available. + self._model_data = self.models.get(ModelType.supercombo) + self._constants = ModelConstants # Constants for ONNX models, if needed + + @property + def input_shapes(self) -> ShapeDict: + """Returns the input shapes defined in the ONNX model.""" + # ONNX shapes are derived directly from the model definition via the runner + return {runner_input.name: runner_input.shape for runner_input in self.runner.get_inputs()} + + def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict: + """Prepares inputs for the ONNX model as numpy arrays.""" + self.inputs = numpy_inputs # Start with non-image numpy inputs + # Convert image inputs from OpenCL buffers to numpy arrays + for key in imgs_cl: + buffer = frames[key].buffer_from_cl(imgs_cl[key]) + reshaped_buffer = buffer.reshape(self.input_shapes[key]) + self.inputs[key] = reshaped_buffer.astype(dtype=self.input_to_nptype[key]) + return self.inputs + + def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """Parses the raw ONNX model outputs using the standard Parser.""" + # Use slicing if metadata is available, otherwise pass raw outputs + if self._model_data is None: + raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + + outputs_to_parse = self._slice_outputs(model_outputs) if self._model_data else {'raw_pred': model_outputs} + result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](outputs_to_parse) + return result + + def _run_model(self) -> NumpyDict: + """Runs the ONNX model inference and parses the outputs.""" + # Execute the ONNX Runtime session + outputs = self.runner.run(None, self.inputs)[0].flatten() + return self._parse_outputs(outputs) diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py new file mode 100644 index 0000000000..ba388aed93 --- /dev/null +++ b/sunnypilot/models/runners/tinygrad/model_types.py @@ -0,0 +1,59 @@ +import os +from abc import ABC + +import numpy as np +from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser +from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser +from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict +from openpilot.sunnypilot.models.runners.model_runner import ModularRunner +from openpilot.system.hardware.hw import Paths + + +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +CUSTOM_MODEL_PATH = Paths.model_root() + + +class PolicyTinygrad(ModularRunner, ABC): + """ + A TinygradRunner specialized for policy-only models. + + Uses a SplitParser to handle outputs specific to the policy part of a split model setup. + """ + def __init__(self): + self._policy_parser = SplitParser() + self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs + + def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """Parses policy model outputs using SplitParser.""" + result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs)) + return result + +class VisionTinygrad(ModularRunner, ABC): + """ + A TinygradRunner specialized for vision-only models. + + Uses a SplitParser to handle outputs specific to the vision part of a split model setup. + """ + def __init__(self): + self._vision_parser = SplitParser() + self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs + + def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """Parses vision model outputs using SplitParser.""" + result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs)) + return result + +class SupercomboTinygrad(ModularRunner, ABC): + """ + A TinygradRunner specialized for vision-only models. + + Uses a SplitParser to handle outputs specific to the vision part of a split model setup. + """ + def __init__(self): + self._supercombo_parser = CombinedParser() + self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs + + def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """Parses vision model outputs using SplitParser.""" + result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs)) + return result diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py new file mode 100644 index 0000000000..2e4fd45294 --- /dev/null +++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py @@ -0,0 +1,129 @@ +import pickle + +import numpy as np +from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address +from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict +from openpilot.sunnypilot.models.runners.model_runner import ModelRunner +from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad +from openpilot.system.hardware import TICI +from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants +from openpilot.sunnypilot.modeld_v2.constants import ModelConstants + +from tinygrad.tensor import Tensor + + +class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad): + """ + A ModelRunner implementation for executing Tinygrad models. + + Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad + Tensors (potentially using QCOM extensions on TICI), running inference, + and parsing the outputs. + + :param model_type: The type of model (e.g., supercombo) to load and run. + """ + def __init__(self, model_type: int = ModelType.supercombo): + ModelRunner.__init__(self) + SupercomboTinygrad.__init__(self) + PolicyTinygrad.__init__(self) + VisionTinygrad.__init__(self) + self._constants = ModelConstants + self._model_data = self.models.get(model_type) + if not self._model_data or not self._model_data.model: + raise ValueError(f"Model data for type {model_type} not available.") + + artifact_filename = self._model_data.model.artifact.fileName + assert artifact_filename.endswith('_tinygrad.pkl'), \ + f"Invalid model file {artifact_filename} for TinygradRunner" + + model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}" + with open(model_pkl_path, "rb") as f: + try: + # Load the compiled Tinygrad model runner function + self.model_run = pickle.load(f) + except FileNotFoundError as e: + # Provide a helpful error message if the model was built for a different platform + assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC" + raise + + # Map input names to their required dtype and device from the loaded model + self.input_to_dtype = {} + self.input_to_device = {} + for idx, name in enumerate(self.model_run.captured.expected_names): + info = self.model_run.captured.expected_st_vars_dtype_device[idx] + self.input_to_dtype[name] = info[2] # dtype + self.input_to_device[name] = info[3] # device + + def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict): + """Prepares vision (image) inputs as Tinygrad Tensors.""" + for key in imgs_cl: + if TICI and key not in self.inputs: + # On TICI, directly use OpenCL memory address for efficiency via QCOM extensions + self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key]) + elif not TICI: + # On other platforms, copy data from CL buffer to a numpy array first + shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]) + self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize() + + def prepare_policy_inputs(self, numpy_inputs: NumpyDict): + """Prepares non-image (policy) inputs as Tinygrad Tensors.""" + for key, value in numpy_inputs.items(): + self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize() + + def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict: + """Prepares all vision and policy inputs for the model.""" + self.prepare_vision_inputs(imgs_cl, frames) + self.prepare_policy_inputs(numpy_inputs) + return self.inputs + + def _run_model(self) -> NumpyDict: + """Runs the Tinygrad model inference and parses the outputs.""" + outputs = self.model_run(**self.inputs).numpy().flatten() + return self._parse_outputs(outputs) + + def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """Parses the raw model outputs using the standard Parser.""" + if self._model_data is None: + raise ValueError("Model data is not available. Ensure the model is loaded correctly.") + + result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs) + return result + + +class TinygradSplitRunner(ModelRunner): + """ + A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances. + + Manages the execution of split vision and policy models, combining their inputs and outputs. + """ + def __init__(self): + super().__init__() + self.is_20hz_3d = True + self.vision_runner = TinygradRunner(ModelType.vision) + self.policy_runner = TinygradRunner(ModelType.policy) + self._constants = SplitModelConstants + + def _run_model(self) -> NumpyDict: + """Runs both vision and policy models and merges their parsed outputs.""" + policy_output = self.policy_runner.run_model() + vision_output = self.vision_runner.run_model() + return {**policy_output, **vision_output} # Combine results + + @property + def input_shapes(self) -> ShapeDict: + """Returns the combined input shapes from both vision and policy models.""" + return {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes} + + @property + def output_slices(self) -> SliceDict: + """Returns the combined output slices from both vision and policy models.""" + return {**self.policy_runner.output_slices, **self.vision_runner.output_slices} + + def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict: + """Prepares inputs for both vision and policy models.""" + # Policy inputs only depend on numpy_inputs + self.policy_runner.prepare_policy_inputs(numpy_inputs) + # Vision inputs depend on imgs_cl and frames + self.vision_runner.prepare_vision_inputs(imgs_cl, frames) + # Return combined inputs (though they are stored within respective runners) + return {**self.policy_runner.inputs, **self.vision_runner.inputs} diff --git a/sunnypilot/models/split_model_constants.py b/sunnypilot/models/split_model_constants.py new file mode 100644 index 0000000000..a3e1dce8f6 --- /dev/null +++ b/sunnypilot/models/split_model_constants.py @@ -0,0 +1,94 @@ +import numpy as np + + +def index_function(idx, max_val=192, max_idx=32): + return max_val * ((idx/max_idx)**2) + + +class SplitModelConstants: + # time and distance indices + IDX_N = 33 + T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)] + X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)] + LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.] + LEAD_T_OFFSETS = [0., 2., 4.] + META_T_IDXS = [2., 4., 6., 8., 10.] + + # model inputs constants + MODEL_FREQ = 20 + HISTORY_FREQ = 5 + HISTORY_LEN_SECONDS = 5 + TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ + FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS + INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS + + FEATURE_LEN = 512 + + DESIRE_LEN = 8 + TRAFFIC_CONVENTION_LEN = 2 + LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURV_LEN = 1 + + # model outputs constants + FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) + FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32) + FCW_5MS2_PROBS_WIDTH = 5 + FCW_3MS2_PROBS_WIDTH = 2 + + DISENGAGE_WIDTH = 5 + POSE_WIDTH = 6 + WIDE_FROM_DEVICE_WIDTH = 3 + LEAD_WIDTH = 4 + LANE_LINES_WIDTH = 2 + ROAD_EDGES_WIDTH = 2 + PLAN_WIDTH = 15 + DESIRE_PRED_WIDTH = 8 + LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 + + NUM_LANE_LINES = 4 + NUM_ROAD_EDGES = 2 + + LEAD_TRAJ_LEN = 6 + DESIRE_PRED_LEN = 4 + + PLAN_MHP_N = 5 + LEAD_MHP_N = 2 + PLAN_MHP_SELECTION = 1 + LEAD_MHP_SELECTION = 3 + + FCW_THRESHOLD_5MS2_HIGH = 0.15 + FCW_THRESHOLD_5MS2_LOW = 0.05 + FCW_THRESHOLD_3MS2 = 0.7 + + CONFIDENCE_BUFFER_LEN = 5 + RYG_GREEN = 0.01165 + RYG_YELLOW = 0.06157 + + POLY_PATH_DEGREE = 4 + + +# model outputs slices +class Plan: + POSITION = slice(0, 3) + VELOCITY = slice(3, 6) + ACCELERATION = slice(6, 9) + T_FROM_CURRENT_EULER = slice(9, 12) + ORIENTATION_RATE = slice(12, 15) + + +class Meta: + ENGAGED = slice(0, 1) + # next 2, 4, 6, 8, 10 seconds + GAS_DISENGAGE = slice(1, 31, 6) + BRAKE_DISENGAGE = slice(2, 31, 6) + STEER_OVERRIDE = slice(3, 31, 6) + HARD_BRAKE_3 = slice(4, 31, 6) + HARD_BRAKE_4 = slice(5, 31, 6) + HARD_BRAKE_5 = slice(6, 31, 6) + # next 0, 2, 4, 6, 8, 10 seconds + GAS_PRESS = slice(31, 55, 4) + BRAKE_PRESS = slice(32, 55, 4) + LEFT_BLINKER = slice(33, 55, 4) + RIGHT_BLINKER = slice(34, 55, 4) diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py index 9f0c503fb4..56f32373d5 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details. from cereal import messaging, custom from opendbc.car import structs -from openpilot.sunnypilot.models.helpers import get_active_model_runner from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState @@ -16,7 +15,6 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen class LongitudinalPlannerSP: def __init__(self, CP: structs.CarParams, mpc): self.dec = DynamicExperimentalController(CP, mpc) - self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock def get_mpc_mode(self) -> str | None: if not self.dec.active(): From 840ced5005eefacde09976555d0226155f849cb9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 25 May 2025 23:41:03 +0800 Subject: [PATCH 330/477] system/ui: add EGL support to CameraView (#35338) * add EGL support to CameraView * view 3 cameras * use a more direct approach * add new line * cleanup * cleanup close() * extract EGL to a seperate file * cleanup * add try/except to close() * rename egl_textures * improve implementation --- system/ui/lib/egl.py | 177 ++++++++++++++++++++++++++++++++ system/ui/widgets/cameraview.py | 152 ++++++++++++++++++++++----- 2 files changed, 301 insertions(+), 28 deletions(-) create mode 100644 system/ui/lib/egl.py diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py new file mode 100644 index 0000000000..d43be482b3 --- /dev/null +++ b/system/ui/lib/egl.py @@ -0,0 +1,177 @@ +import os +import cffi +from dataclasses import dataclass +from typing import Any +from openpilot.common.swaglog import cloudlog + + +# EGL constants +EGL_LINUX_DMA_BUF_EXT = 0x3270 +EGL_WIDTH = 0x3057 +EGL_HEIGHT = 0x3056 +EGL_LINUX_DRM_FOURCC_EXT = 0x3271 +EGL_DMA_BUF_PLANE0_FD_EXT = 0x3272 +EGL_DMA_BUF_PLANE0_OFFSET_EXT = 0x3273 +EGL_DMA_BUF_PLANE0_PITCH_EXT = 0x3274 +EGL_DMA_BUF_PLANE1_FD_EXT = 0x3275 +EGL_DMA_BUF_PLANE1_OFFSET_EXT = 0x3276 +EGL_DMA_BUF_PLANE1_PITCH_EXT = 0x3277 +EGL_NONE = 0x3038 +GL_TEXTURE0 = 0x84C0 +GL_TEXTURE_EXTERNAL_OES = 0x8D65 + +# DRM Format for NV12 +DRM_FORMAT_NV12 = 842094158 + +@dataclass +class EGLImage: + """Container for EGL image and associated resources""" + + egl_image: Any + fd: int + + +@dataclass +class EGLState: + """Container for all EGL-related state""" + + initialized: bool = False + ffi: Any = None + egl_lib: Any = None + gles_lib: Any = None + + # EGL display connection - shared across all users + display: Any = None + + # Constants + NO_CONTEXT: Any = None + NO_DISPLAY: Any = None + NO_IMAGE_KHR: Any = None + + # Function pointers + get_current_display: Any = None + create_image_khr: Any = None + destroy_image_khr: Any = None + image_target_texture: Any = None + get_error: Any = None + bind_texture: Any = None + active_texture: Any = None + + +# Create a single instance of the state +_egl = EGLState() + + +def init_egl() -> bool: + """Initialize EGL and load necessary functions""" + global _egl + + # Don't re-initialize if already done + if _egl.initialized: + return True + + try: + _egl.ffi = cffi.FFI() + _egl.ffi.cdef(""" + typedef int EGLint; + typedef unsigned int EGLBoolean; + typedef unsigned int EGLenum; + typedef unsigned int GLenum; + typedef void *EGLContext; + typedef void *EGLDisplay; + typedef void *EGLClientBuffer; + typedef void *EGLImageKHR; + typedef void *GLeglImageOES; + + EGLDisplay eglGetCurrentDisplay(void); + EGLint eglGetError(void); + EGLImageKHR eglCreateImageKHR(EGLDisplay dpy, EGLContext ctx, + EGLenum target, EGLClientBuffer buffer, + const EGLint *attrib_list); + EGLBoolean eglDestroyImageKHR(EGLDisplay dpy, EGLImageKHR image); + void glEGLImageTargetTexture2DOES(GLenum target, GLeglImageOES image); + void glBindTexture(GLenum target, unsigned int texture); + void glActiveTexture(GLenum texture); + """) + + # Load libraries + _egl.egl_lib = _egl.ffi.dlopen("libEGL.so") + _egl.gles_lib = _egl.ffi.dlopen("libGLESv2.so") + + # Cast NULL pointers + _egl.NO_CONTEXT = _egl.ffi.cast("void *", 0) + _egl.NO_DISPLAY = _egl.ffi.cast("void *", 0) + _egl.NO_IMAGE_KHR = _egl.ffi.cast("void *", 0) + + # Bind functions + _egl.get_current_display = _egl.egl_lib.eglGetCurrentDisplay + _egl.create_image_khr = _egl.egl_lib.eglCreateImageKHR + _egl.destroy_image_khr = _egl.egl_lib.eglDestroyImageKHR + _egl.image_target_texture = _egl.gles_lib.glEGLImageTargetTexture2DOES + _egl.get_error = _egl.egl_lib.eglGetError + _egl.bind_texture = _egl.gles_lib.glBindTexture + _egl.active_texture = _egl.gles_lib.glActiveTexture + + # Initialize EGL display once here + _egl.display = _egl.get_current_display() + if _egl.display == _egl.NO_DISPLAY: + raise RuntimeError("Failed to get EGL display") + + _egl.initialized = True + return True + except Exception as e: + cloudlog.exception(f"EGL initialization failed: {e}") + _egl.initialized = False + return False + + +def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None: + assert _egl.initialized, "EGL not initialized" + + # Duplicate fd since EGL needs it + dup_fd = os.dup(fd) + + # Create image attributes for EGL + img_attrs = [ + EGL_WIDTH, width, + EGL_HEIGHT, height, + EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12, + EGL_DMA_BUF_PLANE0_FD_EXT, dup_fd, + EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0, + EGL_DMA_BUF_PLANE0_PITCH_EXT, stride, + EGL_DMA_BUF_PLANE1_FD_EXT, dup_fd, + EGL_DMA_BUF_PLANE1_OFFSET_EXT, uv_offset, + EGL_DMA_BUF_PLANE1_PITCH_EXT, stride, + EGL_NONE + ] + + attr_array = _egl.ffi.new("int[]", img_attrs) + egl_image = _egl.create_image_khr(_egl.display, _egl.NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, _egl.ffi.NULL, attr_array) + + if egl_image == _egl.NO_IMAGE_KHR: + cloudlog.error(f"Failed to create EGL image: {_egl.get_error()}") + os.close(dup_fd) + return None + + return EGLImage(egl_image=egl_image, fd=dup_fd) + + +def destroy_egl_image(egl_image: EGLImage) -> None: + assert _egl.initialized, "EGL not initialized" + + _egl.destroy_image_khr(_egl.display, egl_image.egl_image) + + # Close the duplicated fd we created in create_egl_image() + # We need to handle OSError since the fd might already be closed + try: + os.close(egl_image.fd) + except OSError: + pass + + +def bind_egl_image_to_texture(texture_id: int, egl_image: EGLImage) -> None: + assert _egl.initialized, "EGL not initialized" + + _egl.active_texture(GL_TEXTURE0) + _egl.bind_texture(GL_TEXTURE_EXTERNAL_OES, texture_id) + _egl.image_target_texture(GL_TEXTURE_EXTERNAL_OES, egl_image.egl_image) diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index 09fe306176..01aac0370b 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -1,6 +1,8 @@ import pyray as rl -from msgq.visionipc import VisionIpcClient, VisionStreamType +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 VERTEX_SHADER = """ @@ -19,30 +21,67 @@ void main() { } """ -FRAME_FRAGMENT_SHADER = """ -#version 300 es -precision mediump float; -in vec2 fragTexCoord; -uniform sampler2D texture0; -uniform sampler2D texture1; -out vec4 fragColor; -void main() { - float y = texture(texture0, fragTexCoord).r; - vec2 uv = texture(texture1, fragTexCoord).ra - 0.5; - fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0); -} -""" +# Choose fragment shader based on platform capabilities +if TICI: + FRAME_FRAGMENT_SHADER = """ + #version 300 es + #extension GL_OES_EGL_image_external_essl3 : enable + precision mediump float; + in vec2 fragTexCoord; + uniform samplerExternalOES texture0; + out vec4 fragColor; + void main() { + vec4 color = texture(texture0, fragTexCoord); + fragColor = vec4(pow(color.rgb, vec3(1.0/1.28)), color.a); + } + """ +else: + FRAME_FRAGMENT_SHADER = """ + #version 300 es + precision mediump float; + in vec2 fragTexCoord; + uniform sampler2D texture0; + uniform sampler2D texture1; + out vec4 fragColor; + void main() { + float y = texture(texture0, fragTexCoord).r; + vec2 uv = texture(texture1, fragTexCoord).ra - 0.5; + fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0); + } + """ class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): self.client = VisionIpcClient(name, stream_type, False) self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) + + self.frame: VisionBuf | None = None self.texture_y: rl.Texture | None = None self.texture_uv: rl.Texture | None = None - self.frame = None - def close(self): + # EGL resources + self.egl_images: dict[int, EGLImage] = {} + self.egl_texture: rl.Texture | None = None + + # Initialize EGL for zero-copy rendering on TICI + if TICI: + if not init_egl(): + raise RuntimeError("Failed to initialize EGL") + + # Create a 1x1 pixel placeholder texture for EGL image binding + temp_image = rl.gen_image_color(1, 1, rl.BLACK) + self.egl_texture = rl.load_texture_from_image(temp_image) + rl.unload_image(temp_image) + + def close(self) -> None: self._clear_textures() + + # Clean up EGL texture + if TICI and self.egl_texture: + rl.unload_texture(self.egl_texture) + self.egl_texture = None + + # Clean up shader if self.shader and self.shader.id: rl.unload_shader(self.shader) @@ -50,17 +89,14 @@ class CameraView: if not self._ensure_connection(): return + # Try to get a new buffer without blocking buffer = self.client.recv(timeout_ms=0) - self.frame = buffer if buffer else self.frame - if not self.frame or not self.texture_y or not self.texture_uv: + if buffer: + self.frame = buffer + + if not self.frame: return - 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)) - # 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 @@ -68,6 +104,53 @@ class CameraView: 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) + # Render with appropriate method + if TICI: + self._render_egl(src_rect, dst_rect) + else: + self._render_textures(src_rect, dst_rect) + + def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None: + """Render using EGL for direct buffer access""" + if self.frame is None or self.egl_texture is None: + return + + idx = self.frame.idx + egl_image = self.egl_images.get(idx) + + # Create EGL image if needed + if egl_image is None: + egl_image = create_egl_image(self.frame.width, self.frame.height, self.frame.stride, self.frame.fd, self.frame.uv_offset) + if egl_image: + self.egl_images[idx] = egl_image + else: + return + + # Update texture dimensions to match current frame + self.egl_texture.width = self.frame.width + self.egl_texture.height = self.frame.height + + # Bind the EGL image to our texture + bind_egl_image_to_texture(self.egl_texture.id, egl_image) + + # Render with shader + rl.begin_shader_mode(self.shader) + rl.draw_texture_pro(self.egl_texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) + rl.end_shader_mode() + + def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None: + """Render using texture copies""" + if not self.texture_y or not self.texture_uv or self.frame is None: + 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 :] + + 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)) + + # 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.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) @@ -80,17 +163,30 @@ class CameraView: return False self._clear_textures() - self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), - int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) - self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), - int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) + + if not TICI: + self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), + int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) + self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), + int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) + return True def _clear_textures(self): if self.texture_y and self.texture_y.id: rl.unload_texture(self.texture_y) + self.texture_y = None + if self.texture_uv and self.texture_uv.id: rl.unload_texture(self.texture_uv) + self.texture_uv = None + + # Clean up EGL resources + if TICI: + for data in self.egl_images.values(): + destroy_egl_image(data) + self.egl_images = {} + if __name__ == "__main__": gui_app.init_window("watch3") From 993b1b4d88bb55d4ab87ddd2ffc51e8cfc866522 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sun, 25 May 2025 08:54:07 -0700 Subject: [PATCH 331/477] refactor: LPA interface, CLI location (#35328) * refactor: LPABase, simpler switch() interface * leave this since LPABase hides * hw-agnostic esim.py * newline * use latest --- system/hardware/base.py | 42 ++++++++++ system/hardware/esim.py | 38 +++++++++ system/hardware/pc/hardware.py | 6 +- system/hardware/tici/esim.py | 105 ++++++------------------ system/hardware/tici/hardware.py | 6 +- system/hardware/tici/tests/test_esim.py | 8 +- tools/op.sh | 2 +- 7 files changed, 117 insertions(+), 90 deletions(-) create mode 100755 system/hardware/esim.py mode change 100755 => 100644 system/hardware/tici/esim.py diff --git a/system/hardware/base.py b/system/hardware/base.py index 90b42b2f1f..e429f0e9f2 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -6,6 +6,19 @@ from cereal import log NetworkType = log.DeviceState.NetworkType +class LPAError(RuntimeError): + pass + +class LPAProfileNotFoundError(LPAError): + pass + +@dataclass +class Profile: + iccid: str + nickname: str + enabled: bool + provider: str + @dataclass class ThermalZone: # a zone from /sys/class/thermal/thermal_zone* @@ -51,6 +64,31 @@ class ThermalConfig: ret[f.name + "TempC"] = v.read() return ret +class LPABase(ABC): + @abstractmethod + def list_profiles(self) -> list[Profile]: + pass + + @abstractmethod + def get_active_profile(self) -> Profile | None: + pass + + @abstractmethod + def delete_profile(self, iccid: str) -> None: + pass + + @abstractmethod + def download_profile(self, qr: str, nickname: str | None = None) -> None: + pass + + @abstractmethod + def nickname_profile(self, iccid: str, nickname: str) -> None: + pass + + @abstractmethod + def switch_profile(self, iccid: str) -> None: + pass + class HardwareBase(ABC): @staticmethod def get_cmdline() -> dict[str, str]: @@ -105,6 +143,10 @@ class HardwareBase(ABC): def get_sim_info(self): pass + @abstractmethod + def get_sim_lpa(self) -> LPABase: + pass + @abstractmethod def get_network_strength(self, network_type): pass diff --git a/system/hardware/esim.py b/system/hardware/esim.py new file mode 100755 index 0000000000..6668a1cdd3 --- /dev/null +++ b/system/hardware/esim.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 + +import argparse + +from openpilot.system.hardware import HARDWARE + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') + parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') + parser.add_argument('--switch', metavar='iccid', help='switch to profile') + parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') + parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)') + parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile') + args = parser.parse_args() + + lpa = HARDWARE.get_sim_lpa() + if args.switch: + lpa.switch_profile(args.switch) + 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') + else: + print('cancelled') + exit(0) + elif args.download: + lpa.download_profile(args.download[0], args.download[1]) + elif args.nickname: + lpa.nickname_profile(args.nickname[0], args.nickname[1]) + else: + parser.print_help() + + profiles = lpa.list_profiles() + print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:') + for p in profiles: + print(f'- {p.iccid} (nickname: {p.nickname or ""}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}') diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 017a449c90..9a80f10bed 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,12 +1,11 @@ import random from cereal import log -from openpilot.system.hardware.base import HardwareBase +from openpilot.system.hardware.base import HardwareBase, LPABase NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength - class Pc(HardwareBase): def get_os_version(self): return None @@ -41,6 +40,9 @@ class Pc(HardwareBase): 'data_connected': False } + def get_sim_lpa(self) -> LPABase: + raise NotImplementedError("SIM LPA not implemented for PC") + def get_network_strength(self, network_type): return NetworkStrength.unknown diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py old mode 100755 new mode 100644 index 0a07e77e16..f657966ddf --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -1,28 +1,12 @@ -#!/usr/bin/env python3 - -import argparse import json import os import shutil import subprocess -from dataclasses import dataclass from typing import Literal -@dataclass -class Profile: - iccid: str - nickname: str - enabled: bool - provider: str +from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile -class LPAError(RuntimeError): - pass - -class LPAProfileNotFoundError(LPAError): - pass - - -class LPA: +class TiciLPA(LPABase): def __init__(self, interface: Literal['qmi', 'at'] = 'qmi'): self.env = os.environ.copy() self.env['LPAC_APDU'] = interface @@ -47,31 +31,13 @@ class LPA: def get_active_profile(self) -> Profile | None: return next((p for p in self.list_profiles() if p.enabled), None) - 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.disable_profile(latest.iccid) - self._validate_successful(self._invoke('profile', 'enable', iccid)) - self.process_notifications() - - def disable_profile(self, iccid: str) -> None: - self._validate_profile_exists(iccid) - latest = self.get_active_profile() - if latest is not None and latest.iccid != iccid: - return - self._validate_successful(self._invoke('profile', 'disable', iccid)) - self.process_notifications() - def delete_profile(self, iccid: str) -> None: self._validate_profile_exists(iccid) latest = self.get_active_profile() if latest is not None and latest.iccid == iccid: - self.disable_profile(iccid) + raise LPAError('cannot delete active profile, switch to another profile first') self._validate_successful(self._invoke('profile', 'delete', iccid)) - self.process_notifications() + self._process_notifications() def download_profile(self, qr: str, nickname: str | None = None) -> None: msgs = self._invoke('profile', 'download', '-a', qr) @@ -81,17 +47,24 @@ class LPA: raise LPAError('no new profile found') if nickname: self.nickname_profile(new_profile['payload']['data']['iccid'], nickname) - self.process_notifications() + self._process_notifications() def nickname_profile(self, iccid: str, nickname: str) -> None: self._validate_profile_exists(iccid) self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) - def process_notifications(self) -> None: - """ - Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier. - """ - self._validate_successful(self._invoke('notification', 'process', '-a', '-r')) + 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)) + self._validate_successful(self._invoke('profile', 'enable', iccid)) + self._process_notifications() def _invoke(self, *cmd: str): proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) @@ -124,47 +97,15 @@ class LPA: return messages + def _process_notifications(self) -> None: + """ + Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier. + """ + self._validate_successful(self._invoke('notification', 'process', '-a', '-r')) + def _validate_profile_exists(self, iccid: str) -> None: if not any(p.iccid == iccid for p in self.list_profiles()): raise LPAProfileNotFoundError(f'profile {iccid} does not exist') def _validate_successful(self, msgs: list[dict]) -> None: assert msgs[-1]['payload']['message'] == 'success', 'expected success notification' - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') - parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') - parser.add_argument('--enable', metavar='iccid', help='enable profile; will disable current profile') - parser.add_argument('--disable', metavar='iccid', help='disable profile') - parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') - parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)') - parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile') - args = parser.parse_args() - - lpa = LPA(interface=args.backend) - if args.enable: - lpa.enable_profile(args.enable) - print('enabled profile, please restart device to apply changes') - elif args.disable: - lpa.disable_profile(args.disable) - print('disabled profile, please restart device to apply changes') - 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') - else: - print('cancelled') - exit(0) - elif args.download: - lpa.download_profile(args.download[0], args.download[1]) - elif args.nickname: - lpa.nickname_profile(args.nickname[0], args.nickname[1]) - else: - parser.print_help() - - profiles = lpa.list_profiles() - print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:') - for p in profiles: - print(f'- {p.iccid} (nickname: {p.nickname or ""}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}') diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 5a8e41b51f..3add52d21c 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -10,8 +10,9 @@ from pathlib import Path from cereal import log from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action -from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone +from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone from openpilot.system.hardware.tici import iwlist +from openpilot.system.hardware.tici.esim import TiciLPA from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.amplifier import Amplifier @@ -198,6 +199,9 @@ class Tici(HardwareBase): 'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED, } + def get_sim_lpa(self) -> LPABase: + return TiciLPA() + def get_imei(self, slot): if slot != 0: return "" diff --git a/system/hardware/tici/tests/test_esim.py b/system/hardware/tici/tests/test_esim.py index d36bdaa27b..6fab931cce 100644 --- a/system/hardware/tici/tests/test_esim.py +++ b/system/hardware/tici/tests/test_esim.py @@ -1,7 +1,7 @@ import pytest -from openpilot.system.hardware import TICI -from openpilot.system.hardware.tici.esim import LPA, LPAProfileNotFoundError +from openpilot.system.hardware import HARDWARE, TICI +from openpilot.system.hardware.base import LPAProfileNotFoundError # https://euicc-manual.osmocom.org/docs/rsp/known-test-profile # iccid is always the same for the given activation code @@ -11,7 +11,7 @@ TEST_ICCID = '8944476500001944011' TEST_NICKNAME = 'test_profile' def cleanup(): - lpa = LPA() + lpa = HARDWARE.get_sim_lpa() try: lpa.delete_profile(TEST_ICCID) except LPAProfileNotFoundError: @@ -31,7 +31,7 @@ class TestEsim: cleanup() def test_provision_enable_disable(self): - lpa = LPA() + lpa = HARDWARE.get_sim_lpa() current_active = lpa.get_active_profile() lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME) diff --git a/tools/op.sh b/tools/op.sh index 7c17c949e4..9142d50a18 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -295,7 +295,7 @@ function op_check() { function op_esim() { op_before_cmd - op_run_command system/hardware/tici/esim.py "$@" + op_run_command system/hardware/esim.py "$@" } function op_build() { From eabee8c73f3c8fc4dcadb47f04ee527b99c44a03 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sun, 25 May 2025 09:33:37 -0700 Subject: [PATCH 332/477] bump msgq (#35345) --- msgq_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgq_repo b/msgq_repo index 94e738992c..5483a02de3 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 94e738992ca8a12c2d9bb7bdeeaab4713543773e +Subproject commit 5483a02de303d40cb2632d59f3f3a54dabfb5965 From 22715464b97365b60ca812b23bc3c6f6e9001d3e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 26 May 2025 00:47:41 +0800 Subject: [PATCH 333/477] system/ui: throttle camera connection attempts (#35343) throttle connection attempts --- system/ui/widgets/cameraview.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index 01aac0370b..94625ab19d 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -5,6 +5,8 @@ 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; @@ -53,6 +55,7 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): self.client = VisionIpcClient(name, stream_type, False) + self.last_connection_attempt: float = 0.0 self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) self.frame: VisionBuf | None = None @@ -159,6 +162,14 @@ class CameraView: 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 From 193df11a1c22b85fe914b772de66c0ce49a36354 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 27 May 2025 00:29:29 +0800 Subject: [PATCH 334/477] system/ui: avoid redundant texture updates (#35347) avoid redundant texture updates --- system/ui/widgets/cameraview.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index 94625ab19d..fe53507cef 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -55,6 +55,7 @@ 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) @@ -95,6 +96,7 @@ 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: @@ -147,11 +149,13 @@ 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) From 3d3e9599d804149e0f3036cb46ec1b74fbc0c04c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 27 May 2025 01:42:50 +0800 Subject: [PATCH 335/477] system/ui: add specialized camera views with custom transformations (#35346) * add specialized camera views with custom transformations for driver and road * improve * return np array * cached matrix --- system/ui/onroad/augmented_road_view.py | 127 ++++++++++++++++++++++++ system/ui/widgets/cameraview.py | 39 +++++++- system/ui/widgets/driver_camera_view.py | 46 +++++++++ 3 files changed, 207 insertions(+), 5 deletions(-) create mode 100644 system/ui/onroad/augmented_road_view.py create mode 100644 system/ui/widgets/driver_camera_view.py diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py new file mode 100644 index 0000000000..58a37460d5 --- /dev/null +++ b/system/ui/onroad/augmented_road_view.py @@ -0,0 +1,127 @@ +import numpy as np +import pyray as rl + +from cereal import messaging, log +from msgq.visionipc import VisionStreamType +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 + + +CALIBRATED = log.LiveCalibrationData.Status.calibrated +DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"] + + +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_recect_dims = (0.0, 0.0) + self._cacheed_matrix: np.ndarray | None = None + + def render(self, rect): + # Update calibration before rendering + self._update_calibration() + + # Render the base camera view + super().render(rect) + + # TODO: Add road visualization overlays like: + # - Lane lines and road edges + # - Path prediction + # - Lead vehicle indicators + # - Additional features + + 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.get('liveCalibration', 0) + current_dims = (rect.width, rect.height) + if (self._last_calib_time == calib_time and + self._last_recect_dims == current_dims and + self._cacheed_matrix is not None): + return self._cacheed_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 + w, h = current_dims + 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_recect_dims = current_dims + self._cacheed_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] + ]) + + return self._cacheed_matrix + + +if __name__ == "__main__": + gui_app.init_window("OnRoad Camera View") + sm = messaging.SubMaster(['deviceState', 'liveCalibration', 'roadCameraState']) + 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/widgets/cameraview.py b/system/ui/widgets/cameraview.py index fe53507cef..bff13a7910 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -1,4 +1,6 @@ +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 @@ -89,6 +91,24 @@ 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 @@ -102,12 +122,21 @@ class CameraView: 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: 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() From 8ffcddce30b07dd7871189d01ec9bbc1a6fbedeb Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 26 May 2025 11:02:14 -0700 Subject: [PATCH 336/477] [bot] Update translations (#35348) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_de.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_es.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_fr.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_ja.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_ko.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_pt-BR.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_th.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_tr.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_zh-CHS.ts | 28 ++++++++++++++++++++---- selfdrive/ui/translations/main_zh-CHT.ts | 28 ++++++++++++++++++++---- 11 files changed, 264 insertions(+), 44 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index fa3b2d69e7..603d6a01cd 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 3123e52578..aa6cf75c30 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 +82,30 @@ 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 3d9be63caf..64272244ea 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 69652510df..e7c4fa506a 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 4cce79757f..8fff080283 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 3be96846a7..268475f917 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a6a473bc92..c5e4926724 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index c7521082c3..e04cdac3e3 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index b8b7202898..181c9c44f3 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index c310265a1c..03e7a960be 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 + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 5f81cc2c53..e28ac44b98 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 + + ConfirmationDialog From 927ce0bc065a3419cc6be6c50ce24e4fd8bbb154 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 27 May 2025 02:10:32 +0800 Subject: [PATCH 337/477] system/ui: fix typos (#35349) fix typos --- system/ui/onroad/augmented_road_view.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 58a37460d5..7ae8f37c13 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -26,8 +26,8 @@ class AugmentedRoadView(CameraView): self.view_from_wide_calib = view_frame_from_device_frame.copy() self._last_calib_time: float = 0 - self._last_recect_dims = (0.0, 0.0) - self._cacheed_matrix: np.ndarray | None = None + self._last_rect_dims = (0.0, 0.0) + self._cached_matrix: np.ndarray | None = None def render(self, rect): # Update calibration before rendering @@ -69,9 +69,9 @@ class AugmentedRoadView(CameraView): calib_time = self.sm.recv_frame.get('liveCalibration', 0) current_dims = (rect.width, rect.height) if (self._last_calib_time == calib_time and - self._last_recect_dims == current_dims and - self._cacheed_matrix is not None): - return self._cacheed_matrix + 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 @@ -105,14 +105,14 @@ class AugmentedRoadView(CameraView): # Update cache values self._last_calib_time = calib_time - self._last_recect_dims = current_dims - self._cacheed_matrix = np.array([ + 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] ]) - return self._cacheed_matrix + return self._cached_matrix if __name__ == "__main__": From 427a61ab121ff270b58095155d084b6aa3b407e3 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 26 May 2025 17:07:56 -0300 Subject: [PATCH 338/477] fix Wi-FI typo on networking.cc (#35350) --- selfdrive/ui/qt/network/networking.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index bb914b6449..f19786a46f 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -184,7 +184,7 @@ 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; From 44d233337d9060b236a69b0536d725e4526e975d Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 26 May 2025 13:08:28 -0700 Subject: [PATCH 339/477] esim: faster switching (#35344) * esim: lpac doesnt need disable here * more red diff --- system/hardware/tici/esim.py | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) 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() From 1fb5744685b323b71d8ae43be8bf37172d1e9c51 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 26 May 2025 17:08:54 -0300 Subject: [PATCH 340/477] Multilang: update pt-BR translations (#35351) --- selfdrive/ui/translations/main_pt-BR.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index c5e4926724..2a7d270713 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -88,23 +88,23 @@ default - + padrão metered - + limitada unmetered - + ilimitada Wi-Fi Network Metered - + Rede Wi-Fi com Franquia Prevent large data uploads when on a metered Wi-FI connection - + Previna o envio de grandes volumes de dados em conexões Wi-Fi com franquia de limite de dados From 742e30495a7368ac1143b3ae8ed5f909d07b4de3 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 27 May 2025 01:25:56 +0100 Subject: [PATCH 341/477] Reapply "ui: rewrite installer using raylib, remove qt (#33756)" (#35308) This reverts commit 472feefcfdf20a8f4823e28baf596868fd70391b. --- selfdrive/ui/SConscript | 26 ++-- selfdrive/ui/installer/installer.cc | 182 +++++++++++-------------- selfdrive/ui/installer/installer.h | 28 ---- selfdrive/ui/installer/inter-ascii.ttf | 3 + 4 files changed, 97 insertions(+), 142 deletions(-) delete mode 100644 selfdrive/ui/installer/installer.h create mode 100644 selfdrive/ui/installer/inter-ascii.ttf diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index e63359da05..7199399d41 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"] @@ -76,8 +75,15 @@ 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 = [ @@ -87,17 +93,19 @@ 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 From 50aaa691373222dcc71c506c1d055e21c5bc97ea Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 May 2025 17:49:44 -0700 Subject: [PATCH 342/477] sensord: cleanup, prep for rewrite (#35352) * rm bmx * thanks claude * fix * fix mypy --- system/sensord/SConscript | 4 - system/sensord/sensors/bmx055_accel.cc | 85 -------- system/sensord/sensors/bmx055_accel.h | 41 ---- system/sensord/sensors/bmx055_gyro.cc | 92 --------- system/sensord/sensors/bmx055_gyro.h | 41 ---- system/sensord/sensors/bmx055_magn.cc | 258 ------------------------- system/sensord/sensors/bmx055_magn.h | 64 ------ system/sensord/sensors/bmx055_temp.cc | 31 --- system/sensord/sensors/bmx055_temp.h | 13 -- system/sensord/sensors_qcom2.cc | 9 - system/sensord/tests/test_sensord.py | 30 +-- system/sensord/tests/ttff_test.py | 48 ----- 12 files changed, 5 insertions(+), 711 deletions(-) delete mode 100644 system/sensord/sensors/bmx055_accel.cc delete mode 100644 system/sensord/sensors/bmx055_accel.h delete mode 100644 system/sensord/sensors/bmx055_gyro.cc delete mode 100644 system/sensord/sensors/bmx055_gyro.h delete mode 100644 system/sensord/sensors/bmx055_magn.cc delete mode 100644 system/sensord/sensors/bmx055_magn.h delete mode 100644 system/sensord/sensors/bmx055_temp.cc delete mode 100644 system/sensord/sensors/bmx055_temp.h delete mode 100755 system/sensord/tests/ttff_test.py diff --git a/system/sensord/SConscript b/system/sensord/SConscript index e2dfb522c6..1222f0bfcd 100644 --- a/system/sensord/SConscript +++ b/system/sensord/SConscript @@ -2,10 +2,6 @@ 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', 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_qcom2.cc b/system/sensord/sensors_qcom2.cc index f9f51539c9..8ff9331b39 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -14,10 +14,6 @@ #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" @@ -117,11 +113,6 @@ void polling_loop(Sensor *sensor, std::string msg_name) { 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"}, 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") From c48f161b046ccb7bd1d982fd998205cd04c32438 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 May 2025 18:54:34 -0700 Subject: [PATCH 343/477] bump tinygrad (#35355) --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 519dec6677..76eb130d8c 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 519dec6677f98718ee4f2d07be1936eb91dde73b +Subproject commit 76eb130d8c6567679641ff53a7215d1f6f88eb9a From 6a38dd13154542dcb337bb876086efed57e547e1 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 26 May 2025 19:44:21 -0700 Subject: [PATCH 344/477] [bot] Update translations (#35354) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 9 +-------- selfdrive/ui/translations/main_de.ts | 9 +-------- selfdrive/ui/translations/main_es.ts | 9 +-------- selfdrive/ui/translations/main_fr.ts | 9 +-------- selfdrive/ui/translations/main_ja.ts | 9 +-------- selfdrive/ui/translations/main_ko.ts | 9 +-------- selfdrive/ui/translations/main_pt-BR.ts | 11 ++--------- selfdrive/ui/translations/main_th.ts | 9 +-------- selfdrive/ui/translations/main_tr.ts | 9 +-------- selfdrive/ui/translations/main_zh-CHS.ts | 9 +-------- selfdrive/ui/translations/main_zh-CHT.ts | 9 +-------- 11 files changed, 12 insertions(+), 89 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 603d6a01cd..0c3b934dde 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -400,13 +400,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - جارٍ التثبيت... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index aa6cf75c30..db0fe97036 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -392,13 +392,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere - - Installer - - Installing... - Installiere... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 64272244ea..c4ead7ca9d 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -392,13 +392,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para - - Installer - - Installing... - Instalando... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index e7c4fa506a..74849bd6fc 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -390,13 +390,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - Installation... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 8fff080283..85d2494dfe 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -390,13 +390,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ - - Installer - - Installing... - インストール中... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 268475f917..dea01b44ee 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -390,13 +390,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - 설치 중... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2a7d270713..f98f32b9a8 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -103,8 +103,8 @@ Rede Wi-Fi com Franquia - Prevent large data uploads when on a metered Wi-FI connection - Previna o envio de grandes volumes de dados em conexões Wi-Fi com franquia de limite de dados + Prevent large data uploads when on a metered Wi-Fi connection + @@ -392,13 +392,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar - - Installer - - Installing... - Instalando... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index e04cdac3e3..c587cfbd12 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -390,13 +390,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - กำลังติดตั้ง... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 181c9c44f3..62de11145a 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -388,13 +388,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - Yükleniyor... - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 03e7a960be..26537d3f64 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -390,13 +390,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - 正在安装…… - - MultiOptionDialog diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e28ac44b98..160c293072 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -103,7 +103,7 @@ - Prevent large data uploads when on a metered Wi-FI connection + Prevent large data uploads when on a metered Wi-Fi connection @@ -390,13 +390,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Installer - - Installing... - 安裝中… - - MultiOptionDialog From 7511983ccb2746afe5c35d00cd2e7ead8aa55cf0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 28 May 2025 03:47:58 +0800 Subject: [PATCH 345/477] system/ui: cache shader location (#35360) cache shader location --- system/ui/widgets/cameraview.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index bff13a7910..49832444f8 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -60,6 +60,7 @@ class CameraView: 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 @@ -188,7 +189,7 @@ class CameraView: # 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() From 28da563386c3bc4a480d441c95ca4982a70815ee Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 28 May 2025 03:48:33 +0800 Subject: [PATCH 346/477] system/ui: render model output with new ModelRenderer class (#35356) render model output with new ModelRenderer class --- system/ui/onroad/augmented_road_view.py | 15 +- system/ui/onroad/model_renderer.py | 360 ++++++++++++++++++++++++ 2 files changed, 374 insertions(+), 1 deletion(-) create mode 100644 system/ui/onroad/model_renderer.py diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 7ae8f37c13..316167a828 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -3,6 +3,7 @@ import pyray as rl from cereal import messaging, log from msgq.visionipc import VisionStreamType +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 @@ -29,6 +30,8 @@ class AugmentedRoadView(CameraView): self._last_rect_dims = (0.0, 0.0) self._cached_matrix: np.ndarray | None = None + self.model_renderer = ModelRenderer() + def render(self, rect): # Update calibration before rendering self._update_calibration() @@ -41,6 +44,7 @@ class AugmentedRoadView(CameraView): # - Path prediction # - Lead vehicle indicators # - Additional features + self.model_renderer.draw(rect, self.sm) def _update_calibration(self): # Update device camera if not already set @@ -112,12 +116,21 @@ class AugmentedRoadView(CameraView): [0, 0, 1.0] ]) + video_transform = np.array([ + [zoom, 0.0, (w / 2 - x_offset) - (cx * zoom)], + [0.0, zoom, (h / 2 - 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(['deviceState', 'liveCalibration', 'roadCameraState']) + 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(): diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py new file mode 100644 index 0000000000..d0b66666fa --- /dev/null +++ b/system/ui/onroad/model_renderer.py @@ -0,0 +1,360 @@ +import colorsys +import bisect +import numpy as np +import pyray as rl +from cereal import messaging, car +from openpilot.common.params import Params + + +CLIP_MARGIN = 500 +MIN_DRAW_DISTANCE = 10.0 +MAX_DRAW_DISTANCE = 100.0 + + +THROTTLE_COLORS = [ + rl.Color(0, 231, 130, 102), # Green with alpha 0.4 + rl.Color(112, 247, 35, 89), # Lime with alpha 0.35 + rl.Color(112, 247, 35, 0), # Transparent lime +] + +NO_THROTTLE_COLORS = [ + rl.Color(242, 242, 242, 102), # Light gray with alpha 0.4 + rl.Color(242, 242, 242, 89), # Light gray with alpha 0.35 + rl.Color(242, 242, 242, 0), # Transparent light gray +] + + +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 = [0.0] * 4 + self._road_edge_stds = [0.0] * 2 + self._path_offset_z = 1.22 + + # Initialize empty polygon vertices + self._track_vertices = [] + self._lane_line_vertices = [[] for _ in range(4)] + self._road_edge_vertices = [[] for _ in range(2)] + self._lead_vertices = [None, None] + + # Transform matrix (3x3 for car space to screen space) + self._car_space_transform = np.zeros((3, 3)) + self._transform_dirty = True + self._clip_region = None + + # Get longitudinal control setting from car parameters + car_params = Params().get("CarParams") + if car_params: + 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 + 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._clip_region = rl.Rectangle( + rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN + ) + + # Update flags based on car 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 + + # Get model and radar data + 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 + if self._transform_dirty or sm.updated['modelV2'] or sm.updated['radarState']: + self._update_model(model, lead_one) + if render_lead_indicator: + self._update_leads(radar_state, model.position) + self._transform_dirty = False + + # Draw elements + self._draw_lane_lines() + self._draw_path(sm, model, rect.height) + + # Draw lead vehicles if available + if render_lead_indicator and radar_state: + lead_two = radar_state.leadTwo + + if lead_one and lead_one.status: + self._draw_lead(lead_one, self._lead_vertices[0], rect) + + if lead_two and lead_two.status and lead_one and (abs(lead_one.dRel - lead_two.dRel) > 3.0): + self._draw_lead(lead_two, self._lead_vertices[1], rect) + + def _update_leads(self, radar_state, line): + """Update positions of lead vehicles""" + leads = [radar_state.leadOne, radar_state.leadTwo] + for i, lead_data in enumerate(leads): + if lead_data and lead_data.status: + d_rel = lead_data.dRel + y_rel = lead_data.yRel + idx = self._get_path_length_idx(line, d_rel) + z = line.z[idx] + self._lead_vertices[i] = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z) + + def _update_model(self, model, lead): + """Update model visualization data based on model message""" + model_position = model.position + + # Determine max distance to render + max_distance = np.clip(model_position.x[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE) + + # Update lane lines + lane_lines = model.laneLines + line_probs = model.laneLineProbs + max_idx = self._get_path_length_idx(lane_lines[0], max_distance) + + for i in range(4): + self._lane_line_probs[i] = line_probs[i] + self._lane_line_vertices[i] = self._map_line_to_polygon( + lane_lines[i], 0.025 * self._lane_line_probs[i], 0, max_idx + ) + + # Update road edges + road_edges = model.roadEdges + edge_stds = model.roadEdgeStds + + for i in range(2): + self._road_edge_stds[i] = edge_stds[i] + self._road_edge_vertices[i] = self._map_line_to_polygon(road_edges[i], 0.025, 0, max_idx) + + # Update path + 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(model_position, max_distance) + + self._track_vertices = self._map_line_to_polygon(model_position, 0.9, self._path_offset_z, max_idx, False) + + def _draw_lane_lines(self): + """Draw lane lines and road edges""" + for i in range(4): + # Skip if no vertices + if not self._lane_line_vertices[i]: + continue + + # Draw lane line + alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7) + color = rl.Color(255, 255, 255, int(alpha * 255)) + self._draw_polygon(self._lane_line_vertices[i], color) + + for i in range(2): + # Skip if no vertices + if not self._road_edge_vertices[i]: + continue + + # Draw road edge + alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0) + color = rl.Color(255, 0, 0, int(alpha * 255)) + self._draw_polygon(self._road_edge_vertices[i], color) + + def _draw_path(self, sm, model, height): + """Draw the path polygon with gradient based on acceleration""" + if not self._track_vertices: + return + + if self._experimental_mode: + # Draw with acceleration coloring + acceleration = model.acceleration.x + max_len = min(len(self._track_vertices) // 2, len(acceleration)) + + # Create gradient colors for path sections + for i in range(max_len): + track_idx = max_len - i - 1 # flip idx to start from bottom right + track_y = self._track_vertices[track_idx][1] + # Skip points out of frame + if track_y < 0 or track_y > height: + continue + + # Calculate color based on acceleration + lin_grad_point = (height - track_y) / height + + # speed up: 120, slow down: 0 + path_hue = max(min(60 + acceleration[i] * 35, 120), 0) + path_hue = int(path_hue * 100 + 0.5) / 100 + + saturation = min(abs(acceleration[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) + + # TODO: This is simplified - a full implementation would create a gradient fill + segment = self._track_vertices[track_idx : track_idx + 2] + self._track_vertices[-track_idx - 2 : -track_idx] + self._draw_polygon(segment, color) + + # Skip a point, unless next is last + i += 1 if i + 2 < max_len else 0 + 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 + 0.1, 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 + colors = [ + self._blend_colors(begin_colors[0], end_colors[0], self._blend_factor), + self._blend_colors(begin_colors[1], end_colors[1], self._blend_factor), + self._blend_colors(begin_colors[2], end_colors[2], self._blend_factor), + ] + + self._draw_polygon(self._track_vertices, colors[0]) + + def _draw_lead(self, lead_data, vd, rect): + """Draw lead vehicle indicator""" + if not vd: + return + + speed_buff = 10.0 + lead_buff = 40.0 + d_rel = lead_data.dRel + v_rel = lead_data.vRel + + # 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(vd[0], 0.0, rect.width - sz / 2) + y = min(vd[1], rect.height - sz * 0.6) + + g_xo = sz / 5 + g_yo = sz / 10 + + # Draw glow + 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)] + rl.draw_triangle_fan(glow, len(glow), rl.Color(218, 202, 37, 255)) + + # Draw chevron + chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)] + rl.draw_triangle_fan(chevron, len(chevron), rl.Color(201, 34, 49, int(fill_alpha))) + + @staticmethod + def _get_path_length_idx(line, path_height): + """Get the index corresponding to the given path height""" + return bisect.bisect_right(line.x, path_height) - 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 = pt[0] / pt[2] + y = pt[1] / pt[2] + + clip = self._clip_region + if x < clip.x or x > clip.x + clip.width or y < clip.y or y > clip.y + clip.height: + return None + + return (x, y) + + def _map_line_to_polygon(self, line, y_off, z_off, max_idx, allow_invert=True): + """Convert a 3D line to a 2D polygon for drawing""" + line_x = line.x + line_y = line.y + line_z = line.z + + left_points = [] + right_points = [] + + for i in range(max_idx + 1): + # Skip points with negative x (behind camera) + if line_x[i] < 0: + continue + + left = self._map_to_screen(line_x[i], line_y[i] - y_off, line_z[i] + z_off) + right = self._map_to_screen(line_x[i], line_y[i] + y_off, line_z[i] + z_off) + + if left and right: + # Check for inversion when going over hills + if not allow_invert and left_points and left[1] > left_points[-1][1]: + continue + + left_points.append(left) + right_points.append(right) + + if not left_points: + return [] + + return left_points + right_points[::-1] + + def _draw_polygon(self, points, color): + # TODO: Enhance polygon drawing to support even-odd fill rule efficiently, as Raylib lacks native support. + # Use a faster triangulation algorithm (e.g., ear clipping) or GPU shader for + # efficient rendering of lane lines, road edges, and path polygons. + if len(points) <= 8: + rl.draw_triangle_fan(points, len(points), color) + else: + for i in range(1, len(points) - 1): + rl.draw_triangle(points[0], points[i], points[i + 1], color) + + for i in range(len(points)): + rl.draw_line_ex(points[i], points[(i + 1) % len(points)], 1.5, color) + + @staticmethod + def _map_val(x, x0, x1, y0, y1): + """Map value x from range [x0, x1] to range [y0, y1]""" + return y0 + (y1 - y0) * ((x - x0) / (x1 - x0)) if x1 != x0 else y0 + + @staticmethod + def _hsla_to_color(h, s, l, a): + """Convert HSLA color to Raylib Color using colorsys module""" + # colorsys uses HLS format (Hue, Lightness, Saturation) + r, g, b = colorsys.hls_to_rgb(h, l, s) + + # Ensure values are in valid range + r_val = max(0, min(255, int(r * 255))) + g_val = max(0, min(255, int(g * 255))) + b_val = max(0, min(255, int(b * 255))) + a_val = max(0, min(255, int(a * 255))) + + return rl.Color(r_val, g_val, b_val, a_val) + + @staticmethod + def _blend_colors(start, end, t): + """Blend between two colors with factor t""" + if t >= 1.0: + return end + + return rl.Color( + int((1 - t) * start.r + t * end.r), + int((1 - t) * start.g + t * end.g), + int((1 - t) * start.b + t * end.b), + int((1 - t) * start.a + t * end.a), + ) From 3a7f0b66aa502055ad035cbcd18d503d0198bb22 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 28 May 2025 06:01:53 +0800 Subject: [PATCH 347/477] system/ui: fix remaining issues in WiFi Manager (#35301) * WIP * fix callback * fix connecting network displayed as Connected * thread safe states * fix state sync issues * fix callback --- system/ui/lib/wifi_manager.py | 69 +++++++++++++------------ system/ui/widgets/network.py | 95 +++++++++++++++++++++-------------- 2 files changed, 93 insertions(+), 71 deletions(-) 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/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(): From 83ba27d7c01d1511a1def1f9e4d0214dca33b35f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 May 2025 19:42:02 -0700 Subject: [PATCH 348/477] Update lane departure warning toggle live (#35363) update LDWS live --- selfdrive/selfdrived/selfdrived.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 98c03acf1e..f3dabf3791 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -485,6 +485,7 @@ class SelfdriveD: 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() From b119006f6a67ba874ef6c718ac49c25deef06e29 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 May 2025 20:20:38 -0700 Subject: [PATCH 349/477] Cycle onroad when changing offroad-only toggles (#35361) * bad * Revert "bad" This reverts commit 6b5475dd90c3a29c00d946c94d726563cbec6179. * notify param * doesn't need to live in low level paramcontrol, rename param * should work * fix * disable while engaged * note * fix * just in case * param is cleared by manager -- this was all to ensure manager got our `started` transition * clean up * and that * rm * negative better than generic thing * timer is needed as it's not clean to fix case where you toggle while no ignition -- you can't go onroad + this allows some nice tolerance time for user to switch 2 toggles * these aren't required or useful * add to description * no longer unlive * allow reset button too * another pr -- Revert "allow reset button too" This reverts commit 5d03edddc80d8625ceba5d5178b2781e9d10d9c9. * rm space from i18n string * car is powered on --- common/params_keys.h | 1 + selfdrive/ui/qt/offroad/settings.cc | 27 +++++++++++++++++++++++---- selfdrive/ui/ui.cc | 5 +++++ selfdrive/ui/ui.h | 2 ++ system/hardware/hardwared.py | 11 ++++++++++- 5 files changed, 41 insertions(+), 5 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index ca779a5b5c..3fd4e1b6ab 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}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index ed06734f0f..baac582645 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -17,49 +17,56 @@ #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 openpilot"), - tr("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."), + tr("Use the openpilot 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, }, { "DisengageOnAccelerator", tr("Disengage on Accelerator Pedal"), tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../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 openpilot 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, }, }; @@ -75,12 +82,24 @@ 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; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index ec3d40961d..79a245a0e7 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -78,6 +78,11 @@ 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 6ff67cacde..fd2aee771e 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -81,6 +81,7 @@ public: signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); + void engagedChanged(bool engaged); private slots: void update(); @@ -88,6 +89,7 @@ private slots: private: QTimer *timer; bool started_prev = false; + bool engaged_prev = false; }; UIState *uiState(); diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index b6de91818e..15a191adc4 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 From 3d53df644ea7bd3c1fedc3610792eb640a161ffc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 May 2025 20:27:54 -0700 Subject: [PATCH 350/477] Live calibration reset button (#35364) * allow reset button too * better lang * copy * fix * meh we don't do this anywhere else --- selfdrive/ui/qt/offroad/settings.cc | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index baac582645..e81b58b919 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -89,7 +89,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { toggle->setEnabled(!locked); if (needs_restart && !locked) { - toggle->setDescription(toggle->getDescription() + " " + tr("Changing this setting will restart openpilot if the car is powered on.")); + 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); @@ -210,12 +210,20 @@ 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); @@ -255,7 +263,7 @@ 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); } } @@ -309,6 +317,7 @@ void DevicePanel::updateCalibDescription() { qInfo() << "invalid CalibrationParams"; } } + desc += tr(" Resetting calibration will restart openpilot if the car is powered on."); qobject_cast(sender())->setDescription(desc); } From feaef58188fc38a7b850541197548c22419de058 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 27 May 2025 21:20:30 -0700 Subject: [PATCH 351/477] AGNOS 12.3 (#35362) 12.3 --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 20 +++++------ system/hardware/tici/all-partitions.json | 44 ++++++++++++------------ 3 files changed, 33 insertions(+), 33 deletions(-) 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/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", - "hash_raw": "eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968", + "url": "https://commadist.azureedge.net/agnosupdate/boot-4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42.img.xz", + "hash": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42", + "hash_raw": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "800868bd9d340f1fdf8340924caca374409624658324607621663fc5c7d10d4f" + "ondevice_hash": "6b7b3371100ad36d8a5a9ff19a1663b9b9e2d5e99cbe3cf9255e9c3017291ce3" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1.img.xz", - "hash": "226794914e9d157b34cc86f1fbe1f2827a9a9919dbe560021b61573a7e5d3101", - 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"ondevice_hash": "1a2f2d14c922bd2895073446460a0bd680711a7b14318a4402631635e6d133b3" + "ondevice_hash": "8dae1cda089828c750d1d646337774ccd9432f567ecefde19a06dc7feeda9cd3" } ] \ No newline at end of file From 6c28575573b263b50469de05abf4e078dd5d06a5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 28 May 2025 12:47:55 +0800 Subject: [PATCH 352/477] system/ui: GPU-accelerated polygon rendering with anti-aliasing and gradients (#35357) * Add GPU-accelerated polygon rendering with anti-aliased edges and gradient support * use np array * update ModelRenderer * ndarray * cleanup * improve shader * Revert "improve shader" This reverts commit 992247617a9947bceb365f7b056fed6ebed3793d. * improve shader for smoother edges --- system/ui/lib/shader_polygon.py | 338 +++++++++++++++++++++++++++++ system/ui/onroad/model_renderer.py | 101 +++++---- 2 files changed, 397 insertions(+), 42 deletions(-) create mode 100644 system/ui/lib/shader_polygon.py diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py new file mode 100644 index 0000000000..dfbfa969d5 --- /dev/null +++ b/system/ui/lib/shader_polygon.py @@ -0,0 +1,338 @@ +import pyray as rl +import numpy as np +from typing import Any + + +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[8]; +uniform float gradientStops[8]; +uniform int gradientColorCount; + +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 = clamp(projection / gradientLength, 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; + + if (pointCount == 3) { + vec2 v0 = points[0]; + vec2 v1 = points[1]; + vec2 v2 = points[2]; + + float d = (v1.y - v2.y) * (v0.x - v2.x) + (v2.x - v1.x) * (v0.y - v2.y); + if (abs(d) < 0.0001) return false; + + float a = ((v1.y - v2.y) * (p.x - v2.x) + (v2.x - v1.x) * (p.y - v2.y)) / d; + float b = ((v2.y - v0.y) * (p.x - v2.x) + (v0.x - v2.x) * (p.y - v2.y)) / d; + float c = 1.0 - a - b; + + return (a >= 0.0 && b >= 0.0 && c >= 0.0); + } + + bool inside = false; + for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) { + if (distance(points[i], points[j]) < 0.0001) continue; + + float dy = points[j].y - points[i].y; + if (abs(dy) < 0.0001) continue; + + if (((points[i].y > p.y) != (points[j].y > p.y))) { + float x_intersect = points[i].x + (points[j].x - points[i].x) * (p.y - points[i].y) / dy; + if (p.x < x_intersect) { + inside = !inside; + } + } + } + return inside; +} + +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 * 1.0); + + float alpha = smoothstep(-aaWidth, aaWidth, signedDist); + + if (alpha > 0.0) { + vec4 color; + if (useGradient) { + color = getGradientColor(fragTexCoord); + } else { + color = fillColor; + } + finalColor = vec4(color.rgb, color.a * alpha); + } else { + finalColor = vec4(0.0, 0.0, 0.0, 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); +} +""" + + +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, + } + + def initialize(self): + if self.initialized: + return + + vertex_shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAGMENT_SHADER) + self.shader = vertex_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 draw_polygon(points: np.ndarray, color=None, gradient=None): + """ + Draw a complex polygon using shader-based even-odd fill rule + + Args: + points: List 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 + + # Get shader state singleton + state = ShaderState.get_instance() + + # Initialize shader if not already done + if not state.initialized: + state.initialize() + + # Find bounding box + min_xy = np.min(points, axis=0) + min_x, min_y = min_xy + max_x, max_y = np.max(points, axis=0) + + width = max(1, max_x - min_x) + height = max(1, max_y - min_y) + + # Transform points to shader space + transformed_points = points - min_xy + + # Set basic shader uniforms using cached locations + point_count_ptr = rl.ffi.new("int[]", [len(transformed_points)]) + rl.set_shader_value(state.shader, state.locations['pointCount'], point_count_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) + + resolution_ptr = rl.ffi.new("float[]", [width, height]) + rl.set_shader_value(state.shader, state.locations['resolution'], resolution_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2) + + # Set points + 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, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2, len(transformed_points) + ) + + # Set gradient or solid color based on what was provided + if gradient: + # Enable gradient + use_gradient_ptr = rl.ffi.new("int[]", [1]) + rl.set_shader_value(state.shader, state.locations['useGradient'], use_gradient_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) + + # Set gradient start/end + start_ptr = rl.ffi.new("float[]", [gradient['start'][0], gradient['start'][1]]) + end_ptr = rl.ffi.new("float[]", [gradient['end'][0], gradient['end'][1]]) + rl.set_shader_value(state.shader, state.locations['gradientStart'], start_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2) + rl.set_shader_value(state.shader, state.locations['gradientEnd'], end_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2) + + # Set gradient colors + colors = gradient['colors'] + color_count = min(len(colors), 8) # Max 8 colors + colors_ptr = rl.ffi.new("float[]", color_count * 4) + for i, c in enumerate(colors[:color_count]): + colors_ptr[i * 4] = c.r / 255.0 + colors_ptr[i * 4 + 1] = c.g / 255.0 + colors_ptr[i * 4 + 2] = c.b / 255.0 + colors_ptr[i * 4 + 3] = c.a / 255.0 + rl.set_shader_value_v( + state.shader, state.locations['gradientColors'], colors_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4, color_count + ) + + # Set gradient stops + stops = gradient.get('stops', [i / (color_count - 1) for i in range(color_count)]) + stops_ptr = rl.ffi.new("float[]", color_count) + for i, s in enumerate(stops[:color_count]): + stops_ptr[i] = s + rl.set_shader_value_v( + state.shader, state.locations['gradientStops'], stops_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT, color_count + ) + + # Set color count + color_count_ptr = rl.ffi.new("int[]", [color_count]) + rl.set_shader_value(state.shader, state.locations['gradientColorCount'], color_count_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) + else: + # Disable gradient + use_gradient_ptr = rl.ffi.new("int[]", [0]) + rl.set_shader_value(state.shader, state.locations['useGradient'], use_gradient_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) + + # Set solid color + if color is None: + color = rl.WHITE + fill_color_ptr = rl.ffi.new("float[]", [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'], fill_color_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4) + + # Draw with shader + rl.begin_shader_mode(state.shader) + rl.draw_texture_pro( + state.white_texture, + rl.Rectangle(0, 0, 2, 2), + rl.Rectangle(int(min_x), int(min_y), int(width), int(height)), + 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/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index d0b66666fa..9060dd3f74 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -4,6 +4,7 @@ import numpy as np import pyray as rl from cereal import messaging, car from openpilot.common.params import Params +from openpilot.system.ui.lib.shader_polygon import draw_polygon CLIP_MARGIN = 500 @@ -30,14 +31,14 @@ class ModelRenderer: self._experimental_mode = False self._blend_factor = 1.0 self._prev_allow_throttle = True - self._lane_line_probs = [0.0] * 4 - self._road_edge_stds = [0.0] * 2 + self._lane_line_probs = np.zeros(4, dtype=np.float32) + self._road_edge_stds = np.zeros(2, dtype=np.float32) self._path_offset_z = 1.22 # Initialize empty polygon vertices - self._track_vertices = [] - self._lane_line_vertices = [[] for _ in range(4)] - self._road_edge_vertices = [[] for _ in range(2)] + self._track_vertices = np.empty((0, 2), dtype=np.float32) + self._lane_line_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(4)] + self._road_edge_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(2)] self._lead_vertices = [None, None] # Transform matrix (3x3 for car space to screen space) @@ -145,29 +146,29 @@ class ModelRenderer: def _draw_lane_lines(self): """Draw lane lines and road edges""" - for i in range(4): + for i, vertices in enumerate(self._lane_line_vertices): # Skip if no vertices - if not self._lane_line_vertices[i]: + if vertices.size == 0: continue # Draw lane line alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7) color = rl.Color(255, 255, 255, int(alpha * 255)) - self._draw_polygon(self._lane_line_vertices[i], color) + draw_polygon(vertices, color) - for i in range(2): + for i, vertices in enumerate(self._road_edge_vertices): # Skip if no vertices - if not self._road_edge_vertices[i]: + if vertices.size == 0: continue # Draw road edge alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0) color = rl.Color(255, 0, 0, int(alpha * 255)) - self._draw_polygon(self._road_edge_vertices[i], color) + draw_polygon(vertices, color) def _draw_path(self, sm, model, height): """Draw the path polygon with gradient based on acceleration""" - if not self._track_vertices: + if self._track_vertices.size == 0: return if self._experimental_mode: @@ -175,16 +176,29 @@ class ModelRenderer: acceleration = model.acceleration.x max_len = min(len(self._track_vertices) // 2, len(acceleration)) - # Create gradient colors for path sections - for i in range(max_len): + # Find midpoint index for polygon + mid_point = len(self._track_vertices) // 2 + + # For acceleration-based coloring, process segments separately + left_side = self._track_vertices[:mid_point] + right_side = self._track_vertices[mid_point:][::-1] # Reverse for proper winding + + # Create segments for gradient coloring + segment_colors = [] + gradient_stops = [] + + for i in range(max_len - 1): + if i >= len(left_side) - 1 or i >= len(right_side) - 1: + break + track_idx = max_len - i - 1 # flip idx to start from bottom right - track_y = self._track_vertices[track_idx][1] + # Skip points out of frame - if track_y < 0 or track_y > height: + if left_side[track_idx][1] < 0 or left_side[track_idx][1] > height: continue # Calculate color based on acceleration - lin_grad_point = (height - track_y) / height + lin_grad_point = (height - left_side[track_idx][1]) / height # speed up: 120, slow down: 0 path_hue = max(min(60 + acceleration[i] * 35, 120), 0) @@ -197,12 +211,22 @@ class ModelRenderer: # Use HSL to RGB conversion color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha) - # TODO: This is simplified - a full implementation would create a gradient fill - segment = self._track_vertices[track_idx : track_idx + 2] + self._track_vertices[-track_idx - 2 : -track_idx] - self._draw_polygon(segment, color) + # Create quad segment + gradient_stops.append(lin_grad_point) + segment_colors.append(color) - # Skip a point, unless next is last - i += 1 if i + 2 < max_len else 0 + if len(segment_colors) < 2: + draw_polygon(self._track_vertices, rl.Color(255, 255, 255, 30)) + return + + # Create gradient specification + gradient = { + 'start': (0.0, 1.0), # Bottom of path + 'end': (0.0, 0.0), # Top of path + 'colors': segment_colors, + 'stops': gradient_stops, + } + draw_polygon(self._track_vertices, gradient=gradient) else: # Draw with throttle/no throttle gradient allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control @@ -226,7 +250,13 @@ class ModelRenderer: self._blend_colors(begin_colors[2], end_colors[2], self._blend_factor), ] - self._draw_polygon(self._track_vertices, colors[0]) + gradient = { + 'start': (0.0, 1.0), # Bottom of path + 'end': (0.0, 0.0), # Top of path + 'colors': colors, + 'stops': [0.0, 1.0], + } + draw_polygon(self._track_vertices, gradient=gradient) def _draw_lead(self, lead_data, vd, rect): """Draw lead vehicle indicator""" @@ -284,14 +314,14 @@ class ModelRenderer: return (x, y) - def _map_line_to_polygon(self, line, y_off, z_off, max_idx, allow_invert=True): + def _map_line_to_polygon(self, line, y_off, z_off, max_idx, allow_invert=True)-> np.ndarray: """Convert a 3D line to a 2D polygon for drawing""" line_x = line.x line_y = line.y line_z = line.z - left_points = [] - right_points = [] + left_points: list[tuple[float, float]] = [] + right_points: list[tuple[float, float]] = [] for i in range(max_idx + 1): # Skip points with negative x (behind camera) @@ -309,23 +339,10 @@ class ModelRenderer: left_points.append(left) right_points.append(right) - if not left_points: - return [] + if not left_points or not right_points: + return np.empty((0, 2), dtype=np.float32) - return left_points + right_points[::-1] - - def _draw_polygon(self, points, color): - # TODO: Enhance polygon drawing to support even-odd fill rule efficiently, as Raylib lacks native support. - # Use a faster triangulation algorithm (e.g., ear clipping) or GPU shader for - # efficient rendering of lane lines, road edges, and path polygons. - if len(points) <= 8: - rl.draw_triangle_fan(points, len(points), color) - else: - for i in range(1, len(points) - 1): - rl.draw_triangle(points[0], points[i], points[i + 1], color) - - for i in range(len(points)): - rl.draw_line_ex(points[i], points[(i + 1) % len(points)], 1.5, color) + return np.array(left_points + right_points[::-1], dtype=np.float32) @staticmethod def _map_val(x, x0, x1, y0, y1): From 21b86c4f2b503c7f40833f048c62844a51ebfb34 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 28 May 2025 01:26:21 -0400 Subject: [PATCH 353/477] Update Python packages (#949) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index c5b96b4b4c..83d7cf4fd1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c5b96b4b4c357b909330426a6c516afa16b1a08c +Subproject commit 83d7cf4fd128cc2dabb945d043e838ab404b16b6 From 9460ff8f305045d7cf0aa8b40718b47824e633da Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 29 May 2025 00:26:38 +0800 Subject: [PATCH 354/477] system/ui: fix gradient colors and path stops in path rendering (#35367) Correct gradient colors and direction in path rendering --- system/ui/onroad/model_renderer.py | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 9060dd3f74..649360a7e3 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -13,15 +13,15 @@ MAX_DRAW_DISTANCE = 100.0 THROTTLE_COLORS = [ - rl.Color(0, 231, 130, 102), # Green with alpha 0.4 - rl.Color(112, 247, 35, 89), # Lime with alpha 0.35 - rl.Color(112, 247, 35, 0), # Transparent lime + rl.Color(25, 235, 99, 102), # HSLF(148/360, 0.94, 0.51, 0.4) + rl.Color(92, 255, 32, 89), # HSLF(112/360, 1.0, 0.68, 0.35) + rl.Color(92, 255, 32, 0), # HSLF(112/360, 1.0, 0.68, 0.0) ] NO_THROTTLE_COLORS = [ - rl.Color(242, 242, 242, 102), # Light gray with alpha 0.4 - rl.Color(242, 242, 242, 89), # Light gray with alpha 0.35 - rl.Color(242, 242, 242, 0), # Transparent light gray + 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) ] @@ -254,7 +254,7 @@ class ModelRenderer: 'start': (0.0, 1.0), # Bottom of path 'end': (0.0, 0.0), # Top of path 'colors': colors, - 'stops': [0.0, 1.0], + 'stops': [0.0, 0.5, 1.0], } draw_polygon(self._track_vertices, gradient=gradient) @@ -364,14 +364,14 @@ class ModelRenderer: return rl.Color(r_val, g_val, b_val, a_val) @staticmethod - def _blend_colors(start, end, t): + def _blend_colors(start: rl.Color, end: rl.Color, t: float) -> rl.Color: """Blend between two colors with factor t""" if t >= 1.0: return end return rl.Color( - int((1 - t) * start.r + t * end.r), - int((1 - t) * start.g + t * end.g), - int((1 - t) * start.b + t * end.b), - int((1 - t) * start.a + t * end.a), + int((1.0 - t) * start.r + t * end.r), + int((1.0 - t) * start.g + t * end.g), + int((1.0 - t) * start.b + t * end.b), + int((1.0 - t) * start.a + t * end.a), ) From 3682fac7b6f43b1417236d4e7d69035feb6e8e31 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 29 May 2025 00:29:33 +0800 Subject: [PATCH 355/477] system/ui: optimizes the draw_polygon() and improving code maintainability (#35366) improve draw_polygon --- system/ui/lib/shader_polygon.py | 132 ++++++++++++++++---------------- 1 file changed, 67 insertions(+), 65 deletions(-) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index dfbfa969d5..23f54efcd7 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -152,8 +152,14 @@ void main() { """ +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 + _instance: Any = None @classmethod def get_instance(cls): @@ -184,6 +190,19 @@ class ShaderState: 'mvp': 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]) + + # Pre-allocate gradient arrays (max 8 colors) + self.gradient_colors_ptr = rl.ffi.new("float[]", 32) # 8 colors * 4 components + self.gradient_stops_ptr = rl.ffi.new("float[]", 8) + def initialize(self): if self.initialized: return @@ -222,12 +241,46 @@ class ShaderState: self.initialized = False +def _configure_shader_color(state, color, gradient): + """Configure shader uniforms for solid color or gradient rendering""" + state.use_gradient_ptr[0] = 1 if gradient else 0 + rl.set_shader_value(state.shader, state.locations['useGradient'], state.use_gradient_ptr, UNIFORM_INT) + + if 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) + + # Set gradient colors + colors = gradient['colors'] + color_count = min(len(colors), 8) # Max 8 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(points: np.ndarray, color=None, gradient=None): """ Draw a complex polygon using shader-based even-odd fill rule Args: - points: List of (x,y) points defining the polygon + points: numpy array of (x,y) points defining the polygon color: Solid fill color (rl.Color) gradient: Dict with gradient parameters: { @@ -240,92 +293,41 @@ def draw_polygon(points: np.ndarray, color=None, gradient=None): if len(points) < 3: return - # Get shader state singleton state = ShaderState.get_instance() - - # Initialize shader if not already done if not state.initialized: state.initialize() # Find bounding box min_xy = np.min(points, axis=0) - min_x, min_y = min_xy - max_x, max_y = np.max(points, axis=0) + max_xy = np.max(points, axis=0) - width = max(1, max_x - min_x) - height = max(1, max_y - min_y) + width = max(1, max_xy[0] - min_xy[0]) + height = max(1, max_xy[1] - min_xy[1]) # Transform points to shader space transformed_points = points - min_xy - # Set basic shader uniforms using cached locations - point_count_ptr = rl.ffi.new("int[]", [len(transformed_points)]) - rl.set_shader_value(state.shader, state.locations['pointCount'], point_count_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) + 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] = [width, height] + rl.set_shader_value(state.shader, state.locations['resolution'], state.resolution_ptr, UNIFORM_VEC2) - resolution_ptr = rl.ffi.new("float[]", [width, height]) - rl.set_shader_value(state.shader, state.locations['resolution'], resolution_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2) # Set points 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, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2, len(transformed_points) - ) + rl.set_shader_value_v(state.shader, state.locations['points'], points_ptr, UNIFORM_VEC2, len(transformed_points)) - # Set gradient or solid color based on what was provided - if gradient: - # Enable gradient - use_gradient_ptr = rl.ffi.new("int[]", [1]) - rl.set_shader_value(state.shader, state.locations['useGradient'], use_gradient_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) - - # Set gradient start/end - start_ptr = rl.ffi.new("float[]", [gradient['start'][0], gradient['start'][1]]) - end_ptr = rl.ffi.new("float[]", [gradient['end'][0], gradient['end'][1]]) - rl.set_shader_value(state.shader, state.locations['gradientStart'], start_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2) - rl.set_shader_value(state.shader, state.locations['gradientEnd'], end_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2) - - # Set gradient colors - colors = gradient['colors'] - color_count = min(len(colors), 8) # Max 8 colors - colors_ptr = rl.ffi.new("float[]", color_count * 4) - for i, c in enumerate(colors[:color_count]): - colors_ptr[i * 4] = c.r / 255.0 - colors_ptr[i * 4 + 1] = c.g / 255.0 - colors_ptr[i * 4 + 2] = c.b / 255.0 - colors_ptr[i * 4 + 3] = c.a / 255.0 - rl.set_shader_value_v( - state.shader, state.locations['gradientColors'], colors_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4, color_count - ) - - # Set gradient stops - stops = gradient.get('stops', [i / (color_count - 1) for i in range(color_count)]) - stops_ptr = rl.ffi.new("float[]", color_count) - for i, s in enumerate(stops[:color_count]): - stops_ptr[i] = s - rl.set_shader_value_v( - state.shader, state.locations['gradientStops'], stops_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT, color_count - ) - - # Set color count - color_count_ptr = rl.ffi.new("int[]", [color_count]) - rl.set_shader_value(state.shader, state.locations['gradientColorCount'], color_count_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) - else: - # Disable gradient - use_gradient_ptr = rl.ffi.new("int[]", [0]) - rl.set_shader_value(state.shader, state.locations['useGradient'], use_gradient_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_INT) - - # Set solid color - if color is None: - color = rl.WHITE - fill_color_ptr = rl.ffi.new("float[]", [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'], fill_color_ptr, rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4) + # Configure color/gradient uniforms + _configure_shader_color(state, color, gradient) # Draw with shader rl.begin_shader_mode(state.shader) rl.draw_texture_pro( state.white_texture, rl.Rectangle(0, 0, 2, 2), - rl.Rectangle(int(min_x), int(min_y), int(width), int(height)), + rl.Rectangle(int(min_xy[0]), int(min_xy[1]), int(width), int(height)), rl.Vector2(0, 0), 0.0, rl.WHITE, From db8ecf183f7e8d78807cfcfa6aeac8eed3a3d5e0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 29 May 2025 02:35:04 +0800 Subject: [PATCH 356/477] system/ui: fix rapid path color transition by correcting hardcoded increment (#35368) refactor color blending with configurable transition duration --- system/ui/onroad/model_renderer.py | 35 +++++++++++++++--------------- 1 file changed, 17 insertions(+), 18 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 649360a7e3..8a87f2f388 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -4,13 +4,15 @@ import numpy as np import pyray as rl from cereal import messaging, car 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(25, 235, 99, 102), # HSLF(148/360, 0.94, 0.51, 0.4) @@ -238,22 +240,17 @@ class ModelRenderer: # Update blend factor if self._blend_factor < 1.0: - self._blend_factor = min(self._blend_factor + 0.1, 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 - colors = [ - self._blend_colors(begin_colors[0], end_colors[0], self._blend_factor), - self._blend_colors(begin_colors[1], end_colors[1], self._blend_factor), - self._blend_colors(begin_colors[2], end_colors[2], self._blend_factor), - ] - + 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': colors, + 'colors': blended_colors, 'stops': [0.0, 0.5, 1.0], } draw_polygon(self._track_vertices, gradient=gradient) @@ -364,14 +361,16 @@ class ModelRenderer: return rl.Color(r_val, g_val, b_val, a_val) @staticmethod - def _blend_colors(start: rl.Color, end: rl.Color, t: float) -> rl.Color: - """Blend between two colors with factor t""" + def _blend_colors(begin_colors, end_colors, t): if t >= 1.0: - return end + return end_colors + if t <= 0.0: + return begin_colors - return rl.Color( - int((1.0 - t) * start.r + t * end.r), - int((1.0 - t) * start.g + t * end.g), - int((1.0 - t) * start.b + t * end.b), - int((1.0 - t) * start.a + t * end.a), - ) + 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)] From 26c61d8674800e71ef8f78227a13e6eadfe9a34f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 29 May 2025 04:07:19 +0800 Subject: [PATCH 357/477] system/ui: fix incorrect THROTTLE_COLOR (#35370) fix throttle colors --- system/ui/onroad/model_renderer.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 8a87f2f388..ac3ac74430 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -15,9 +15,9 @@ 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(25, 235, 99, 102), # HSLF(148/360, 0.94, 0.51, 0.4) - rl.Color(92, 255, 32, 89), # HSLF(112/360, 1.0, 0.68, 0.35) - rl.Color(92, 255, 32, 0), # HSLF(112/360, 1.0, 0.68, 0.0) + 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 = [ From 5bf81048bbddd472e4bc37187ef5f4ea53ad3431 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 May 2025 14:58:48 -0700 Subject: [PATCH 358/477] bump opendbc (#35372) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 3ae4dc13cd..ffe9db9b7c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3ae4dc13cd9e628672a01651896021214b7c3c17 +Subproject commit ffe9db9b7cffde1a21475d912b5145cd401d0fd4 From 1db3644a2b3f156c9f5790b6cfe0d6a46c4b6b54 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 May 2025 17:41:38 -0700 Subject: [PATCH 359/477] car interfaces: pass in if release build (#35373) * dashcam for release * get car * fixes * more fixes * bump * bump --- opendbc_repo | 2 +- selfdrive/car/card.py | 6 ++++-- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/tests/test_models.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- 5 files changed, 8 insertions(+), 6 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index ffe9db9b7c..d33a033a7f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ffe9db9b7cffde1a21475d912b5145cd401d0fd4 +Subproject commit d33a033a7fceaf660a1ae1e6e7d00fb4737f6745 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 502daaa015..3339096307 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -80,6 +80,8 @@ 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...") @@ -97,7 +99,7 @@ class Car: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params) + self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params) self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP) self.CP = self.CI.CP @@ -116,7 +118,7 @@ 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 92c7ff8f1c..5c4729ee9a 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -39,7 +39,7 @@ 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 = car_params.as_reader() car_interface = CarInterface(car_params) assert car_params diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 0a4784aca8..b918f4c29f 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -152,7 +152,7 @@ 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) assert cls.CP assert cls.CP.carFingerprint == cls.platform diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8de2e60055..4f8aa9d99d 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -362,7 +362,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP + CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP params.put("CarParams", CP.to_bytes()) From fe713b867f5866b64b5e3484495081c97da864c4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 May 2025 19:02:00 -0700 Subject: [PATCH 360/477] CI: fix nightly build (#35374) * CI: fix nightly build * schedule * simplify * cleanup --- .github/workflows/release.yaml | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 1dd06f77e9..4065b0ef3e 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 From deebbd3e7767d314d1f66faae63e333c0a11f749 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 May 2025 19:15:50 -0700 Subject: [PATCH 361/477] add missing Fords to release notes --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index acdb709c9b..ab21484a68 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ 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 and 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! From 51c437c61ed836a5b2321e28895dae0af52d1b5f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 May 2025 19:18:03 -0700 Subject: [PATCH 362/477] split --- RELEASES.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index ab21484a68..5d74689a2d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,7 +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 and Ford Kuga 2024 support thanks to incognitojam! +* 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! From 618645f1d7eaec635514e712bac4582691b38862 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 28 May 2025 20:45:53 -0700 Subject: [PATCH 363/477] Revert "Vegan Filet o Fish model " (#35376) Revert "Vegan Filet o Fish model (#35240)" This reverts commit b4d6b52edd815364b9d3503aff6dd3ce1005fe45. --- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) 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 From ad0e556236d1886955f4a5523ee296d6d8704fa8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 30 May 2025 02:32:08 +0800 Subject: [PATCH 364/477] system/ui: fix gradient rendering to match Qt linear gradients (#35378) Fix shader_polygon gradient rendering to match Qt linear gradients --- system/ui/lib/shader_polygon.py | 147 +++++++++++++++++------------ system/ui/onroad/model_renderer.py | 12 ++- 2 files changed, 94 insertions(+), 65 deletions(-) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index 23f54efcd7..9ecaa926bc 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -2,6 +2,7 @@ import pyray as rl import numpy as np from typing import Any +MAX_GRADIENT_COLORS = 15 FRAGMENT_SHADER = """ #version 300 es @@ -18,21 +19,33 @@ uniform vec2 resolution; uniform bool useGradient; uniform vec2 gradientStart; uniform vec2 gradientEnd; -uniform vec4 gradientColors[8]; -uniform float gradientStops[8]; +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 = clamp(projection / gradientLength, 0.0, 1.0); + 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]); @@ -46,36 +59,21 @@ vec4 getGradientColor(vec2 pos) { bool isPointInsidePolygon(vec2 p) { if (pointCount < 3) return false; - if (pointCount == 3) { - vec2 v0 = points[0]; - vec2 v1 = points[1]; - vec2 v2 = points[2]; - - float d = (v1.y - v2.y) * (v0.x - v2.x) + (v2.x - v1.x) * (v0.y - v2.y); - if (abs(d) < 0.0001) return false; - - float a = ((v1.y - v2.y) * (p.x - v2.x) + (v2.x - v1.x) * (p.y - v2.y)) / d; - float b = ((v2.y - v0.y) * (p.x - v2.x) + (v0.x - v2.x) * (p.y - v2.y)) / d; - float c = 1.0 - a - b; - - return (a >= 0.0 && b >= 0.0 && c >= 0.0); - } - - bool inside = false; + int crossings = 0; for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) { - if (distance(points[i], points[j]) < 0.0001) continue; + vec2 pi = points[i]; + vec2 pj = points[j]; - float dy = points[j].y - points[i].y; - if (abs(dy) < 0.0001) continue; + // Skip degenerate edges + if (distance(pi, pj) < 0.001) continue; - if (((points[i].y > p.y) != (points[j].y > p.y))) { - float x_intersect = points[i].x + (points[j].x - points[i].x) * (p.y - points[i].y) / dy; - if (p.x < x_intersect) { - inside = !inside; - } + // 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 inside; + return (crossings & 1) == 1; } float distanceToEdge(vec2 p) { @@ -119,20 +117,14 @@ void main() { vec2 pixelGrad = vec2(dFdx(pixel.x), dFdy(pixel.y)); float pixelSize = length(pixelGrad); - float aaWidth = max(0.5, pixelSize * 1.0); + float aaWidth = max(0.5, pixelSize * 0.5); // Sharper anti-aliasing float alpha = smoothstep(-aaWidth, aaWidth, signedDist); - if (alpha > 0.0) { - vec4 color; - if (useGradient) { - color = getGradientColor(fragTexCoord); - } else { - color = fillColor; - } + vec4 color = useGradient ? getGradientColor(fragTexCoord) : fillColor; finalColor = vec4(color.rgb, color.a * alpha); } else { - finalColor = vec4(0.0, 0.0, 0.0, 0.0); + finalColor = vec4(0.0); } } """ @@ -188,6 +180,7 @@ class ShaderState: 'gradientStops': None, 'gradientColorCount': None, 'mvp': None, + 'visibleGradientRange': None, } # Pre-allocated FFI objects @@ -198,17 +191,15 @@ class ShaderState: 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]) - - # Pre-allocate gradient arrays (max 8 colors) - self.gradient_colors_ptr = rl.ffi.new("float[]", 32) # 8 colors * 4 components - self.gradient_stops_ptr = rl.ffi.new("float[]", 8) + 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 - vertex_shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAGMENT_SHADER) - self.shader = vertex_shader + 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) @@ -241,21 +232,46 @@ class ShaderState: self.initialized = False -def _configure_shader_color(state, color, gradient): +def _configure_shader_color(state, color, gradient, rect, min_xy, max_xy): """Configure shader uniforms for solid color or gradient rendering""" - state.use_gradient_ptr[0] = 1 if gradient else 0 + 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 gradient: + 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), 8) # Max 8 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] @@ -275,11 +291,12 @@ def _configure_shader_color(state, color, gradient): rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4) -def draw_polygon(points: np.ndarray, color=None, gradient=None): +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: @@ -301,33 +318,43 @@ def draw_polygon(points: np.ndarray, color=None, gradient=None): min_xy = np.min(points, axis=0) max_xy = np.max(points, axis=0) - width = max(1, max_xy[0] - min_xy[0]) - height = max(1, max_xy[1] - min_xy[1]) + # 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]) - # Transform points to shader space - transformed_points = points - min_xy + # 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] = [width, height] + state.resolution_ptr[0:2] = [clipped_width, clipped_height] rl.set_shader_value(state.shader, state.locations['resolution'], state.resolution_ptr, UNIFORM_VEC2) - - # Set points 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 color/gradient uniforms - _configure_shader_color(state, color, gradient) + _configure_shader_color(state, color, gradient, clip_rect, min_xy, max_xy) - # Draw with shader + # Render rl.begin_shader_mode(state.shader) rl.draw_texture_pro( state.white_texture, rl.Rectangle(0, 0, 2, 2), - rl.Rectangle(int(min_xy[0]), int(min_xy[1]), int(width), int(height)), + clip_rect, rl.Vector2(0, 0), 0.0, rl.WHITE, diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index ac3ac74430..1f608a6ddb 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -47,6 +47,7 @@ class ModelRenderer: self._car_space_transform = np.zeros((3, 3)) self._transform_dirty = True self._clip_region = None + self._rect = None # Get longitudinal control setting from car parameters car_params = Params().get("CarParams") @@ -64,6 +65,7 @@ class ModelRenderer: 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 ) @@ -156,7 +158,7 @@ class ModelRenderer: # Draw lane line alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7) color = rl.Color(255, 255, 255, int(alpha * 255)) - draw_polygon(vertices, color) + draw_polygon(self._rect, vertices, color) for i, vertices in enumerate(self._road_edge_vertices): # Skip if no vertices @@ -166,7 +168,7 @@ class ModelRenderer: # Draw road edge 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(vertices, color) + draw_polygon(self._rect, vertices, color) def _draw_path(self, sm, model, height): """Draw the path polygon with gradient based on acceleration""" @@ -218,7 +220,7 @@ class ModelRenderer: segment_colors.append(color) if len(segment_colors) < 2: - draw_polygon(self._track_vertices, rl.Color(255, 255, 255, 30)) + draw_polygon(self._rect, self._track_vertices, rl.Color(255, 255, 255, 30)) return # Create gradient specification @@ -228,7 +230,7 @@ class ModelRenderer: 'colors': segment_colors, 'stops': gradient_stops, } - draw_polygon(self._track_vertices, gradient=gradient) + draw_polygon(self._rect, self._track_vertices, gradient=gradient) else: # Draw with throttle/no throttle gradient allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control @@ -253,7 +255,7 @@ class ModelRenderer: 'colors': blended_colors, 'stops': [0.0, 0.5, 1.0], } - draw_polygon(self._track_vertices, gradient=gradient) + draw_polygon(self._rect, self._track_vertices, gradient=gradient) def _draw_lead(self, lead_data, vd, rect): """Draw lead vehicle indicator""" From 2d6662ae9f0af252dbe5d0ab1395810011150be1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 30 May 2025 04:07:43 +0800 Subject: [PATCH 365/477] system/ui: match experimental path rendering with C++ version (#35380) match draw_path with c++ implementation --- system/ui/onroad/model_renderer.py | 30 +++++++++++++----------------- 1 file changed, 13 insertions(+), 17 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 1f608a6ddb..afed67aab2 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -180,29 +180,20 @@ class ModelRenderer: acceleration = model.acceleration.x max_len = min(len(self._track_vertices) // 2, len(acceleration)) - # Find midpoint index for polygon - mid_point = len(self._track_vertices) // 2 - - # For acceleration-based coloring, process segments separately - left_side = self._track_vertices[:mid_point] - right_side = self._track_vertices[mid_point:][::-1] # Reverse for proper winding - # Create segments for gradient coloring segment_colors = [] gradient_stops = [] - for i in range(max_len - 1): - if i >= len(left_side) - 1 or i >= len(right_side) - 1: - break - + i = 0 + while i < max_len: track_idx = max_len - i - 1 # flip idx to start from bottom right - - # Skip points out of frame - if left_side[track_idx][1] < 0 or left_side[track_idx][1] > height: + track_y = self._track_vertices[track_idx][1] + if track_y < 0 or track_y > height: + i += 1 continue # Calculate color based on acceleration - lin_grad_point = (height - left_side[track_idx][1]) / height + lin_grad_point = (height - track_y) / height # speed up: 120, slow down: 0 path_hue = max(min(60 + acceleration[i] * 35, 120), 0) @@ -219,6 +210,9 @@ class ModelRenderer: 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) + if len(segment_colors) < 2: draw_polygon(self._rect, self._track_vertices, rl.Color(255, 255, 255, 30)) return @@ -345,8 +339,10 @@ class ModelRenderer: @staticmethod def _map_val(x, x0, x1, y0, y1): - """Map value x from range [x0, x1] to range [y0, y1]""" - return y0 + (y1 - y0) * ((x - x0) / (x1 - x0)) if x1 != x0 else y0 + 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): From ae5e87e91586c7f92e5181cfd976cb71c92bf132 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 29 May 2025 13:43:38 -0700 Subject: [PATCH 366/477] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index d75699e6ab..4f227f88c8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d75699e6abf41636701775ba0eea8e07858599ad +Subproject commit 4f227f88c827d02188763d676aab941401be8212 From a385ed59cf6ef65a8e97aef79bf53421e40013a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 May 2025 14:24:39 -0700 Subject: [PATCH 367/477] Invalid LKAS setting alert: custom text per brand (#35377) * draft * use it * friendly * clean up * CC * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh * Update selfdrive/selfdrived/events.py --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/selfdrived/events.py | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 6293deb2af..9e1892bd5f 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -359,6 +359,16 @@ 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 ********** @@ -412,8 +422,7 @@ 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"), }, From 0d527c2409b8db15a068b398de23a2ba52d5fc2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 30 May 2025 11:51:15 +0800 Subject: [PATCH 368/477] system/ui: fix the issue of missing path segments (#35383) match c++ version --- system/ui/onroad/model_renderer.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index afed67aab2..141ffa3110 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -313,8 +313,7 @@ class ModelRenderer: line_y = line.y line_z = line.z - left_points: list[tuple[float, float]] = [] - right_points: list[tuple[float, float]] = [] + points = [] for i in range(max_idx + 1): # Skip points with negative x (behind camera) @@ -326,16 +325,16 @@ class ModelRenderer: if left and right: # Check for inversion when going over hills - if not allow_invert and left_points and left[1] > left_points[-1][1]: + if not allow_invert and points and left[1] > points[-1][1]: continue - left_points.append(left) - right_points.append(right) + points.append(left) + points.insert(0, right) - if not left_points or not right_points: + if not points: return np.empty((0, 2), dtype=np.float32) - return np.array(left_points + right_points[::-1], dtype=np.float32) + return np.array(points, dtype=np.float32) @staticmethod def _map_val(x, x0, x1, y0, y1): From 6e9e43d03bb9222555d54c5825f3aa9a8536ece7 Mon Sep 17 00:00:00 2001 From: Brett Sanderson Date: Fri, 30 May 2025 02:18:44 -0400 Subject: [PATCH 369/477] Fix CI for external repositories (#35382) --- .github/workflows/selfdrive_tests.yaml | 72 +++++++++++++++++--------- 1 file changed, 48 insertions(+), 24 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3edb6c2981..8403bdd9cc 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -32,9 +32,12 @@ env: jobs: build_release: name: build release - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -67,9 +70,12 @@ jobs: run: release/check-submodules.sh build: - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} steps: - uses: actions/checkout@v4 with: @@ -118,9 +124,12 @@ jobs: static_analysis: name: static analysis - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} env: PYTHONWARNINGS: default steps: @@ -134,9 +143,12 @@ jobs: unit_tests: name: unit tests - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} steps: - uses: actions/checkout@v4 with: @@ -161,9 +173,12 @@ jobs: process_replay: name: process replay - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} steps: - uses: actions/checkout@v4 with: @@ -214,9 +229,12 @@ jobs: test_cars: name: cars - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} strategy: fail-fast: false matrix: @@ -306,9 +324,12 @@ jobs: simulator_driving: name: simulator driving - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) steps: - uses: actions/checkout@v4 @@ -328,9 +349,12 @@ jobs: create_ui_report: # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml name: Create UI Report - runs-on: - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} - - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} if: false # FIXME: FrameReader is broken on CI runners steps: - uses: actions/checkout@v4 From 31e22b0a1d120eb1de4fc6ed38eb613431410aa1 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 30 May 2025 03:06:15 -0400 Subject: [PATCH 370/477] ui: add models panel (#956) * models panel * models panel * fix ui report * stupid scroll * cleanup whitespaces * Update selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc --------- Co-authored-by: DevTekVE --- selfdrive/ui/sunnypilot/SConscript | 1 + .../qt/offroad/settings/models_panel.cc | 12 ++++++++++++ .../qt/offroad/settings/models_panel.h | 17 +++++++++++++++++ .../sunnypilot/qt/offroad/settings/settings.cc | 2 ++ selfdrive/ui/tests/test_ui/run.py | 14 +++++++++++--- .../selfdrive/assets/offroad/icon_models.png | 3 +++ 6 files changed, 46 insertions(+), 3 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_models.png diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index d189751843..b5d18c5b91 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..8f8d38d2d8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -0,0 +1,12 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h" + +ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) { + +} 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..6c28b5bf35 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h @@ -0,0 +1,17 @@ +/** + * 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); +}; 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/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/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 From d9d32ebea26955f3a535be33a44ded11026ae672 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 30 May 2025 06:06:50 -0400 Subject: [PATCH 371/477] UI: Add Search Capability to Branch Selector (#814) * Create sync-dev.yml * Update selfdrive_tests.yaml * Update sync-dev.yml * Update sync-dev.yml * Update sync-dev.yml * add search capability in branch selector * maybe i should remove test code * include * reduce needed includes * add newline for eof * no changes needed in upstream file * not sure why this was here * try to resolve merge conflicts for dev squash * try to resolve merge conflict * No need for this for the time being --------- Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen Co-authored-by: DevTekVE --- .../qt/offroad/settings/software_panel.cc | 43 +++++++++++++++++++ .../qt/offroad/settings/software_panel.h | 4 ++ selfdrive/ui/sunnypilot/qt/util.cc | 32 ++++++++++++++ selfdrive/ui/sunnypilot/qt/util.h | 2 + 4 files changed, 81 insertions(+) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc index 20f3fdb598..57fb38c20b 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc @@ -17,6 +17,19 @@ * @param parent Parent widget */ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) { + +// 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()); + } + + }); + const auto current_model = GetActiveModelName(); currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model); currentModelLblBtn->setValue(current_model); @@ -205,3 +218,33 @@ void SoftwarePanelSP::showResetParamsDialog() { params.remove("LiveTorqueParameters"); } } + +/** + * @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::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; + } + + QString selected_branch = MultiOptionDialog::getSelection(tr("Select a branch"), results, "", this); + + 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..3679ade410 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h @@ -9,6 +9,7 @@ #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 { @@ -17,6 +18,9 @@ class SoftwarePanelSP final : public SoftwarePanel { public: explicit SoftwarePanelSP(QWidget *parent = nullptr); +private: + void searchBranches(const QString &query); + private: QString GetActiveModelName(); void updateModelManagerState(); 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); From be406d8f838f58de21c746eccba73e705bf11841 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 30 May 2025 07:06:09 -0400 Subject: [PATCH 372/477] ui: move model selector to models panel (#957) * models panel * models panel * fix ui report * stupid scroll * move model selector to models panel * cleanup whitespaces * cleanup bad merge --------- Co-authored-by: DevTekVE --- .../qt/offroad/settings/models_panel.cc | 201 ++++++++++++++++++ .../qt/offroad/settings/models_panel.h | 47 ++++ .../qt/offroad/settings/software_panel.cc | 201 +----------------- .../qt/offroad/settings/software_panel.h | 44 ---- 4 files changed, 249 insertions(+), 244 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc index 8f8d38d2d8..d33cb550ce 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -5,8 +5,209 @@ * 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 index 6c28b5bf35..4ba526651e 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h @@ -14,4 +14,51 @@ class ModelsPanel : public QWidget { 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/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc index 57fb38c20b..9430d02ba8 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc @@ -7,18 +7,8 @@ #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) { - -// branch selector + // 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); @@ -27,196 +17,7 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) { if (ret) { searchBranches(d.text()); } - }); - - 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; - } - } - } - - updateLabels(); -} - -/** - * @brief Updates the UI elements based on current state - */ -void SoftwarePanelSP::updateLabels() { - if (!isVisible()) { - return; - } - - updateModelManagerState(); - handleBundleDownloadProgress(); - currentModelLblBtn->setEnabled(!is_onroad && !isDownloading()); - currentModelLblBtn->setValue(GetActiveModelName()); - - 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"); - } } /** diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h index 3679ade410..56d8b9be5b 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h @@ -7,7 +7,6 @@ #pragma once -#include #include "selfdrive/ui/sunnypilot/ui.h" #include "selfdrive/ui/sunnypilot/qt/util.h" #include "selfdrive/ui/qt/offroad/settings.h" @@ -20,47 +19,4 @@ public: private: void searchBranches(const QString &query); - -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; }; From ff5b587fd17dee1070086af8a62da42bc33302b6 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Fri, 30 May 2025 13:14:30 +0200 Subject: [PATCH 373/477] ui: Bumping the total scons nodes for progress bar (#965) Bumping the total scons nodes --- system/manager/build.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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: From e42044b8339c04bbe609a70e7b8a9a4f25a20597 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 30 May 2025 22:36:05 +0800 Subject: [PATCH 374/477] system/ui: fix lint error (#35387) fix lint error --- system/ui/onroad/model_renderer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 141ffa3110..ea5363db79 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -313,7 +313,7 @@ class ModelRenderer: line_y = line.y line_z = line.z - points = [] + points: list = [] for i in range(max_idx + 1): # Skip points with negative x (behind camera) From b8f3e7bcf089959f788f024d1772a5575dc97291 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 30 May 2025 22:37:07 +0800 Subject: [PATCH 375/477] system/ui: improve road view with driving state border and clipping (#35385) improve road view with driving state border and clipping --- system/ui/onroad/augmented_road_view.py | 54 ++++++++++++++++++++++--- 1 file changed, 49 insertions(+), 5 deletions(-) diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 316167a828..b4b6eef12c 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -1,5 +1,6 @@ import numpy as np import pyray as rl +from enum import Enum from cereal import messaging, log from msgq.visionipc import VisionStreamType @@ -10,8 +11,15 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera 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): @@ -29,6 +37,7 @@ class AugmentedRoadView(CameraView): 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() @@ -36,6 +45,26 @@ class AugmentedRoadView(CameraView): # 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) @@ -44,7 +73,21 @@ class AugmentedRoadView(CameraView): # - Path prediction # - Lead vehicle indicators # - Additional features - self.model_renderer.draw(rect, self.sm) + self.model_renderer.draw(self._content_rect, self.sm) + + # 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 @@ -71,7 +114,7 @@ class AugmentedRoadView(CameraView): def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: # Check if we can use cached matrix calib_time = self.sm.recv_frame.get('liveCalibration', 0) - current_dims = (rect.width, rect.height) + 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): @@ -89,7 +132,8 @@ class AugmentedRoadView(CameraView): kep = calib_transform @ inf_point # Calculate center points and dimensions - w, h = current_dims + 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 @@ -117,8 +161,8 @@ class AugmentedRoadView(CameraView): ]) video_transform = np.array([ - [zoom, 0.0, (w / 2 - x_offset) - (cx * zoom)], - [0.0, zoom, (h / 2 - y_offset) - (cy * zoom)], + [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) From 29010cae23db80405a0ce4e3d773d4bb9569c198 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 00:34:56 +0800 Subject: [PATCH 376/477] system/ui: optimize ModelRenderer (#35369) * optimize ModelRenderer with vectorized operations * pre-calculate the exp mode colors * cleanup * improve batch map line to polygon * pre-calc leads --- system/ui/onroad/model_renderer.py | 407 ++++++++++++++++------------- 1 file changed, 224 insertions(+), 183 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index ea5363db79..faf538c58d 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -1,8 +1,8 @@ import colorsys -import bisect 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 @@ -27,6 +27,18 @@ NO_THROTTLE_COLORS = [ ] +@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 @@ -35,28 +47,34 @@ class ModelRenderer: 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 empty polygon vertices - self._track_vertices = np.empty((0, 2), dtype=np.float32) - self._lane_line_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(4)] - self._road_edge_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(2)] - self._lead_vertices = [None, None] + # 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)) + 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 - car_params = Params().get("CarParams") - if car_params: + 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 + self._car_space_transform = transform.astype(np.float32) self._transform_dirty = True def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster): @@ -70,161 +88,189 @@ class ModelRenderer: rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN ) - # Update flags based on car state + # 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 - # Get model and radar data 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 - if self._transform_dirty or sm.updated['modelV2'] or sm.updated['radarState']: - self._update_model(model, lead_one) + 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, model.position) + self._update_leads(radar_state, pos_x_array) self._transform_dirty = False + # Draw elements self._draw_lane_lines() - self._draw_path(sm, model, rect.height) + self._draw_path(sm) - # Draw lead vehicles if available if render_lead_indicator and radar_state: - lead_two = radar_state.leadTwo + self._draw_lead_indicator() - if lead_one and lead_one.status: - self._draw_lead(lead_one, self._lead_vertices[0], rect) + 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 - if lead_two and lead_two.status and lead_one and (abs(lead_one.dRel - lead_two.dRel) > 3.0): - self._draw_lead(lead_two, self._lead_vertices[1], rect) + 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 - def _update_leads(self, radar_state, line): + 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 = lead_data.dRel - y_rel = lead_data.yRel - idx = self._get_path_length_idx(line, d_rel) - z = line.z[idx] - self._lead_vertices[i] = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z) + 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, model, lead): + def _update_model(self, lead, pos_x_array): """Update model visualization data based on model message""" - model_position = model.position + 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) - # Determine max distance to render - max_distance = np.clip(model_position.x[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE) - - # Update lane lines - lane_lines = model.laneLines - line_probs = model.laneLineProbs - max_idx = self._get_path_length_idx(lane_lines[0], max_distance) - - for i in range(4): - self._lane_line_probs[i] = line_probs[i] - self._lane_line_vertices[i] = self._map_line_to_polygon( - lane_lines[i], 0.025 * self._lane_line_probs[i], 0, max_idx + # 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 - road_edges = model.roadEdges - edge_stds = model.roadEdgeStds + # 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) - for i in range(2): - self._road_edge_stds[i] = edge_stds[i] - self._road_edge_vertices[i] = self._map_line_to_polygon(road_edges[i], 0.025, 0, max_idx) - - # Update path + # 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(model_position, max_distance) + max_idx = self._get_path_length_idx(pos_x_array, max_distance) - self._track_vertices = self._map_line_to_polygon(model_position, 0.9, self._path_offset_z, max_idx, False) + 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, vertices in enumerate(self._lane_line_vertices): - # Skip if no vertices - if vertices.size == 0: + for i, lane_line in enumerate(self._lane_lines): + if lane_line.projected_points.size == 0: continue - # Draw lane line 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, vertices, color) + draw_polygon(self._rect, lane_line.projected_points, color) - for i, vertices in enumerate(self._road_edge_vertices): - # Skip if no vertices - if vertices.size == 0: + for i, road_edge in enumerate(self._road_edges): + if road_edge.projected_points.size == 0: continue - # Draw road edge 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, vertices, color) + draw_polygon(self._rect, road_edge.projected_points, color) - def _draw_path(self, sm, model, height): - """Draw the path polygon with gradient based on acceleration""" - if self._track_vertices.size == 0: + 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 - acceleration = model.acceleration.x - max_len = min(len(self._track_vertices) // 2, len(acceleration)) - - # Create segments for gradient coloring - 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._track_vertices[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 + acceleration[i] * 35, 120), 0) - path_hue = int(path_hue * 100 + 0.5) / 100 - - saturation = min(abs(acceleration[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) - - # Create quad segment - 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) - - if len(segment_colors) < 2: - draw_polygon(self._rect, self._track_vertices, rl.Color(255, 255, 255, 30)) - return - - # Create gradient specification - gradient = { - 'start': (0.0, 1.0), # Bottom of path - 'end': (0.0, 0.0), # Top of path - 'colors': segment_colors, - 'stops': gradient_stops, - } - draw_polygon(self._rect, self._track_vertices, gradient=gradient) + 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 @@ -249,46 +295,22 @@ class ModelRenderer: 'colors': blended_colors, 'stops': [0.0, 0.5, 1.0], } - draw_polygon(self._rect, self._track_vertices, gradient=gradient) + draw_polygon(self._rect, self._path.projected_points, gradient=gradient) - def _draw_lead(self, lead_data, vd, rect): - """Draw lead vehicle indicator""" - if not vd: - return + 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 - speed_buff = 10.0 - lead_buff = 40.0 - d_rel = lead_data.dRel - v_rel = lead_data.vRel - - # 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(vd[0], 0.0, rect.width - sz / 2) - y = min(vd[1], rect.height - sz * 0.6) - - g_xo = sz / 5 - g_yo = sz / 10 - - # Draw glow - 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)] - rl.draw_triangle_fan(glow, len(glow), rl.Color(218, 202, 37, 255)) - - # Draw chevron - chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)] - rl.draw_triangle_fan(chevron, len(chevron), rl.Color(201, 34, 49, int(fill_alpha))) + 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(line, path_height): + def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int: """Get the index corresponding to the given path height""" - return bisect.bisect_right(line.x, path_height) - 1 + 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""" @@ -298,43 +320,71 @@ class ModelRenderer: if abs(pt[2]) < 1e-6: return None - x = pt[0] / pt[2] - y = pt[1] / pt[2] + x, y = pt[0] / pt[2], pt[1] / pt[2] clip = self._clip_region - if x < clip.x or x > clip.x + clip.width or y < clip.y or y > clip.y + clip.height: + 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, y_off, z_off, max_idx, allow_invert=True)-> np.ndarray: - """Convert a 3D line to a 2D polygon for drawing""" - line_x = line.x - line_y = line.y - line_z = line.z + 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) - points: list = [] + # 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) - for i in range(max_idx + 1): - # Skip points with negative x (behind camera) - if line_x[i] < 0: - continue + # 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 - left = self._map_to_screen(line_x[i], line_y[i] - y_off, line_z[i] + z_off) - right = self._map_to_screen(line_x[i], line_y[i] + y_off, line_z[i] + 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) - if left and right: - # Check for inversion when going over hills - if not allow_invert and points and left[1] > points[-1][1]: - continue + # 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 - points.append(left) - points.insert(0, right) + # 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 not points: - return np.empty((0, 2), dtype=np.float32) + 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] - return np.array(points, dtype=np.float32) + 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): @@ -345,17 +395,8 @@ class ModelRenderer: @staticmethod def _hsla_to_color(h, s, l, a): - """Convert HSLA color to Raylib Color using colorsys module""" - # colorsys uses HLS format (Hue, Lightness, Saturation) - r, g, b = colorsys.hls_to_rgb(h, l, s) - - # Ensure values are in valid range - r_val = max(0, min(255, int(r * 255))) - g_val = max(0, min(255, int(g * 255))) - b_val = max(0, min(255, int(b * 255))) - a_val = max(0, min(255, int(a * 255))) - - return rl.Color(r_val, g_val, b_val, a_val) + 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): From e6eef5d9d01d7b75d56f58a964282d6f839371e5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 00:35:10 +0800 Subject: [PATCH 377/477] system/ui: implement driver monitoring UI (#35358) * pyui_driver_state_reander * ddd * draw_spline_linear * pre-calculate the face keypoints transform * remove int convert * improve * use draw_spline_linear * pre-calc points * state updated * render to texture * Revert "render to texture" This reverts commit 27be710f4c7aca3bb05e94ad69635d292e799ff4. * cleanup * dd * new dataclass * cleanup * use content_rect --- system/ui/onroad/augmented_road_view.py | 3 + system/ui/onroad/driver_state.py | 238 ++++++++++++++++++++++++ 2 files changed, 241 insertions(+) create mode 100644 system/ui/onroad/driver_state.py diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index b4b6eef12c..67f6bb99a9 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -4,6 +4,7 @@ from enum import Enum from cereal import messaging, log from msgq.visionipc import VisionStreamType +from openpilot.system.ui.onroad.driver_state import DriverStateRenderer 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 @@ -40,6 +41,7 @@ class AugmentedRoadView(CameraView): self._content_rect = rl.Rectangle() self.model_renderer = ModelRenderer() + self.driver_state_renderer = DriverStateRenderer() def render(self, rect): # Update calibration before rendering @@ -74,6 +76,7 @@ class AugmentedRoadView(CameraView): # - Lead vehicle indicators # - Additional features self.model_renderer.draw(self._content_rect, self.sm) + self.driver_state_renderer.draw(self._content_rect, self.sm) # End clipping region rl.end_scissor_mode() diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py new file mode 100644 index 0000000000..4ad35bfaa5 --- /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 From a3fab434a47c0e308021984950d39e5e6f2d8a62 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 00:53:11 +0800 Subject: [PATCH 378/477] system/ui: migrate c++ HudRenderer to python (#35359) * port c++ HudRenderer to python * cache font metrics * cache fonts * improve * fix bg * refactor * rebase * fix --- system/ui/onroad/augmented_road_view.py | 3 + system/ui/onroad/driver_state.py | 2 +- system/ui/onroad/hud_renderer.py | 194 ++++++++++++++++++++++++ 3 files changed, 198 insertions(+), 1 deletion(-) create mode 100644 system/ui/onroad/hud_renderer.py diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 67f6bb99a9..7128917adf 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -5,6 +5,7 @@ from enum import Enum from cereal import messaging, log from msgq.visionipc import VisionStreamType 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 @@ -41,6 +42,7 @@ class AugmentedRoadView(CameraView): self._content_rect = rl.Rectangle() self.model_renderer = ModelRenderer() + self._hud_renderer = HudRenderer() self.driver_state_renderer = DriverStateRenderer() def render(self, rect): @@ -76,6 +78,7 @@ class AugmentedRoadView(CameraView): # - Lead vehicle indicators # - Additional features self.model_renderer.draw(self._content_rect, self.sm) + self._hud_renderer.draw(self._content_rect, self.sm) self.driver_state_renderer.draw(self._content_rect, self.sm) # End clipping region diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py index 4ad35bfaa5..b998936903 100644 --- a/system/ui/onroad/driver_state.py +++ b/system/ui/onroad/driver_state.py @@ -113,7 +113,7 @@ class DriverStateRenderer: 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) + self._pre_calculate_drawing_elements(rect) return # Get monitoring state 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] From e51243f2cd6c6e2d236b2295f336b763ff33f094 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 01:53:39 +0800 Subject: [PATCH 379/477] system/ui: remove todo and add comment (#35390) remove todo and add document --- system/ui/onroad/augmented_road_view.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 7128917adf..83d2271028 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -72,15 +72,14 @@ class AugmentedRoadView(CameraView): # Render the base camera view super().render(rect) - # TODO: Add road visualization overlays like: - # - Lane lines and road edges - # - Path prediction - # - Lead vehicle indicators - # - Additional features + # Draw all UI overlays self.model_renderer.draw(self._content_rect, self.sm) self._hud_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() From 255b606fe49fac4b3e5e83982628e67161d715b4 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Fri, 30 May 2025 10:54:07 -0700 Subject: [PATCH 380/477] feat: remove esim.nmconnection, use AGNOS lte conn (#35389) * feat: remove esim.nmconnection, use AGNOS lte conn * unused * remove old --- system/hardware/base.py | 3 +++ system/hardware/tici/esim.nmconnection | 30 -------------------------- system/hardware/tici/hardware.py | 22 +++++++++---------- 3 files changed, 14 insertions(+), 41 deletions(-) delete mode 100644 system/hardware/tici/esim.nmconnection 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/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/hardware.py b/system/hardware/tici/hardware.py index 3add52d21c..f5991ec7fa 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -3,7 +3,6 @@ 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 @@ -518,18 +517,19 @@ 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 = {} From 122182176161bff56e51b68afcfec07264925093 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 02:03:38 +0800 Subject: [PATCH 381/477] system/ui: migrate c++ alert renderer to python (#35386) * rebase * cache metrics * measure text * type hint * improve * fix roundness * rebase --- system/ui/onroad/alert_renderer.py | 234 ++++++++++++++++++++++++ system/ui/onroad/augmented_road_view.py | 5 +- 2 files changed, 238 insertions(+), 1 deletion(-) create mode 100644 system/ui/onroad/alert_renderer.py 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 index 83d2271028..18f94325f4 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -4,6 +4,7 @@ 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 @@ -43,6 +44,7 @@ class AugmentedRoadView(CameraView): self.model_renderer = ModelRenderer() self._hud_renderer = HudRenderer() + self.alert_renderer = AlertRenderer() self.driver_state_renderer = DriverStateRenderer() def render(self, rect): @@ -75,6 +77,7 @@ class AugmentedRoadView(CameraView): # 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 @@ -118,7 +121,7 @@ class AugmentedRoadView(CameraView): def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: # Check if we can use cached matrix - calib_time = self.sm.recv_frame.get('liveCalibration', 0) + 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 From c4f2cf52998384cc1a578cd121f2a475cbf6bb2e Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Fri, 30 May 2025 11:29:17 -0700 Subject: [PATCH 382/477] feat(esim): enable eSIM profile hotswapping (#35324) * reboot * no sleep * test * back * wait for sim * simpler * retry * Revert "retry" This reverts commit f1297160f3c085f43fc0356abb51fb52fa93ea2c. --- system/hardware/esim.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) 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: From ea9ff45ccb0461c08b084bd999576cb9c990a678 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 02:31:03 +0800 Subject: [PATCH 383/477] system/ui: fix indentation (#35391) fix indentation --- system/ui/onroad/model_renderer.py | 40 +++++++++++++++--------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index faf538c58d..ef7e567cda 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -331,12 +331,12 @@ class ModelRenderer: 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) + 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) + return np.empty((0, 2), dtype=np.float32) # Create left and right 3D points in one array n_points = points.shape[0] @@ -350,7 +350,7 @@ class ModelRenderer: 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) + return np.empty((0, 2), dtype=np.float32) # Compute screen coordinates screen = proj[:2, valid_z] / proj[2, valid_z][None, :] @@ -360,29 +360,29 @@ class ModelRenderer: # 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) + 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] + 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) + 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) From 45f90b1a553e37f5f3f48c5a968d24357ce84c0d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 03:57:37 +0800 Subject: [PATCH 384/477] system/ui: add animation to toggle (#35392) add animation to toogle --- system/ui/lib/toggle.py | 47 ++++++++++++++++++++++------------------- 1 file changed, 25 insertions(+), 22 deletions(-) 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() - From 2f808546449ea1aa072a2ab7f0bf6f876fe40de8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 30 May 2025 13:31:07 -0700 Subject: [PATCH 385/477] sensord: rewrite in Python (#35353) * py sensord * fix up mmc * temp * port over accel * lil more * kinda works * rm that * gpiochip * mostly there * lil more * lil more * irq timestamps * fix ts * fix double deg2rad * test passes * fix up mypy * rm one more * exception * lint: * read in all events * bump that * get under budget: * accel self test * gyro self-test * keep these readable * give it more cores * debug * valid * rewrite that --------- Co-authored-by: Comma Device --- SConstruct | 1 - common/SConscript | 4 - common/gpio.cc | 84 -------- common/gpio.h | 33 --- common/gpio.py | 35 ++++ common/i2c.cc | 92 --------- common/i2c.h | 19 -- common/util.py | 22 ++ selfdrive/test/test_onroad.py | 8 +- system/hardware/tici/hardware.py | 20 +- system/manager/process_config.py | 2 +- system/sensord/.gitignore | 1 - system/sensord/SConscript | 13 -- system/sensord/sensord.py | 139 +++++++++++++ system/sensord/sensors/__init__.py | 0 system/sensord/sensors/constants.h | 18 -- system/sensord/sensors/i2c_sensor.cc | 50 ----- system/sensord/sensors/i2c_sensor.h | 51 ----- system/sensord/sensors/i2c_sensor.py | 72 +++++++ system/sensord/sensors/lsm6ds3_accel.cc | 250 ----------------------- system/sensord/sensors/lsm6ds3_accel.h | 49 ----- system/sensord/sensors/lsm6ds3_accel.py | 157 ++++++++++++++ system/sensord/sensors/lsm6ds3_gyro.cc | 233 --------------------- system/sensord/sensors/lsm6ds3_gyro.h | 45 ---- system/sensord/sensors/lsm6ds3_gyro.py | 141 +++++++++++++ system/sensord/sensors/lsm6ds3_temp.cc | 37 ---- system/sensord/sensors/lsm6ds3_temp.h | 26 --- system/sensord/sensors/lsm6ds3_temp.py | 33 +++ system/sensord/sensors/mmc5603nj_magn.cc | 108 ---------- system/sensord/sensors/mmc5603nj_magn.h | 37 ---- system/sensord/sensors/mmc5603nj_magn.py | 76 +++++++ system/sensord/sensors/sensor.h | 24 --- system/sensord/sensors_qcom2.cc | 170 --------------- 33 files changed, 681 insertions(+), 1369 deletions(-) delete mode 100644 common/gpio.cc delete mode 100644 common/gpio.h delete mode 100644 common/i2c.cc delete mode 100644 common/i2c.h delete mode 100644 system/sensord/.gitignore delete mode 100644 system/sensord/SConscript create mode 100755 system/sensord/sensord.py create mode 100644 system/sensord/sensors/__init__.py delete mode 100644 system/sensord/sensors/constants.h delete mode 100644 system/sensord/sensors/i2c_sensor.cc delete mode 100644 system/sensord/sensors/i2c_sensor.h create mode 100644 system/sensord/sensors/i2c_sensor.py delete mode 100644 system/sensord/sensors/lsm6ds3_accel.cc delete mode 100644 system/sensord/sensors/lsm6ds3_accel.h create mode 100644 system/sensord/sensors/lsm6ds3_accel.py delete mode 100644 system/sensord/sensors/lsm6ds3_gyro.cc delete mode 100644 system/sensord/sensors/lsm6ds3_gyro.h create mode 100644 system/sensord/sensors/lsm6ds3_gyro.py delete mode 100644 system/sensord/sensors/lsm6ds3_temp.cc delete mode 100644 system/sensord/sensors/lsm6ds3_temp.h create mode 100644 system/sensord/sensors/lsm6ds3_temp.py delete mode 100644 system/sensord/sensors/mmc5603nj_magn.cc delete mode 100644 system/sensord/sensors/mmc5603nj_magn.h create mode 100644 system/sensord/sensors/mmc5603nj_magn.py delete mode 100644 system/sensord/sensors/sensor.h delete mode 100644 system/sensord/sensors_qcom2.cc diff --git a/SConstruct b/SConstruct index d5597a70fe..c534eedbe8 100644 --- a/SConstruct +++ b/SConstruct @@ -348,7 +348,6 @@ 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/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/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/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index f5991ec7fa..f46c94c4f0 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -8,6 +8,7 @@ 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 @@ -61,25 +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: diff --git a/system/manager/process_config.py b/system/manager/process_config.py index e25d556037..738c20a85b 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -78,7 +78,7 @@ procs = [ PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad), 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", only_onroad), 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 1222f0bfcd..0000000000 --- a/system/sensord/SConscript +++ /dev/null @@ -1,13 +0,0 @@ -Import('env', 'arch', 'common', 'messaging') - -sensors = [ - 'sensors/i2c_sensor.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/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 8ff9331b39..0000000000 --- a/system/sensord/sensors_qcom2.cc +++ /dev/null @@ -1,170 +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/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 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; - } -} From b4c9964217d3be17ff1df150f39fe5d695a4261c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 30 May 2025 15:44:03 -0700 Subject: [PATCH 386/477] gpu box test script --- scripts/usb.sh | 12 ++++++++++++ 1 file changed, 12 insertions(+) create mode 100755 scripts/usb.sh 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 From ba9a478213828709c32a695efac389afc2affa6b Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Fri, 30 May 2025 20:13:55 -0700 Subject: [PATCH 387/477] Update Python packages (#953) * Change values to allow better 2mph to 0mph stopping * Update python package --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 83d7cf4fd1..72e5c82795 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 83d7cf4fd128cc2dabb945d043e838ab404b16b6 +Subproject commit 72e5c82795caac8916c895fbc689ccbd3368b891 From 7cd6db6f1965b5b15b54e70f855a38b163f37fa1 Mon Sep 17 00:00:00 2001 From: programanichiro <99449198+programanichiro@users.noreply.github.com> Date: Sat, 31 May 2025 13:03:07 +0900 Subject: [PATCH 388/477] Multilang: update ja translation. (#35399) ja translation --- selfdrive/ui/translations/main_ja.ts | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 85d2494dfe..169df93c33 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -84,27 +84,27 @@ Prevent large data uploads when on a metered cellular connection - + モバイルデータ回線を使用しているときは大容量データをアップロードしません default - + 標準設定 metered - + 従量制 unmetered - + 定額制 Wi-Fi Network Metered - + 従量制のWi-Fiネットワーク Prevent large data uploads when on a metered Wi-Fi connection - + 通信制限のあるWi-Fi接続では大容量データをアップロードしません From 5e4a4ecec874be9227b8667adf61c2d2767dcdd9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 14:42:35 +0800 Subject: [PATCH 389/477] system/ui/: add face detection box and driver state icon to DriverCameraView (#35402) add face detection box and driver state icons --- system/ui/widgets/driver_camera_view.py | 56 +++++++++++++++++++++++-- 1 file changed, 52 insertions(+), 4 deletions(-) diff --git a/system/ui/widgets/driver_camera_view.py b/system/ui/widgets/driver_camera_view.py index 174fac378d..56dcbf2b9e 100644 --- a/system/ui/widgets/driver_camera_view.py +++ b/system/ui/widgets/driver_camera_view.py @@ -1,18 +1,63 @@ import numpy as np import pyray as rl +from cereal import messaging from openpilot.system.ui.widgets.cameraview import CameraView from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.onroad.driver_state import DriverStateRenderer class DriverCameraView(CameraView): def __init__(self, stream_type: VisionStreamType): super().__init__("camerad", stream_type) + self.driver_state_renderer = DriverStateRenderer() - def render(self, rect): + def render(self, rect, sm): super().render(rect) - # TODO: Add additional rendering logic + if not self.frame: + gui_label( + rect, + "camera starting", + font_size=100, + font_weight=FontWeight.BOLD, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + ) + return + + self._draw_face_detection(rect, sm) + self.driver_state_renderer.draw(rect, sm) + + def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None: + driver_state = sm["driverStateV2"] + is_rhd = driver_state.wheelOnRightProb > 0.5 + driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData + face_detect = driver_data.faceProb > 0.7 + if not face_detect: + return + + # Get face position and orientation + face_x, face_y = driver_data.facePosition + face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1]) + alpha = 0.7 + if face_std > 0.15: + alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0) + + # use approx instead of distort_points + # TODO: replace with distort_points + fbox_x = int(1080.0 - 1714.0 * face_x) + fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y) + box_size = 220 + + line_color = rl.Color(255, 255, 255, int(alpha * 255)) + rl.draw_rectangle_rounded_lines_ex( + rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size), + 35.0 / box_size / 2, + 10, + 10, + line_color, + ) def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: driver_view_ratio = 2.0 @@ -38,9 +83,12 @@ class DriverCameraView(CameraView): if __name__ == "__main__": gui_app.init_window("Driver Camera View") + sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"]) + 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)) + sm.update() + driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm) finally: driver_camera_view.close() From 62a7a19d27a0e787deb7e65d16bceffbb3e2e9a4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 30 May 2025 23:43:28 -0700 Subject: [PATCH 390/477] Revert "system/ui/: add face detection box and driver state icon to DriverCameraView" (#35403) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "system/ui/: add face detection box and driver state icon to DriverCam…" This reverts commit 5e4a4ecec874be9227b8667adf61c2d2767dcdd9. --- system/ui/widgets/driver_camera_view.py | 56 ++----------------------- 1 file changed, 4 insertions(+), 52 deletions(-) diff --git a/system/ui/widgets/driver_camera_view.py b/system/ui/widgets/driver_camera_view.py index 56dcbf2b9e..174fac378d 100644 --- a/system/ui/widgets/driver_camera_view.py +++ b/system/ui/widgets/driver_camera_view.py @@ -1,63 +1,18 @@ import numpy as np import pyray as rl -from cereal import messaging from openpilot.system.ui.widgets.cameraview import CameraView from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.application import gui_app, FontWeight -from openpilot.system.ui.lib.label import gui_label -from openpilot.system.ui.onroad.driver_state import DriverStateRenderer +from openpilot.system.ui.lib.application import gui_app class DriverCameraView(CameraView): def __init__(self, stream_type: VisionStreamType): super().__init__("camerad", stream_type) - self.driver_state_renderer = DriverStateRenderer() - def render(self, rect, sm): + def render(self, rect): super().render(rect) - if not self.frame: - gui_label( - rect, - "camera starting", - font_size=100, - font_weight=FontWeight.BOLD, - alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, - ) - return - - self._draw_face_detection(rect, sm) - self.driver_state_renderer.draw(rect, sm) - - def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None: - driver_state = sm["driverStateV2"] - is_rhd = driver_state.wheelOnRightProb > 0.5 - driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData - face_detect = driver_data.faceProb > 0.7 - if not face_detect: - return - - # Get face position and orientation - face_x, face_y = driver_data.facePosition - face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1]) - alpha = 0.7 - if face_std > 0.15: - alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0) - - # use approx instead of distort_points - # TODO: replace with distort_points - fbox_x = int(1080.0 - 1714.0 * face_x) - fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y) - box_size = 220 - - line_color = rl.Color(255, 255, 255, int(alpha * 255)) - rl.draw_rectangle_rounded_lines_ex( - rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size), - 35.0 / box_size / 2, - 10, - 10, - line_color, - ) + # TODO: Add additional rendering logic def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: driver_view_ratio = 2.0 @@ -83,12 +38,9 @@ class DriverCameraView(CameraView): if __name__ == "__main__": gui_app.init_window("Driver Camera View") - sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"]) - driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER) try: for _ in gui_app.render(): - sm.update() - driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm) + driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: driver_camera_view.close() From 04115b6417387136c28293a8df4075c440222da2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 31 May 2025 14:44:13 +0800 Subject: [PATCH 391/477] system/ui: Increase font size to reduce edge aliasing (#35401) improve text's antialiasing --- system/ui/lib/application.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From d992d138bf6f4a72a7bc21442ddfb8deb2901105 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 1 Jun 2025 01:17:15 +0800 Subject: [PATCH 392/477] system/ui: enhance polygon fill with AABB clipping and fixed fill color issues (#35408) enhance polygon fill with AABB clipping and fixed fill color issues --- system/ui/lib/shader_polygon.py | 124 ++++++++++---------------------- 1 file changed, 36 insertions(+), 88 deletions(-) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index 9ecaa926bc..94190abc36 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -16,13 +16,12 @@ uniform int pointCount; uniform vec4 fillColor; uniform vec2 resolution; -uniform bool useGradient; +uniform int 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; @@ -30,22 +29,9 @@ vec4 getGradientColor(vec2 pos) { if (gradientLength < 0.001) return gradientColors[0]; vec2 normalizedDir = gradientDir / gradientLength; - vec2 pointVec = pos - gradientStart; - float projection = dot(pointVec, normalizedDir); + float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0); - 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); + if (gradientColorCount <= 1) return gradientColors[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]); @@ -58,16 +44,11 @@ vec4 getGradientColor(vec2 pos) { 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++; @@ -104,24 +85,24 @@ float distanceToEdge(vec2 p) { 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); - + // Compute pixel size for anti-aliasing 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 aaWidth = max(0.5, pixelSize * 1.5); - float alpha = smoothstep(-aaWidth, aaWidth, signedDist); - if (alpha > 0.0) { - vec4 color = useGradient ? getGradientColor(fragTexCoord) : fillColor; + bool inside = isPointInsidePolygon(pixel); + if (inside) { + finalColor = useGradient == 1 ? getGradientColor(pixel) : fillColor; + return; + } + + float sd = -distanceToEdge(pixel); + float alpha = smoothstep(-aaWidth, aaWidth, sd); + if (alpha > 0.0){ + vec4 color = useGradient == 1 ? getGradientColor(pixel) : fillColor; finalColor = vec4(color.rgb, color.a * alpha); } else { finalColor = vec4(0.0); @@ -180,7 +161,6 @@ class ShaderState: 'gradientStops': None, 'gradientColorCount': None, 'mvp': None, - 'visibleGradientRange': None, } # Pre-allocated FFI objects @@ -191,7 +171,6 @@ class ShaderState: 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) @@ -232,66 +211,40 @@ class ShaderState: self.initialized = False -def _configure_shader_color(state, color, gradient, rect, min_xy, max_xy): - """Configure shader uniforms for solid color or gradient rendering""" +def _configure_shader_color(state, color, gradient, clipped_rect, original_rect): 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'] + start = np.array(gradient['start']) * np.array([original_rect.width, original_rect.height]) + np.array([original_rect.x, original_rect.y]) + end = np.array(gradient['end']) * np.array([original_rect.width, original_rect.height]) + np.array([original_rect.x, original_rect.y]) + start = start - np.array([clipped_rect.x, clipped_rect.y]) + end = end - np.array([clipped_rect.x, clipped_rect.y]) + state.gradient_start_ptr[0:2] = start.astype(np.float32) + state.gradient_end_ptr[0:2] = end.astype(np.float32) 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) + state.color_count_ptr[0] = color_count 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] + stops = gradient.get('stops', [i / max(1, color_count - 1) for i in range(color_count)]) + stops = np.clip(stops[:color_count], 0.0, 1.0) + state.gradient_stops_ptr[0:color_count] = stops 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 + color = color or rl.WHITE 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): +def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray, color=None, gradient=None): """ Draw a complex polygon using shader-based even-odd fill rule @@ -317,21 +270,16 @@ def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=No # 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]) + clip_x = max(origin_rect.x, min_xy[0]) + clip_y = max(origin_rect.y, min_xy[1]) + clip_right = min(origin_rect.x + origin_rect.width, max_xy[0]) + clip_bottom = min(origin_rect.y + origin_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) + clipped_rect = rl.Rectangle(clip_x, clip_y, clip_right - clip_x, clip_bottom - clip_y) # Transform points relative to the CLIPPED area transformed_points = points - np.array([clip_x, clip_y]) @@ -340,21 +288,21 @@ def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=No 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] + state.resolution_ptr[0:2] = [clipped_rect.width, clipped_rect.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) + _configure_shader_color(state, color, gradient, clipped_rect, origin_rect) # Render rl.begin_shader_mode(state.shader) rl.draw_texture_pro( state.white_texture, rl.Rectangle(0, 0, 2, 2), - clip_rect, + clipped_rect, rl.Vector2(0, 0), 0.0, rl.WHITE, From d2f417ee6368f50b7ea87369c5b87fe0709fa950 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sat, 31 May 2025 14:17:55 -0300 Subject: [PATCH 393/477] Multilang: update pt-BR translation. (#35394) Multilang: update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f98f32b9a8..3182370f42 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -84,7 +84,7 @@ Prevent large data uploads when on a metered cellular connection - + Previna o envio de grandes volumes de dados em conexões de celular com franquia de limite de dados default @@ -104,7 +104,7 @@ Prevent large data uploads when on a metered Wi-Fi connection - + Previna o envio de grandes volumes de dados em conexões Wi-Fi com franquia de limite de dados From e9f917836bd004fb1e343851b7c4e88ad64521b1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 31 May 2025 10:26:03 -0700 Subject: [PATCH 394/477] cereal: fixup build deps --- cereal/SConscript | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/cereal/SConscript b/cereal/SConscript index a58a9490ce..9fccfc6075 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -1,19 +1,20 @@ -Import('env', 'common', 'msgq') +Import('env', 'msgq') cereal_dir = Dir('.') gen_dir = Dir('gen') # Build cereal schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] -env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], +schema_cpp = [f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files] +env.Command(schema_cpp, schema_files, f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") -cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files]) +cereal = env.Library('cereal', schema_cpp) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread']) +env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, 'zmq', 'pthread']) socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc']) From e734413a2170a2c10a90ed9821f460e8372f2348 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 1 Jun 2025 01:50:41 +0800 Subject: [PATCH 395/477] system/ui: fix path clip issues (#35409) fix path clip issues --- system/ui/onroad/model_renderer.py | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index ef7e567cda..a016f1cec6 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -105,13 +105,13 @@ class ModelRenderer: if model_updated: self._update_raw_points(model) - pos_x_array = self._path.raw_points[:, 0] - if pos_x_array.size == 0: + path_x_array = self._path.raw_points[:, 0] + if path_x_array.size == 0: return - self._update_model(lead_one, pos_x_array) + self._update_model(lead_one, path_x_array) if render_lead_indicator: - self._update_leads(radar_state, pos_x_array) + self._update_leads(radar_state, path_x_array) self._transform_dirty = False @@ -136,23 +136,23 @@ class ModelRenderer: 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): + def _update_leads(self, radar_state, path_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) + idx = self._get_path_length_idx(path_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): + def _update_model(self, lead, path_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) + max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE) + max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], max_distance) # Update lane lines using raw points for i, lane_line in enumerate(self._lane_lines): @@ -168,8 +168,8 @@ class ModelRenderer: 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) + max_idx = self._get_path_length_idx(path_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 ) @@ -309,8 +309,10 @@ class ModelRenderer: @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)) + if len(pos_x_array) == 0: + return 0 + indices = np.where(pos_x_array <= path_height)[0] + return indices[-1] if indices.size > 0 else 0 def _map_to_screen(self, in_x, in_y, in_z): """Project a point in car space to screen space""" From c2bd95c2af2a4979c2779c4350a685bd08f87699 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 31 May 2025 14:49:40 -0400 Subject: [PATCH 396/477] Tinygrad: revert bump (#969) --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 76eb130d8c..519dec6677 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 76eb130d8c6567679641ff53a7215d1f6f88eb9a +Subproject commit 519dec6677f98718ee4f2d07be1936eb91dde73b From e50f7513a62018c92d138aeab46849be6cba4e7d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 1 Jun 2025 10:00:26 -0400 Subject: [PATCH 397/477] Update Python packages (#970) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 14e5afd7ab..bb37b56789 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 14e5afd7ab80f385d01298d9fb2fd71c358e69b4 +Subproject commit bb37b56789abd13b6cdd9ff251df9c644a050223 From 5605c398a20d8206d235abee53264921d781da58 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Jun 2025 12:37:12 -0700 Subject: [PATCH 398/477] Revert "cereal: fixup build deps" This reverts commit e9f917836bd004fb1e343851b7c4e88ad64521b1. --- cereal/SConscript | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/cereal/SConscript b/cereal/SConscript index 9fccfc6075..a58a9490ce 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -1,20 +1,19 @@ -Import('env', 'msgq') +Import('env', 'common', 'msgq') cereal_dir = Dir('.') gen_dir = Dir('gen') # Build cereal schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] -schema_cpp = [f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files] -env.Command(schema_cpp, +env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], schema_files, f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") -cereal = env.Library('cereal', schema_cpp) +cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files]) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, 'zmq', 'pthread']) +env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread']) socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc']) From 1935871267bce0cabf2f7bba669d56c959a338b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:37:36 +0800 Subject: [PATCH 399/477] system/ui: add stream switching capability to CameraView (#35414) add stream switching capability to CameraView --- system/ui/onroad/augmented_road_view.py | 14 ++++++++------ system/ui/widgets/cameraview.py | 20 +++++++++++++++++++- 2 files changed, 27 insertions(+), 7 deletions(-) diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 18f94325f4..053307bb69 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -30,9 +30,6 @@ class AugmentedRoadView(CameraView): 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() @@ -130,9 +127,10 @@ class AugmentedRoadView(CameraView): # 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 + is_wide_camera = self.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD + intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics + calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib + zoom = 2.0 if is_wide_camera else 1.1 # Calculate transforms for vanishing point inf_point = np.array([1000.0, 0.0, 0.0]) @@ -184,9 +182,13 @@ if __name__ == "__main__": "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan"]) road_camera_view = AugmentedRoadView(sm, VisionStreamType.VISION_STREAM_ROAD) + print("***press space to switch camera view***") try: for _ in gui_app.render(): sm.update(0) + if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): + is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD + road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: road_camera_view.close() diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py index 49832444f8..329b8349ba 100644 --- a/system/ui/widgets/cameraview.py +++ b/system/ui/widgets/cameraview.py @@ -3,6 +3,7 @@ import pyray as rl from openpilot.system.hardware import TICI from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog 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 @@ -57,6 +58,9 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): self.client = VisionIpcClient(name, stream_type, False) + self._name = name + self._stream_type = stream_type + self._texture_needs_update = True self.last_connection_attempt: float = 0.0 self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER) @@ -80,6 +84,18 @@ class CameraView: self.egl_texture = rl.load_texture_from_image(temp_image) rl.unload_image(temp_image) + def switch_stream(self, stream_type: VisionStreamType) -> None: + if self._stream_type != stream_type: + cloudlog.debug(f'switching stream from {self._stream_type} to {stream_type}') + self._clear_textures() + self.frame = None + self._stream_type = stream_type + self.client = VisionIpcClient(self._name, stream_type, False) + + @property + def stream_type(self) -> VisionStreamType: + return self._stream_type + def close(self) -> None: self._clear_textures() @@ -92,6 +108,8 @@ class CameraView: if self.shader and self.shader.id: rl.unload_shader(self.shader) + self.client = None + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: if not self.frame: return np.eye(3) @@ -201,12 +219,12 @@ class CameraView: 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 + cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}") self._clear_textures() if not TICI: From 74541e677c62fa6068dc7bdba8681dfb59e5e734 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:37:57 +0800 Subject: [PATCH 400/477] system/ui: fix timeout logc and add pre-defined alerts (#35417) fix timeout logc and add pre-defined alerts --- system/ui/onroad/alert_renderer.py | 115 +++++++++++++---------------- 1 file changed, 51 insertions(+), 64 deletions(-) diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py index 600c721680..947b19663d 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/system/ui/onroad/alert_renderer.py @@ -1,14 +1,15 @@ -import numpy as np +import time import pyray as rl from dataclasses import dataclass from cereal import messaging, log +from openpilot.system.hardware import TICI 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 + log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 220), # Black + log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 220), # Orange + log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 220), # Red } ALERT_HEIGHTS = { @@ -16,6 +17,7 @@ ALERT_HEIGHTS = { log.SelfdriveState.AlertSize.mid: 420, } +ALERT_BORDER_RADIUS = 30 SELFDRIVE_STATE_TIMEOUT = 5 # Seconds SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds @@ -28,95 +30,80 @@ class Alert: 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 - ) + +# Pre-defined alert instances +ALERT_STARTUP_PENDING = Alert( + text1="openpilot Unavailable", + text2="Waiting to start", + alert_type="selfdriveWaiting", + size=log.SelfdriveState.AlertSize.mid, + status=log.SelfdriveState.AlertStatus.normal, +) + +ALERT_CRITICAL_TIMEOUT = Alert( + text1="TAKE CONTROL IMMEDIATELY", + text2="System Unresponsive", + alert_type="selfdriveUnresponsive", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, +) + +ALERT_CRITICAL_REBOOT = Alert( + text1="System Unresponsive", + text2="Reboot Device", + alert_type="selfdriveUnresponsivePermanent", + size=log.SelfdriveState.AlertSize.full, + status=log.SelfdriveState.AlertStatus.critical, +) class AlertRenderer: def __init__(self): """Initialize the alert renderer.""" self.alert: Alert = Alert() + # TODO: use ui_state to determine when to start 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: + def update_state(self, sm: messaging.SubMaster) -> 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 + self.alert = self.get_alert(sm) 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( + # Check if waiting to start + if sm.recv_frame['selfdriveState'] < self.started_frame: + return ALERT_STARTUP_PENDING + + # Handle selfdrive timeout + ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] + if TICI: + if ss_missing > SELFDRIVE_STATE_TIMEOUT: + if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: + return ALERT_CRITICAL_TIMEOUT + return ALERT_CRITICAL_REBOOT + + # Return current alert from selfdrive state + 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() + status=self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus)) 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']) + self.update_state(sm) 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, @@ -129,7 +116,7 @@ class AlertRenderer: 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) + roundness = ALERT_BORDER_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) From 79f3f30c6367a06f0e3b83c042d49b3e98a550b8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:39:09 +0800 Subject: [PATCH 401/477] =?UTF-8?q?system/ui:=20fix=20cruise=20disabled=20?= =?UTF-8?q?state=20displaying=20"=3F"=20instead=20of=20"=E2=80=93"=20(#354?= =?UTF-8?q?16)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit fix curise disabled state showed '?' --- system/ui/lib/application.py | 2 ++ system/ui/onroad/hud_renderer.py | 3 ++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 9bb56fec8d..a8b55b9e79 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -192,10 +192,12 @@ class GuiApplication: # Create a character set from our keyboard layouts from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS + from openpilot.system.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR all_chars = set() for layout in KEYBOARD_LAYOUTS.values(): all_chars.update(key for row in layout for key in row) all_chars = "".join(all_chars) + all_chars += CRUISE_DISABLED_CHAR codepoint_count = rl.ffi.new("int *", 1) codepoints = rl.load_codepoints(all_chars, codepoint_count) diff --git a/system/ui/onroad/hud_renderer.py b/system/ui/onroad/hud_renderer.py index b63b50f26d..ee182daef8 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/system/ui/onroad/hud_renderer.py @@ -8,6 +8,7 @@ from enum import IntEnum # Constants SET_SPEED_NA = 255 KM_TO_MILE = 0.621371 +CRUISE_DISABLED_CHAR = '–' @dataclass(frozen=True) @@ -153,7 +154,7 @@ class HudRenderer: max_color, ) - set_speed_text = "–" if not self.is_cruise_set else str(round(self.set_speed)) + set_speed_text = CRUISE_DISABLED_CHAR 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, From 6ece69610bbe2336d3067c4e18998a323547562e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:39:22 +0800 Subject: [PATCH 402/477] systme/ui: add global ARC_POINT_COUNT and ARC_ANGLES to DriverState (#35415) optimize arc rRendering with Pre-computed values --- system/ui/onroad/driver_state.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py index b998936903..7527fa6255 100644 --- a/system/ui/onroad/driver_state.py +++ b/system/ui/onroad/driver_state.py @@ -27,6 +27,9 @@ 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) +ARC_POINT_COUNT = 37 # Number of points in the arc +ARC_ANGLES = np.linspace(0.0, np.pi, ARC_POINT_COUNT, dtype=np.float32) + @dataclass class ArcData: """Data structure for arc rendering parameters.""" @@ -57,8 +60,8 @@ class DriverStateRenderer: # 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 + self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)] + self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)] # Load the driver face icon self.dm_img = gui_app.texture("icons/driver_face.png", IMG_SIZE, IMG_SIZE) @@ -218,9 +221,7 @@ class DriverStateRenderer: ) # 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) + angles = ARC_ANGLES + np.deg2rad(start_angle) center_x = x + arc_data.width / 2 center_y = y + arc_data.height / 2 From 1e702de434f10e80c22f7424d6c41edb8c2edf30 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 03:39:41 +0800 Subject: [PATCH 403/477] system/ui: add face detection box and driver state icon to DriverCameraView (#35410) add face detection box and driver state icon to DriverCameraView --- system/ui/widgets/driver_camera_view.py | 56 +++++++++++++++++++++++-- 1 file changed, 52 insertions(+), 4 deletions(-) diff --git a/system/ui/widgets/driver_camera_view.py b/system/ui/widgets/driver_camera_view.py index 174fac378d..56dcbf2b9e 100644 --- a/system/ui/widgets/driver_camera_view.py +++ b/system/ui/widgets/driver_camera_view.py @@ -1,18 +1,63 @@ import numpy as np import pyray as rl +from cereal import messaging from openpilot.system.ui.widgets.cameraview import CameraView from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.onroad.driver_state import DriverStateRenderer class DriverCameraView(CameraView): def __init__(self, stream_type: VisionStreamType): super().__init__("camerad", stream_type) + self.driver_state_renderer = DriverStateRenderer() - def render(self, rect): + def render(self, rect, sm): super().render(rect) - # TODO: Add additional rendering logic + if not self.frame: + gui_label( + rect, + "camera starting", + font_size=100, + font_weight=FontWeight.BOLD, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + ) + return + + self._draw_face_detection(rect, sm) + self.driver_state_renderer.draw(rect, sm) + + def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None: + driver_state = sm["driverStateV2"] + is_rhd = driver_state.wheelOnRightProb > 0.5 + driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData + face_detect = driver_data.faceProb > 0.7 + if not face_detect: + return + + # Get face position and orientation + face_x, face_y = driver_data.facePosition + face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1]) + alpha = 0.7 + if face_std > 0.15: + alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0) + + # use approx instead of distort_points + # TODO: replace with distort_points + fbox_x = int(1080.0 - 1714.0 * face_x) + fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y) + box_size = 220 + + line_color = rl.Color(255, 255, 255, int(alpha * 255)) + rl.draw_rectangle_rounded_lines_ex( + rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size), + 35.0 / box_size / 2, + 10, + 10, + line_color, + ) def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: driver_view_ratio = 2.0 @@ -38,9 +83,12 @@ class DriverCameraView(CameraView): if __name__ == "__main__": gui_app.init_window("Driver Camera View") + sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"]) + 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)) + sm.update() + driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm) finally: driver_camera_view.close() From ad58fea2f0a6a3ba30b7250ecec22163ee3e6822 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Jun 2025 16:34:22 -0700 Subject: [PATCH 404/477] no more pylint (#35418) * no more pylint * bump opendbc --- common/logging_extra.py | 1 - opendbc_repo | 2 +- panda | 2 +- system/manager/process.py | 1 - 4 files changed, 2 insertions(+), 4 deletions(-) diff --git a/common/logging_extra.py b/common/logging_extra.py index e921b140c2..ceaf083cd5 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -199,7 +199,6 @@ class SwagLogger(logging.Logger): co = f.f_code filename = os.path.normcase(co.co_filename) - # TODO: is this pylint exception correct? if filename == _srcfile: f = f.f_back continue diff --git a/opendbc_repo b/opendbc_repo index d33a033a7f..4fe147125a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d33a033a7fceaf660a1ae1e6e7d00fb4737f6745 +Subproject commit 4fe147125a6193a6133daefde7bd9c4c871afc1f diff --git a/panda b/panda index 4f227f88c8..c19692245c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4f227f88c827d02188763d676aab941401be8212 +Subproject commit c19692245cfe681389a1e9ddb2401340cf08759d diff --git a/system/manager/process.py b/system/manager/process.py index 6c233c21ab..7f8044461d 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -96,7 +96,6 @@ class ManagerProcess(ABC): try: fn = WATCHDOG_FN + str(self.proc.pid) with open(fn, "rb") as f: - # TODO: why can't pylint find struct.unpack? self.last_watchdog_time = struct.unpack('Q', f.read())[0] except Exception: pass From a31a39624c6f9ecffe60c7555084fe60fdbc24b2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 1 Jun 2025 22:46:04 -0400 Subject: [PATCH 405/477] Car: `CarStateSP` (#972) * Car: `CarStateSP` * fix tests * just skeleton for now * bump --- cereal/custom.capnp | 2 +- cereal/log.capnp | 2 +- cereal/services.py | 1 + opendbc_repo | 2 +- selfdrive/car/car_specific.py | 6 +++--- selfdrive/car/card.py | 24 ++++++++++++++++-------- selfdrive/car/helpers.py | 4 +++- selfdrive/car/tests/test_models.py | 7 ++++--- 8 files changed, 30 insertions(+), 18 deletions(-) diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8ae77875f2..8a42f8b6a5 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -223,7 +223,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 { } } -struct CustomReserved7 @0xb86e6369214c01c8 { +struct CarStateSP @0xb86e6369214c01c8 { } struct CustomReserved8 @0xf416ec09499d9d19 { diff --git a/cereal/log.capnp b/cereal/log.capnp index 79f11f6bcf..412660bc6a 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2609,7 +2609,7 @@ struct Event { carParamsSP @111 :Custom.CarParamsSP; carControlSP @112 :Custom.CarControlSP; backupManagerSP @113 :Custom.BackupManagerSP; - customReserved7 @114 :Custom.CustomReserved7; + carStateSP @114 :Custom.CarStateSP; customReserved8 @115 :Custom.CustomReserved8; customReserved9 @116 :Custom.CustomReserved9; customReserved10 @136 :Custom.CustomReserved10; diff --git a/cereal/services.py b/cereal/services.py index c40538eec0..4097e484f6 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -83,6 +83,7 @@ _services: dict[str, tuple] = { "onroadEventsSP": (True, 1., 1), "carParamsSP": (True, 0.02, 1), "carControlSP": (True, 100., 10), + "carStateSP": (True, 100., 10), # debug "uiDebug": (True, 0., 1), diff --git a/opendbc_repo b/opendbc_repo index bb37b56789..a82c8d83cd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bb37b56789abd13b6cdd9ff251df9c644a050223 +Subproject commit a82c8d83cd776dc36f84568f00e9adda73d8a563 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index d441c648ff..151a8479a7 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,4 +1,4 @@ -from cereal import car, log +from cereal import car, log, custom import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs from opendbc.car.interfaces import MAX_CTRL_SPEED @@ -16,14 +16,14 @@ class MockCarState: def __init__(self): self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) - def update(self, CS: car.CarState): + def update(self, CS: car.CarState, CS_SP: custom.CarStateSP): self.sm.update(0) gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' CS.vEgo = self.sm[gps_sock].speed CS.vEgoRaw = self.sm[gps_sock].speed - return CS + return CS, CS_SP class CarSpecificEvents: diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 62dc818cd9..1b9a1522a1 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -73,12 +73,13 @@ class Car: def __init__(self, CI=None, RI=None) -> None: self.can_sock = messaging.sub_sock('can', timeout=20) self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP']) - self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP']) self.can_rcv_cum_timeout_counter = 0 self.CC_prev = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() + self.CS_SP_prev = custom.CarStateSP.new_message() self.initialized_prev = False self.last_actuators_output = structs.CarControl.Actuators() @@ -188,16 +189,17 @@ class Car: # log fingerprint in sentry sunnypilot_interfaces.log_fingerprint(self.CP) - def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]: + def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]: """carState update loop, driven by can""" can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) can_list = can_capnp_to_list(can_strs) # Update carState from CAN - CS = self.CI.update(can_list) + CS, CS_SP = self.CI.update(can_list) + CS_SP = convert_to_capnp(CS_SP) if self.CP.brand == 'mock': - CS = self.mock_carstate.update(CS) + CS, CS_SP = self.mock_carstate.update(CS, CS_SP) # Update radar tracks from CAN RD: structs.RadarDataT | None = self.RI.update(can_list) @@ -222,9 +224,9 @@ class Car: CS.vCruise = float(self.v_cruise_helper.v_cruise_kph) CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) - return CS, RD + return CS, CS_SP, RD - def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None): + def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.RadarDataT | None): """carState and carParams publish loop""" # carParams - logged every 50 seconds (> 1 per segment) @@ -261,6 +263,11 @@ class Car: cp_sp_send.carParamsSP = self.CP_SP_capnp self.pm.send('carParamsSP', cp_sp_send) + cs_sp_send = messaging.new_message('carStateSP') + cs_sp_send.valid = CS.canValid + cs_sp_send.carStateSP = CS_SP + self.pm.send('carStateSP', cs_sp_send) + def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP): """control update loop, driven by carControl""" @@ -280,9 +287,9 @@ class Car: self.CC_prev = CC def step(self): - CS, RD = self.state_update() + CS, CS_SP, RD = self.state_update() - self.state_publish(CS, RD) + self.state_publish(CS, CS_SP, RD) initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and self.sm.seen['onroadEvents']) @@ -291,6 +298,7 @@ class Car: self.initialized_prev = initialized self.CS_prev = CS + self.CS_SP_prev = CS_SP def params_thread(self, evt): while not evt.is_set(): diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py index 6ebacfc976..6187be1474 100644 --- a/selfdrive/car/helpers.py +++ b/selfdrive/car/helpers.py @@ -35,11 +35,13 @@ def asdictref(obj) -> dict[str, Any]: return _asdictref_inner(obj) -def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder: +def convert_to_capnp(struct: structs.CarParamsSP | structs.CarStateSP) -> capnp.lib.capnp._DynamicStructBuilder: struct_dict = asdictref(struct) if isinstance(struct, structs.CarParamsSP): struct_capnp = custom.CarParamsSP.new_message(**struct_dict) + elif isinstance(struct, structs.CarStateSP): + struct_capnp = custom.CarStateSP.new_message(**struct_dict) else: raise ValueError(f"Unsupported struct type: {type(struct)}") diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index a880e06fca..0fc6716dd3 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -204,7 +204,7 @@ class TestCarModelBase(unittest.TestCase): CC_SP = structs.CarControlSP() for i, msg in enumerate(self.can_msgs): - CS = self.CI.update(msg) + CS, _ = self.CI.update(msg) self.CI.apply(CC, CC_SP, msg[0]) if CS.canValid: @@ -349,7 +349,7 @@ class TestCarModelBase(unittest.TestCase): self.safety.safety_rx_hook(to_send) can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])] - CS = self.CI.update(can) + CS, _ = self.CI.update(can) if self.safety.get_gas_pressed_prev() != prev_panda_gas: self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) @@ -409,7 +409,8 @@ class TestCarModelBase(unittest.TestCase): checks = defaultdict(int) vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar for idx, can in enumerate(self.can_msgs): - CS = self.CI.update(can).as_reader() + CS, _ = self.CI.update(can) + CS = CS.as_reader() for msg in filter(lambda m: m.src < 64, can[1]): to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) ret = self.safety.safety_rx_hook(to_send) From 69076c50d88d3858357ac1873a1aaff6f8ff022e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 1 Jun 2025 23:15:23 -0700 Subject: [PATCH 406/477] bump opendbc (#35419) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 4fe147125a..f01c4b82b1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4fe147125a6193a6133daefde7bd9c4c871afc1f +Subproject commit f01c4b82b1cd41ef8053a038ad631bbd31105fc6 From d488529a94f05f08b7d69e5c28938aaa016ba406 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 23:48:35 +0800 Subject: [PATCH 407/477] system/ui: add font_weight parameter to gui_text_box (#35420) add font_weight parameter to gui_text_box --- system/ui/lib/label.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index 5244c6baf2..00a4eda7c6 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -56,7 +56,8 @@ def gui_text_box( font_size: int = DEFAULT_TEXT_SIZE, color: rl.Color = DEFAULT_TEXT_COLOR, alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, - alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP + alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, + font_weight: FontWeight = FontWeight.NORMAL, ): styles = [ (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)), @@ -66,6 +67,12 @@ def gui_text_box( (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical), (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD) ] + if font_weight != FontWeight.NORMAL: + rl.gui_set_font(gui_app.font(font_weight)) with GuiStyleContext(styles): rl.gui_label(rect, text) + + if font_weight != FontWeight.NORMAL: + rl.gui_set_font(gui_app.font(FontWeight.NORMAL)) + From 070711426459f5ae3a3354be9a822bbe0b8d52c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 2 Jun 2025 23:56:47 +0800 Subject: [PATCH 408/477] system/ui: optimize point allocation, cllipping, and HSLA Color Conversion in model renderer (#35423) * faster hsla_to_color * pre-allc points * use np.clip * re-alloc points --- system/ui/onroad/model_renderer.py | 29 +++++++++++++++++++++++------ 1 file changed, 23 insertions(+), 6 deletions(-) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index a016f1cec6..44bd3f72ca 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -14,6 +14,8 @@ 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) +MAX_POINTS = 200 + 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) @@ -61,6 +63,11 @@ class ModelRenderer: self._transform_dirty = True self._clip_region = None self._rect = None + + # Pre-allocated arrays for polygon conversion + self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32) + self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32) + self._exp_gradient = { 'start': (0.0, 1.0), # Bottom of path 'end': (0.0, 0.0), # Top of path @@ -140,10 +147,13 @@ class ModelRenderer: """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(path_x_array, d_rel) + + # Get z-coordinate from path at the lead vehicle position 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: @@ -336,20 +346,22 @@ class ModelRenderer: 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] + points = line[:max_idx + 1] + points = points[points[:, 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 = self._temp_points_3d[:n_points * 2] 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 + proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2]) # Slice the pre-allocated array + np.dot(self._car_space_transform, points_3d.T, out=proj) valid_z = np.abs(proj[2]) > 1e-6 if not np.any(valid_z): return np.empty((0, 2), dtype=np.float32) @@ -390,15 +402,20 @@ class ModelRenderer: @staticmethod def _map_val(x, x0, x1, y0, y1): - x = max(x0, min(x, x1)) + x = np.clip(x, x0, 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)))) + rgb = colorsys.hls_to_rgb(h, l, s) + return rl.Color( + int(rgb[0] * 255), + int(rgb[1] * 255), + int(rgb[2] * 255), + int(a * 255) + ) @staticmethod def _blend_colors(begin_colors, end_colors, t): From b59841329b65bc81f468dfe7a243a9c769981306 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 00:07:19 +0800 Subject: [PATCH 409/477] system/ui: refactor AlertRenderer for improved maintainability and consistency (#35421) refactor alert --- system/ui/onroad/alert_renderer.py | 221 +++++++++++------------------ 1 file changed, 81 insertions(+), 140 deletions(-) diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py index 947b19663d..e61396b89f 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/system/ui/onroad/alert_renderer.py @@ -4,38 +4,42 @@ from dataclasses import dataclass from cereal import messaging, log from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_text_box + + +ALERT_MARGIN = 40 +ALERT_PADDING = 60 +ALERT_LINE_SPACING = 45 +ALERT_BORDER_RADIUS = 30 + +ALERT_FONT_SMALL = 66 +ALERT_FONT_MEDIUM = 74 +ALERT_FONT_BIG = 88 + +SELFDRIVE_STATE_TIMEOUT = 5 # Seconds +SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds + # Constants ALERT_COLORS = { - log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 220), # Black - log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 220), # Orange - log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 220), # Red + log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 235), # Black + log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 235), # Orange + log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 235), # Red } -ALERT_HEIGHTS = { - log.SelfdriveState.AlertSize.small: 271, - log.SelfdriveState.AlertSize.mid: 420, -} - -ALERT_BORDER_RADIUS = 30 -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 + size: int = 0 + status: int = 0 # Pre-defined alert instances ALERT_STARTUP_PENDING = Alert( text1="openpilot Unavailable", text2="Waiting to start", - alert_type="selfdriveWaiting", size=log.SelfdriveState.AlertSize.mid, status=log.SelfdriveState.AlertStatus.normal, ) @@ -43,7 +47,6 @@ ALERT_STARTUP_PENDING = Alert( ALERT_CRITICAL_TIMEOUT = Alert( text1="TAKE CONTROL IMMEDIATELY", text2="System Unresponsive", - alert_type="selfdriveUnresponsive", size=log.SelfdriveState.AlertSize.full, status=log.SelfdriveState.AlertStatus.critical, ) @@ -51,7 +54,6 @@ ALERT_CRITICAL_TIMEOUT = Alert( ALERT_CRITICAL_REBOOT = Alert( text1="System Unresponsive", text2="Reboot Device", - alert_type="selfdriveUnresponsivePermanent", size=log.SelfdriveState.AlertSize.full, status=log.SelfdriveState.AlertStatus.critical, ) @@ -59,19 +61,13 @@ ALERT_CRITICAL_REBOOT = Alert( class AlertRenderer: def __init__(self): - """Initialize the alert renderer.""" - self.alert: Alert = Alert() # TODO: use ui_state to determine when to start 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 update_state(self, sm: messaging.SubMaster) -> None: - """Update alert state based on SubMaster data.""" - self.alert = self.get_alert(sm) - - def get_alert(self, sm: messaging.SubMaster) -> Alert: + def get_alert(self, sm: messaging.SubMaster) -> Alert | None: """Generate the current alert based on selfdrive state.""" ss = sm['selfdriveState'] @@ -80,142 +76,87 @@ class AlertRenderer: return ALERT_STARTUP_PENDING # Handle selfdrive timeout - ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] if TICI: + ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] if ss_missing > SELFDRIVE_STATE_TIMEOUT: if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: return ALERT_CRITICAL_TIMEOUT return ALERT_CRITICAL_REBOOT - # Return current alert from selfdrive state - return Alert( - text1=ss.alertText1, - text2=ss.alertText2, - alert_type=ss.alertType, - size=self._get_enum_value(ss.alertSize, log.SelfdriveState.AlertSize), - status=self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus)) + # No alert if size is none + if ss.alertSize == 0: + return None + + # Return current alert + return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize, status=ss.alertStatus) def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None: - """Render the alert within the specified rectangle.""" - self.update_state(sm) - alert_size = self._get_enum_value(self.alert.size, log.SelfdriveState.AlertSize) - if alert_size == log.SelfdriveState.AlertSize.none: + alert = self.get_alert(sm) + if not alert: return - # Calculate alert rectangle - margin = 0 if alert_size == log.SelfdriveState.AlertSize.full else 40 - 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, + alert_rect = self._get_alert_rect(rect, alert.size) + self._draw_background(alert_rect, alert) + + text_rect = rl.Rectangle( + alert_rect.x + ALERT_PADDING, + alert_rect.y + ALERT_PADDING, + alert_rect.width - 2 * ALERT_PADDING, + alert_rect.height - 2 * ALERT_PADDING + ) + self._draw_text(text_rect, alert) + + def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle: + if size == log.SelfdriveState.AlertSize.full: + return rect + + height = (ALERT_FONT_MEDIUM + 2 * ALERT_PADDING if size == log.SelfdriveState.AlertSize.small else + ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING) + + return rl.Rectangle( + rect.x + ALERT_MARGIN, + rect.y + rect.height - ALERT_MARGIN - height, + rect.width - 2 * ALERT_MARGIN, + height ) - # 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 = ALERT_BORDER_RADIUS / (min(alert_rect.width, alert_rect.height) / 2) - rl.draw_rectangle_rounded(alert_rect, roundness, 10, color) + def _draw_background(self, rect: rl.Rectangle, alert: Alert) -> None: + color = ALERT_COLORS.get(alert.status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal]) + + if alert.size != log.SelfdriveState.AlertSize.full: + roundness = ALERT_BORDER_RADIUS / (min(rect.width, rect.height) / 2) + rl.draw_rectangle_rounded(rect, roundness, 10, color) else: - rl.draw_rectangle_rec(alert_rect, color) + rl.draw_rectangle_rec(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, rect: rl.Rectangle, alert: Alert) -> None: + if alert.size == log.SelfdriveState.AlertSize.small: + self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM) - 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 + elif alert.size == log.SelfdriveState.AlertSize.mid: + self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_BIG, center_y=False) + rect.y += ALERT_FONT_BIG + ALERT_LINE_SPACING + self._draw_centered(alert.text2, rect, self.font_regular, ALERT_FONT_SMALL, center_y=False) + + else: + is_long = len(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, - ) + align_ment = rl.GuiTextAlignment.TEXT_ALIGN_CENTER + vertical_align = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE + text_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height // 2) - 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 + gui_text_box(text_rect, alert.text1, font_size1, alignment=align_ment, alignment_vertical=vertical_align, font_weight=FontWeight.BOLD) + text_rect.y = rect.y + rect.height // 2 + gui_text_box(text_rect, alert.text2, ALERT_FONT_BIG, alignment=align_ment) 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 + def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None: + text_size = self._measure_text(font, text, font_size, 'bold' if font == self.font_bold else 'regular') + x = rect.x + (rect.width - text_size.x) / 2 + y = rect.y + ((rect.height - text_size.y) / 2 if center_y else 0) + rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color) From d46066225d189de79c3c980bacfb463a29a7a725 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 01:18:44 +0800 Subject: [PATCH 410/477] system/ui: add centralized UIState singleton for global state management (#35397) * add centralized UIState singleton for global state management * safely import ui_state * merge master * merge master --- system/ui/lib/application.py | 14 +++ system/ui/lib/ui_state.py | 129 ++++++++++++++++++++++++ system/ui/onroad/alert_renderer.py | 5 +- system/ui/onroad/augmented_road_view.py | 47 ++++----- system/ui/onroad/driver_state.py | 8 +- system/ui/onroad/hud_renderer.py | 36 +++---- system/ui/onroad/model_renderer.py | 4 +- 7 files changed, 183 insertions(+), 60 deletions(-) create mode 100644 system/ui/lib/ui_state.py diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index a8b55b9e79..2e3553038a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -36,6 +36,16 @@ class FontWeight(IntEnum): BLACK = 8 +def _get_ui_state(): + """Safely import and return ui_state, or None if unavailable.""" + try: + from openpilot.system.ui.lib.ui_state import ui_state + + return ui_state + except ImportError: + return None + + class GuiApplication: def __init__(self, width: int, height: int): self._fonts: dict[FontWeight, rl.Font] = {} @@ -139,6 +149,7 @@ class GuiApplication: rl.close_window() def render(self): + ui_state = _get_ui_state() try: while not (self._window_close_requested or rl.window_should_close()): if self._render_texture: @@ -148,6 +159,9 @@ class GuiApplication: rl.begin_drawing() rl.clear_background(rl.BLACK) + if ui_state is not None: + ui_state.update() + yield if self._render_texture: diff --git a/system/ui/lib/ui_state.py b/system/ui/lib/ui_state.py new file mode 100644 index 0000000000..d9a8c40597 --- /dev/null +++ b/system/ui/lib/ui_state.py @@ -0,0 +1,129 @@ +import pyray as rl +from enum import Enum +from cereal import messaging, log +from openpilot.common.params import Params, UnknownKeyName + + +UI_BORDER_SIZE = 30 + + +class UIStatus(Enum): + DISENGAGED = "disengaged" + ENGAGED = "engaged" + OVERRIDE = "override" + + +class UIState: + _instance: 'UIState | None' = None + + def __new__(cls): + if cls._instance is None: + cls._instance = super().__new__(cls) + cls._instance._initialize() + return cls._instance + + def _initialize(self): + self.params = Params() + self.sm = messaging.SubMaster( + [ + "modelV2", + "controlsState", + "liveCalibration", + "radarState", + "deviceState", + "pandaStates", + "carParams", + "driverMonitoringState", + "carState", + "driverStateV2", + "roadCameraState", + "wideRoadCameraState", + "managerState", + "selfdriveState", + "longitudinalPlan", + ] + ) + + # UI Status tracking + self.status: UIStatus = UIStatus.DISENGAGED + self.started_frame: int = 0 + self._engaged_prev: bool = False + self._started_prev: bool = False + + # Core state variables + self.is_metric: bool = self.params.get_bool("IsMetric") + self.started: bool = False + self.ignition: bool = False + self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown + self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard + self.light_sensor: float = -1.0 + + self._update_params() + + @property + def engaged(self) -> bool: + return self.started and self.sm["selfdriveState"].enabled + + def update(self) -> None: + self.sm.update(0) + self._update_state() + self._update_status() + + def _update_state(self) -> None: + # Handle panda states updates + if self.sm.updated["pandaStates"]: + panda_states = self.sm["pandaStates"] + + if len(panda_states) > 0: + # Get panda type from first panda + self.panda_type = panda_states[0].pandaType + # Check ignition status across all pandas + if self.panda_type != log.PandaState.PandaType.unknown: + self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states) + elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps(): + self.panda_type = log.PandaState.PandaType.unknown + + # Handle wide road camera state updates + if self.sm.updated["wideRoadCameraState"]: + cam_state = self.sm["wideRoadCameraState"] + + # Scale factor based on sensor type + scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0 + self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0) + elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]: + self.light_sensor = -1 + + # Update started state + self.started = self.sm["deviceState"].started and self.ignition + + def _update_status(self) -> None: + if self.started and self.sm.updated["selfdriveState"]: + ss = self.sm["selfdriveState"] + state = ss.state + + if state in (log.SelfdriveState.OpenpilotState.preEnabled, log.SelfdriveState.OpenpilotState.overriding): + self.status = UIStatus.OVERRIDE + else: + self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED + + # Check for engagement state changes + if self.engaged != self._engaged_prev: + self._engaged_prev = self.engaged + + # Handle onroad/offroad transition + if self.started != self._started_prev or self.sm.frame == 1: + if self.started: + self.status = UIStatus.DISENGAGED + self.started_frame = self.sm.frame + + self._started_prev = self.started + + def _update_params(self) -> None: + try: + self.is_metric = self.params.get_bool("IsMetric") + except UnknownKeyName: + self.is_metric = False + + +# Global instance +ui_state = UIState() diff --git a/system/ui/onroad/alert_renderer.py b/system/ui/onroad/alert_renderer.py index e61396b89f..5bdfebb18c 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/system/ui/onroad/alert_renderer.py @@ -5,6 +5,7 @@ from cereal import messaging, log from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box +from openpilot.system.ui.lib.ui_state import ui_state ALERT_MARGIN = 40 @@ -61,8 +62,6 @@ ALERT_CRITICAL_REBOOT = Alert( class AlertRenderer: def __init__(self): - # TODO: use ui_state to determine when to start - 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] = {} @@ -72,7 +71,7 @@ class AlertRenderer: ss = sm['selfdriveState'] # Check if waiting to start - if sm.recv_frame['selfdriveState'] < self.started_frame: + if sm.recv_frame['selfdriveState'] < ui_state.started_frame: return ALERT_STARTUP_PENDING # Handle selfdrive timeout diff --git a/system/ui/onroad/augmented_road_view.py b/system/ui/onroad/augmented_road_view.py index 053307bb69..63404f3f9e 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/system/ui/onroad/augmented_road_view.py @@ -1,9 +1,9 @@ import numpy as np import pyray as rl -from enum import Enum -from cereal import messaging, log +from cereal import log from msgq.visionipc import VisionStreamType +from openpilot.system.ui.lib.ui_state import ui_state, UIStatus, UI_BORDER_SIZE 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 @@ -17,19 +17,18 @@ 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 +BORDER_COLORS = { + UIStatus.DISENGAGED: rl.Color(0x17, 0x33, 0x49, 0xC8), # Blue for disengaged state + UIStatus.OVERRIDE: rl.Color(0x91, 0x9B, 0x95, 0xF1), # Gray for override state + UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1), # Green for engaged state +} class AugmentedRoadView(CameraView): - def __init__(self, sm: messaging.SubMaster, stream_type: VisionStreamType): + def __init__(self, stream_type: VisionStreamType): super().__init__("camerad", stream_type) - self.sm = sm 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() @@ -72,10 +71,10 @@ class AugmentedRoadView(CameraView): 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) + self.model_renderer.draw(self._content_rect, ui_state.sm) + self._hud_renderer.draw(self._content_rect, ui_state.sm) + self.alert_renderer.draw(self._content_rect, ui_state.sm) + self.driver_state_renderer.draw(self._content_rect, ui_state.sm) # Custom UI extension point - add custom overlays here # Use self._content_rect for positioning within camera bounds @@ -84,18 +83,12 @@ class AugmentedRoadView(CameraView): 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) + border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED]) + rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color) def _update_calibration(self): # Update device camera if not already set + sm = ui_state.sm 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))] @@ -103,7 +96,7 @@ class AugmentedRoadView(CameraView): if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']): return - calib = self.sm['liveCalibration'] + calib = sm['liveCalibration'] if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED: return @@ -118,7 +111,7 @@ class AugmentedRoadView(CameraView): def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: # Check if we can use cached matrix - calib_time = self.sm.recv_frame['liveCalibration'] + calib_time = ui_state.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 @@ -178,14 +171,10 @@ class AugmentedRoadView(CameraView): 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) + road_camera_view = AugmentedRoadView(VisionStreamType.VISION_STREAM_ROAD) print("***press space to switch camera view***") try: for _ in gui_app.render(): - sm.update(0) if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) diff --git a/system/ui/onroad/driver_state.py b/system/ui/onroad/driver_state.py index 7527fa6255..8017021ee5 100644 --- a/system/ui/onroad/driver_state.py +++ b/system/ui/onroad/driver_state.py @@ -2,6 +2,8 @@ import numpy as np import pyray as rl from dataclasses import dataclass from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.ui_state import ui_state, UI_BORDER_SIZE + # Default 3D coordinates for face keypoints as a NumPy array DEFAULT_FACE_KPTS_3D = np.array([ @@ -17,7 +19,6 @@ DEFAULT_FACE_KPTS_3D = np.array([ ], dtype=np.float32) # UI constants -UI_BORDER_SIZE = 30 BTN_SIZE = 192 IMG_SIZE = 144 ARC_LENGTH = 133 @@ -95,8 +96,7 @@ class DriverStateRenderer: 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 = self.engaged_color if ui_state.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 @@ -107,7 +107,7 @@ class DriverStateRenderer: def _is_visible(self, sm): """Check if the visualization should be rendered.""" - return (sm.seen['driverStateV2'] and + return (sm.recv_frame['driverStateV2'] > ui_state.started_frame and sm.seen['driverMonitoringState'] and sm['selfdriveState'].alertSize == 0) diff --git a/system/ui/onroad/hud_renderer.py b/system/ui/onroad/hud_renderer.py index ee182daef8..3ba2cb2280 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/system/ui/onroad/hud_renderer.py @@ -1,9 +1,9 @@ import pyray as rl from dataclasses import dataclass from cereal.messaging import SubMaster +from openpilot.system.ui.lib.ui_state import ui_state, UIStatus 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 @@ -53,17 +53,9 @@ 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 @@ -77,10 +69,7 @@ class HudRenderer: 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']: + if sm.recv_frame["carState"] < ui_state.started_frame: self.is_cruise_set = False self.set_speed = SET_SPEED_NA self.speed = 0.0 @@ -96,13 +85,13 @@ class HudRenderer: 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: + if self.is_cruise_set and not ui_state.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 + speed_conversion = CV.MS_TO_KPH if ui_state.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: @@ -125,7 +114,7 @@ class HudRenderer: 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 + set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.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 @@ -137,11 +126,12 @@ class HudRenderer: 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) + if ui_state.status == UIStatus.ENGAGED: + max_color = COLORS.engaged + elif ui_state.status == UIStatus.DISENGAGED: + max_color = COLORS.disengaged + elif ui_state.status == UIStatus.OVERRIDE: + max_color = COLORS.override max_text = "MAX" max_text_width = self._measure_text(max_text, self._font_semi_bold, FONT_SIZES.max_speed, 'semi_bold').x @@ -172,7 +162,7 @@ class HudRenderer: 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 = "km/h" if ui_state.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) @@ -183,7 +173,7 @@ class HudRenderer: 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 + opacity = 0.7 if ui_state.status == UIStatus.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))) diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py index 44bd3f72ca..eedf10cc4f 100644 --- a/system/ui/onroad/model_renderer.py +++ b/system/ui/onroad/model_renderer.py @@ -5,6 +5,7 @@ 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.ui_state import ui_state from openpilot.system.ui.lib.shader_polygon import draw_polygon @@ -86,7 +87,8 @@ class ModelRenderer: 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']: + if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or + sm.recv_frame["modelV2"] < ui_state.started_frame): return # Set up clipping region From bb36b6687c945468411b4c5686e9e42cf93ad820 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 2 Jun 2025 11:44:00 -0700 Subject: [PATCH 411/477] [bot] Update translations (#35424) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_de.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_es.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_fr.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_ja.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_ko.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_pt-BR.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_th.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_tr.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_zh-CHS.ts | 20 ++++++++++++++++---- selfdrive/ui/translations/main_zh-CHT.ts | 20 ++++++++++++++++---- 11 files changed, 176 insertions(+), 44 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 0c3b934dde..7ebb1987b2 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -306,6 +306,14 @@ PAIR إقران + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1040,10 +1048,6 @@ This may take up to a minute. Enable openpilot تمكين openpilot - - 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. - استخدم نظام openpilot 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. - Enable Lane Departure Warnings قم بتمكين تحذيرات مغادرة المسار @@ -1144,6 +1148,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index db0fe97036..386b70476e 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -306,6 +306,14 @@ PAIR KOPPELN + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1022,10 +1030,6 @@ Dies kann bis zu einer Minute dauern. 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 @@ -1126,6 +1130,14 @@ Dies kann bis zu einer Minute dauern. Enable driver monitoring even when openpilot is not engaged. Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index c4ead7ca9d..ba35d2110b 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -306,6 +306,14 @@ Disengage to Power Off Desactivar para apagar + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1020,10 +1028,6 @@ Esto puede tardar un minuto. Enable openpilot Activar openpilot - - 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. - Utilice el sistema openpilot 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. - Experimental Mode Modo Experimental @@ -1124,6 +1128,14 @@ Esto puede tardar un minuto. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. Activar el control longitudinal (fase experimental) para permitir el modo Experimental. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 74849bd6fc..2b7dd4a5e8 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -306,6 +306,14 @@ PAIR ASSOCIER + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1018,10 +1026,6 @@ Cela peut prendre jusqu'à une minute. Enable openpilot Activer openpilot - - 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. - Utilisez le système openpilot 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. - Experimental Mode Mode expérimental @@ -1122,6 +1126,14 @@ Cela peut prendre jusqu'à une minute. Enable driver monitoring even when openpilot is not engaged. Activer la surveillance conducteur lorsque openpilot n'est pas actif. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 169df93c33..821fa35752 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -306,6 +306,14 @@ PAIR OK + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot openpilotを有効化 - - 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. - openpilot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。 - Enable Lane Departure Warnings 車線逸脱警報の有効化 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. openpilotが作動していない場合でも運転者モニタリングを有効にする。 + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index dea01b44ee..0d91b06049 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -306,6 +306,14 @@ PAIR 동기화 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot 오픈파일럿 사용 - - 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. - 오픈파일럿 시스템을 사용하여 어댑티브 크루즈 컨트롤과 차로 유지 보조 기능을 활용하십시오. 이 기능을 사용할 때에는 항상 주의를 기울여야 합니다. 설정 변경은 차량을 재시동해야 적용됩니다. - Enable Lane Departure Warnings 차선 이탈 경고 활성화 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 오픈파일럿이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 3182370f42..e25f345ae7 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -306,6 +306,14 @@ PAIR PAREAR + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1020,10 +1028,6 @@ Isso pode levar até um minuto. Enable openpilot Ativar openpilot - - 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. - Use o sistema openpilot 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. - Enable Lane Departure Warnings Ativar Avisos de Saída de Faixa @@ -1124,6 +1128,14 @@ Isso pode levar até um minuto. Enable driver monitoring even when openpilot is not engaged. Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index c587cfbd12..034b996606 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -306,6 +306,14 @@ PAIR จับคู่ + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot เปิดใช้งาน openpilot - - 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. - ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ - Enable Lane Departure Warnings เปิดใช้งานการเตือนการออกนอกเลน @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. เปิดใช้งานการเฝ้าระวังผู้ขับขี่แม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่ + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 62de11145a..cd30fae20f 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -306,6 +306,14 @@ PAIR + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1011,10 +1019,6 @@ This may take up to a minute. Enable openpilot openpilot'u aktifleştir - - 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. - Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için openpilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor. - Enable Lane Departure Warnings Şerit ihlali uyarı alın @@ -1115,6 +1119,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 26537d3f64..af1f940cf5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -306,6 +306,14 @@ PAIR 配对 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot 启用openpilot - - 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. - 使用openpilot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。 - Enable Lane Departure Warnings 启用车道偏离警告 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 即使在openpilot未激活时也启用驾驶员监控。 + + 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 will restart openpilot if the car is powered on. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 160c293072..534639e09b 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -306,6 +306,14 @@ PAIR 配對 + + Disengage to Reset Calibration + + + + Resetting calibration will restart openpilot if the car is powered on. + + DriverViewWindow @@ -1015,10 +1023,6 @@ This may take up to a minute. Enable openpilot 啟用 openpilot - - 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. - 使用 openpilot 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。 - Enable Lane Departure Warnings 啟用車道偏離警告 @@ -1119,6 +1123,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 即使在openpilot未激活時也啟用駕駛監控。 + + 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 will restart openpilot if the car is powered on. + + Updater From 29afd667ccf3c72a3a2228b0608b9554e5dee1c4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 04:27:17 +0800 Subject: [PATCH 412/477] move onroad/driving stuff from system/ui to selfdrive/ui (#35425) * mv system/ui/onroad->selfdrive/ui/onroad * mv ui_state * fix import path * fix imports * mv cameraview * remove from application --- selfdrive/ui/onroad/__init__.py | 0 .../ui/onroad/alert_renderer.py | 2 +- .../ui/onroad/augmented_road_view.py | 13 +++++++------ .../ui/onroad}/cameraview.py | 0 .../ui/onroad}/driver_camera_view.py | 4 ++-- {system => selfdrive}/ui/onroad/driver_state.py | 2 +- {system => selfdrive}/ui/onroad/hud_renderer.py | 2 +- .../ui/onroad/model_renderer.py | 2 +- {system/ui/lib => selfdrive/ui}/ui_state.py | 0 system/ui/lib/application.py | 16 +--------------- 10 files changed, 14 insertions(+), 27 deletions(-) create mode 100644 selfdrive/ui/onroad/__init__.py rename {system => selfdrive}/ui/onroad/alert_renderer.py (99%) rename {system => selfdrive}/ui/onroad/augmented_road_view.py (93%) rename {system/ui/widgets => selfdrive/ui/onroad}/cameraview.py (100%) rename {system/ui/widgets => selfdrive/ui/onroad}/driver_camera_view.py (95%) rename {system => selfdrive}/ui/onroad/driver_state.py (99%) rename {system => selfdrive}/ui/onroad/hud_renderer.py (99%) rename {system => selfdrive}/ui/onroad/model_renderer.py (99%) rename {system/ui/lib => selfdrive/ui}/ui_state.py (100%) diff --git a/selfdrive/ui/onroad/__init__.py b/selfdrive/ui/onroad/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py similarity index 99% rename from system/ui/onroad/alert_renderer.py rename to selfdrive/ui/onroad/alert_renderer.py index 5bdfebb18c..cc1b49a6a4 100644 --- a/system/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -5,7 +5,7 @@ from cereal import messaging, log from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box -from openpilot.system.ui.lib.ui_state import ui_state +from openpilot.selfdrive.ui.ui_state import ui_state ALERT_MARGIN = 40 diff --git a/system/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py similarity index 93% rename from system/ui/onroad/augmented_road_view.py rename to selfdrive/ui/onroad/augmented_road_view.py index 63404f3f9e..9a7d88e504 100644 --- a/system/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -3,12 +3,12 @@ import pyray as rl from cereal import log from msgq.visionipc import VisionStreamType -from openpilot.system.ui.lib.ui_state import ui_state, UIStatus, UI_BORDER_SIZE -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.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE +from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer +from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer +from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer +from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer +from openpilot.selfdrive.ui.onroad.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 @@ -175,6 +175,7 @@ if __name__ == "__main__": print("***press space to switch camera view***") try: for _ in gui_app.render(): + ui_state.update() if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) diff --git a/system/ui/widgets/cameraview.py b/selfdrive/ui/onroad/cameraview.py similarity index 100% rename from system/ui/widgets/cameraview.py rename to selfdrive/ui/onroad/cameraview.py diff --git a/system/ui/widgets/driver_camera_view.py b/selfdrive/ui/onroad/driver_camera_view.py similarity index 95% rename from system/ui/widgets/driver_camera_view.py rename to selfdrive/ui/onroad/driver_camera_view.py index 56dcbf2b9e..2f9ff2ca7a 100644 --- a/system/ui/widgets/driver_camera_view.py +++ b/selfdrive/ui/onroad/driver_camera_view.py @@ -1,11 +1,11 @@ import numpy as np import pyray as rl from cereal import messaging -from openpilot.system.ui.widgets.cameraview import CameraView from msgq.visionipc import VisionStreamType +from openpilot.selfdrive.ui.onroad.cameraview import CameraView +from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_label -from openpilot.system.ui.onroad.driver_state import DriverStateRenderer class DriverCameraView(CameraView): diff --git a/system/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py similarity index 99% rename from system/ui/onroad/driver_state.py rename to selfdrive/ui/onroad/driver_state.py index 8017021ee5..8e950f514e 100644 --- a/system/ui/onroad/driver_state.py +++ b/selfdrive/ui/onroad/driver_state.py @@ -1,8 +1,8 @@ import numpy as np import pyray as rl from dataclasses import dataclass +from openpilot.selfdrive.ui.ui_state import ui_state, UI_BORDER_SIZE from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.ui_state import ui_state, UI_BORDER_SIZE # Default 3D coordinates for face keypoints as a NumPy array diff --git a/system/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py similarity index 99% rename from system/ui/onroad/hud_renderer.py rename to selfdrive/ui/onroad/hud_renderer.py index 3ba2cb2280..ed0b7cc974 100644 --- a/system/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -1,7 +1,7 @@ import pyray as rl from dataclasses import dataclass from cereal.messaging import SubMaster -from openpilot.system.ui.lib.ui_state import ui_state, UIStatus +from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV diff --git a/system/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py similarity index 99% rename from system/ui/onroad/model_renderer.py rename to selfdrive/ui/onroad/model_renderer.py index eedf10cc4f..38951fb504 100644 --- a/system/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -4,8 +4,8 @@ import pyray as rl from cereal import messaging, car from dataclasses import dataclass, field from openpilot.common.params import Params +from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import DEFAULT_FPS -from openpilot.system.ui.lib.ui_state import ui_state from openpilot.system.ui.lib.shader_polygon import draw_polygon diff --git a/system/ui/lib/ui_state.py b/selfdrive/ui/ui_state.py similarity index 100% rename from system/ui/lib/ui_state.py rename to selfdrive/ui/ui_state.py diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 2e3553038a..fcef55d531 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -36,16 +36,6 @@ class FontWeight(IntEnum): BLACK = 8 -def _get_ui_state(): - """Safely import and return ui_state, or None if unavailable.""" - try: - from openpilot.system.ui.lib.ui_state import ui_state - - return ui_state - except ImportError: - return None - - class GuiApplication: def __init__(self, width: int, height: int): self._fonts: dict[FontWeight, rl.Font] = {} @@ -149,7 +139,6 @@ class GuiApplication: rl.close_window() def render(self): - ui_state = _get_ui_state() try: while not (self._window_close_requested or rl.window_should_close()): if self._render_texture: @@ -159,9 +148,6 @@ class GuiApplication: rl.begin_drawing() rl.clear_background(rl.BLACK) - if ui_state is not None: - ui_state.update() - yield if self._render_texture: @@ -206,7 +192,7 @@ class GuiApplication: # Create a character set from our keyboard layouts from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS - from openpilot.system.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR + from openpilot.selfdrive.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR all_chars = set() for layout in KEYBOARD_LAYOUTS.values(): all_chars.update(key for row in layout for key in row) From 1ee7b4ad0efeb166ad5d54becb5479d59283e5b0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 2 Jun 2025 23:49:29 -0400 Subject: [PATCH 413/477] ci: higher delay between UI Preview screenshots (#978) --- selfdrive/ui/tests/test_ui/run.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index f8c64de769..0b9d266ad6 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -26,7 +26,7 @@ from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.route import Route from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR -UI_DELAY = 0.1 # may be slower on CI? +UI_DELAY = 0.5 # may be slower on CI? TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = [] From 1a84b05bded44a17c526292686054f66a9749fe9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Jun 2025 20:53:11 -0700 Subject: [PATCH 414/477] lagd: make method static --- selfdrive/locationd/lagd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index 4e207b4882..a61793e223 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -303,7 +303,8 @@ class LateralLagEstimator: self.block_avg.update(delay) self.last_estimate_t = self.t - def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]: + @staticmethod + def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]: assert len(expected_sig) == len(actual_sig) max_lag_samples = int(max_lag / dt) padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples) From 28bf362f69d7f1d2069f3b7de6feb80de4e00b32 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 12:13:21 +0800 Subject: [PATCH 415/477] ui: add safety check to prevent ui overlay access to invalid data (#35432) check ui_state.started --- selfdrive/ui/onroad/augmented_road_view.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 9a7d88e504..f987d70c9c 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -44,6 +44,10 @@ class AugmentedRoadView(CameraView): self.driver_state_renderer = DriverStateRenderer() def render(self, rect): + # Only render when system is started to avoid invalid data access + if not ui_state.started: + return + # Update calibration before rendering self._update_calibration() From 8695134b089af6206a10a54aca40cdfa0555e6fa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Jun 2025 21:14:53 -0700 Subject: [PATCH 416/477] Faster lagd test (#35430) * disable in release * pass * one liner * saves 1s so far * clean up * fix * Revert "one liner" This reverts commit 5f419b5692565fc7ddc2abe9a40112fdc47ffe9e. Revert "pass" This reverts commit 47d260e76a9cb1310b95ea1ff83ab7f8808be96d. Revert "disable in release" This reverts commit 1782718b61891d87cbb9daa1c4c65314f505cee4. * clean up * there's more * no mocker! --- selfdrive/locationd/test/test_lagd.py | 48 +++++++++++---------------- 1 file changed, 20 insertions(+), 28 deletions(-) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index b805f1759d..aad8cff229 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -3,7 +3,7 @@ import numpy as np import time import pytest -from cereal import messaging, log +from cereal import messaging, log, car from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \ BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams @@ -16,11 +16,7 @@ MAX_ERR_FRAMES = 1 DT = 0.05 -def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0): - class ZeroMock(mocker.Mock): - def __getattr__(self, *args): - return 0 - +def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0): for i in range(n_frames): t = i * estimator.dt desired_la = np.cos(10 * t) * 0.1 @@ -31,19 +27,15 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti if rejected: actual_la = desired_la - desired_cuvature = desired_la / (vego ** 2) - actual_yr = actual_la / vego + desired_cuvature = float(desired_la / (vego ** 2)) + actual_yr = float(actual_la / vego) msgs = [ - (t, "carControl", mocker.Mock(latActive=not rejected)), - (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)), - (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature, - lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))), - (t, "livePose", mocker.Mock(orientationNED=ZeroMock(), - velocityDevice=ZeroMock(), - accelerationDevice=ZeroMock(), - angularVelocityDevice=ZeroMock(z=actual_yr, valid=True), - posenetOK=True, inputsOK=True)), - (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)), + (t, "carControl", car.CarControl(latActive=not rejected)), + (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)), + (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)), + (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True), + posenetOK=True, inputsOK=True)), + (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)), ] for t, w, m in msgs: estimator.handle_log(t, w, m) @@ -94,8 +86,8 @@ class TestLagd: corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20] assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1) - def test_empty_estimator(self, mocker): - mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + def test_empty_estimator(self): + mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT) msg = estimator.get_msg(True) assert msg.liveDelay.status == 'unestimated' @@ -103,12 +95,12 @@ class TestLagd: assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag) assert msg.liveDelay.validBlocks == 0 - def test_estimator_basics(self, mocker, subtests): + def test_estimator_basics(self, subtests): for lag_frames in range(5): with subtests.test(msg=f"lag_frames={lag_frames}"): - mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0) - process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) + process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) msg = estimator.get_msg(True) assert msg.liveDelay.status == 'estimated' assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01) @@ -116,18 +108,18 @@ class TestLagd: assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED - def test_estimator_masking(self, mocker): - mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19) + def test_estimator_masking(self): + mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19) estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1) - process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) + process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4) msg = estimator.get_msg(True) assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) @pytest.mark.skipif(PC, reason="only on device") @pytest.mark.timeout(60) - def test_estimator_performance(self, mocker): - mocked_CP = mocker.Mock(steerActuatorDelay=0.8) + def test_estimator_performance(self): + mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT) ds = [] From 9568f64c574cbe703f13285cfac32cb95cbdd19a Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 3 Jun 2025 13:15:08 +0900 Subject: [PATCH 417/477] Multilang: kor translation update (#35429) kor translation update --- selfdrive/ui/translations/main_ko.ts | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 0d91b06049..bdebdcab73 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -60,7 +60,7 @@ Cellular Metered - 데이터 요금제 + 모바일 데이터 종량제 Hidden Network @@ -84,27 +84,27 @@ Prevent large data uploads when on a metered cellular connection - + 모바일 데이터 종량제 사용 시 대용량 데이터 업로드 방지 default - + 기본 metered - + 종량제 unmetered - + 무제한 Wi-Fi Network Metered - + 제한된 Wi-Fi 네트워크 Prevent large data uploads when on a metered Wi-Fi connection - + 제한된 Wi-Fi 사용 시 대용량 데이터 업로드 방지 @@ -248,7 +248,7 @@ 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. - 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내의 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. @@ -308,11 +308,11 @@ Disengage to Reset Calibration - + 캘리브레이션을 재설정하려면 해제하세요 Resetting calibration will restart openpilot if the car is powered on. - + 차량이 전원이 켜진 경우 캘리브레이션 재설정이 오픈파일럿을 재시작합니다. @@ -1125,11 +1125,11 @@ This may take up to a minute. Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. - + ACC 및 차선 유지 지원을 위해 오픈파일럿 시스템을 사용하십시오. 이 기능을 사용하려면 항상주의를 기울여야합니다. Changing this setting will restart openpilot if the car is powered on. - + 이 설정을 변경하면 차량이 재가동된후 오픈파일럿이 시작됩니다. From 108790870ef3d307fc5d5518d1d50f75dcaea048 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Tue, 3 Jun 2025 01:18:34 -0300 Subject: [PATCH 418/477] Multilang: Update pt-BR translations. (#35428) --- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index e25f345ae7..e977ee7b58 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -308,11 +308,11 @@ Disengage to Reset Calibration - + Desacione para Resetar a Calibração Resetting calibration will restart openpilot if the car is powered on. - + Resetar a calibração fará com que o openpilot reinicie se o carro estiver ligado. @@ -1130,11 +1130,11 @@ Isso pode levar até um minuto. Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. - + Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. Changing this setting will restart openpilot if the car is powered on. - + Alterar esta configuração fará com que o openpilot reinicie se o carro estiver ligado. From 9c28583171ba3336f3c93d6e9d567263dda79ac5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 3 Jun 2025 00:28:55 -0400 Subject: [PATCH 419/477] ui: include MADS enabled state to `engaged` check (#976) * ui: include MADS enabled state to `engaged` check * let's bump it up --- selfdrive/ui/sunnypilot/ui.h | 5 +++++ selfdrive/ui/ui.h | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h index 08e1d37b0f..a94dfca3b3 100644 --- a/selfdrive/ui/sunnypilot/ui.h +++ b/selfdrive/ui/sunnypilot/ui.h @@ -20,6 +20,11 @@ class UIStateSP : public UIState { public: UIStateSP(QObject *parent = 0); void updateStatus() override; + inline bool engaged() const override { + return scene.started && ( + (*sm)["selfdriveState"].getSelfdriveState().getEnabled() || (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled() + ); + } void setSunnylinkRoles(const std::vector &roles); void setSunnylinkDeviceUsers(const std::vector &users); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 6ef4f8e6d9..4ead8aecb9 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -72,7 +72,7 @@ class UIState : public QObject { public: UIState(QObject* parent = 0); virtual void updateStatus(); - inline bool engaged() const { + virtual inline bool engaged() const { return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled(); } From 6f6adc10a83aa5ab775a2b0aaebb7ab4396f4268 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Jun 2025 21:29:05 -0700 Subject: [PATCH 420/477] lagd: disable in release (#35426) * disable in release * pass * one liner * Update selfdrive/locationd/lagd.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * test --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- selfdrive/locationd/lagd.py | 11 ++++++++--- selfdrive/locationd/test/test_lagd.py | 12 ++++++++++++ 2 files changed, 20 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index a61793e223..e070c16b1c 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -157,7 +157,8 @@ class LateralLagEstimator: block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC, - max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE): + max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE, + enabled: bool = True): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -172,6 +173,7 @@ class LateralLagEstimator: self.min_confidence = min_confidence self.max_lat_accel = max_lat_accel self.max_lat_accel_diff = max_lat_accel_diff + self.enabled = enabled self.t = 0.0 self.lat_active = False @@ -206,7 +208,7 @@ class LateralLagEstimator: liveDelay = msg.liveDelay valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get() - if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): + if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): if valid_std > MAX_LAG_STD: liveDelay.status = log.LiveDelayData.Status.invalid else: @@ -367,7 +369,10 @@ def main(): params = Params() CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) - lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) + # TODO: remove me, lagd is in shadow mode on release + is_release = params.get_bool("IsReleaseBranch") + + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release) if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None: lag, valid_blocks = initial_lag_params lag_learner.reset(lag, valid_blocks) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index aad8cff229..a7f9c75ab4 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -108,6 +108,18 @@ class TestLagd: assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + def test_disabled_estimator(self): + mocked_CP = car.CarParams(steerActuatorDelay=0.8) + estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False) + lag_frames = 5 + process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) + msg = estimator.get_msg(True) + assert msg.liveDelay.status == 'unestimated' + assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) + assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) + assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED + def test_estimator_masking(self): mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19) estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1) From f78ba72a85c4509d4c14b80e96c00804ee7a0844 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 3 Jun 2025 12:32:13 +0800 Subject: [PATCH 421/477] ui: add timeout check for unresponsive system detection (#35433) add time out to check if messages have stopped arriving --- selfdrive/ui/onroad/alert_renderer.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index cc1b49a6a4..8efee54373 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -3,7 +3,7 @@ import pyray as rl from dataclasses import dataclass from cereal import messaging, log from openpilot.system.hardware import TICI -from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEBUG_FPS from openpilot.system.ui.lib.label import gui_text_box from openpilot.selfdrive.ui.ui_state import ui_state @@ -70,17 +70,21 @@ class AlertRenderer: """Generate the current alert based on selfdrive state.""" ss = sm['selfdriveState'] - # Check if waiting to start - if sm.recv_frame['selfdriveState'] < ui_state.started_frame: - return ALERT_STARTUP_PENDING + # Check if selfdriveState messages have stopped arriving + if not sm.updated['selfdriveState']: + recv_frame = sm.recv_frame['selfdriveState'] + if (sm.frame - recv_frame) > 5 * DEBUG_FPS: + # Check if waiting to start + if recv_frame < ui_state.started_frame: + return ALERT_STARTUP_PENDING - # Handle selfdrive timeout - if TICI: - ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] - if ss_missing > SELFDRIVE_STATE_TIMEOUT: - if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: - return ALERT_CRITICAL_TIMEOUT - return ALERT_CRITICAL_REBOOT + # Handle selfdrive timeout + if TICI: + ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] + if ss_missing > SELFDRIVE_STATE_TIMEOUT: + if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT: + return ALERT_CRITICAL_TIMEOUT + return ALERT_CRITICAL_REBOOT # No alert if size is none if ss.alertSize == 0: From 5505338ffbf080b8d2b060271a256856a38322ec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 2 Jun 2025 21:54:37 -0700 Subject: [PATCH 422/477] model replay: less frames and less complexity (#35427) * Revert "ci: faster model_replay (#34036)" This reverts commit 847a5ce1f3ea18648e1483d2fb6e831f0cdbd40c. * fix conflict * trigger on test change * zst * give start and end frame * unused flags * no print * whitespace * fix plotting * slice correct * no print * Just start from beginning --- selfdrive/test/process_replay/model_replay.py | 68 ++++++------------- tools/lib/framereader.py | 22 ------ 2 files changed, 20 insertions(+), 70 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 0578a61588..201baf6b0e 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -15,15 +15,15 @@ from openpilot.system.hardware import PC from openpilot.tools.lib.openpilotci import get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process -from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader +from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader, save_log from openpilot.tools.lib.github_utils import GithubUtils TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404" SEGMENT = 4 -MAX_FRAMES = 100 if PC else 400 +START_FRAME = 0 +END_FRAME = 60 -NO_MODEL = "NO_MODEL" in os.environ SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0"))) DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","") @@ -125,16 +125,15 @@ def comment_replay_report(proposed, master, full_logs): comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots GITHUB.comment_on_pr(comment, PR_BRANCH, "commaci-public", True) -def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): +def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types): all_msgs = [] cam_state_counts = defaultdict(int) - # keep adding messages until cam states are equal to MAX_FRAMES for msg in sorted(logs, key=lambda m: m.logMonoTime): - all_msgs.append(msg) if msg.which() in frs_types: cam_state_counts[msg.which()] += 1 - - if all(cam_state_counts[state] == max_frames for state in frs_types): + if any(cam_state_counts[state] >= start_frame for state in frs_types): + all_msgs.append(msg) + if all(cam_state_counts[state] == end_frame for state in frs_types): break if len(include_all_types) != 0: @@ -146,9 +145,9 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): def model_replay(lr, frs): # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, - {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"}) - dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) + modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"}, + {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"}) + dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"}) if not SEND_EXTRA_INPUTS: modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration'] @@ -165,9 +164,6 @@ def model_replay(lr, frs): dmonitoringmodeld = get_process_config("dmonitoringmodeld") modeld_msgs = replay_process(modeld, modeld_logs, frs) - if isinstance(frs['roadCameraState'], NumpyFrameReader): - del frs['roadCameraState'].frames - del frs['wideRoadCameraState'].frames dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs) msgs = modeld_msgs + dmonitoringmodeld_msgs @@ -198,42 +194,21 @@ def model_replay(lr, frs): return msgs -def get_frames(): - regen_cache = "--regen-cache" in sys.argv - cache = "--cache" in sys.argv or not PC or regen_cache - videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc') - cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') - - if cache: - frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache' - os.makedirs(frames_cache, exist_ok=True) - - cache_size = 200 - for v in videos: - if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache: - f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12") - print(f'Caching {v}...') - for i in range(MAX_FRAMES//cache_size): - np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1]) - del f - - return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)} - else: - return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)} - - if __name__ == "__main__": update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master') replay_dir = os.path.dirname(os.path.abspath(__file__)) # load logs lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst"))) - frs = get_frames() + frs = { + 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True), + 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True), + 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True) + } log_msgs = [] # run replays - if not NO_MODEL: - log_msgs += model_replay(lr, frs) + log_msgs += model_replay(lr, frs) # get diff failed = False @@ -242,13 +217,10 @@ if __name__ == "__main__": try: all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn))) cmp_log = [] - - # logs are ordered based on type: modelV2, drivingModelData, driverStateV2 - if not NO_MODEL: - model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) - cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3] - dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") - cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] + model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) + cmp_log += all_logs[model_start_index+START_FRAME*3:model_start_index + END_FRAME*3] + dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") + cmp_log += all_logs[dmon_start_index+START_FRAME:dmon_start_index + END_FRAME] ignore = [ 'logMonoTime', diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 7c01992a28..275b9b65b8 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -535,25 +535,3 @@ def FrameIterator(fn, pix_fmt, **kwargs): else: for i in range(fr.frame_count): yield fr.get(i, pix_fmt=pix_fmt)[0] - - -class NumpyFrameReader: - def __init__(self, name, w, h, cache_size): - self.name = name - self.pos = -1 - self.frames = None - self.w = w - self.h = h - self.cache_size = cache_size - - def close(self): - pass - - def get(self, num, count=1, pix_fmt="nv12"): - num -= 1 - q = num // self.cache_size - if q != self.pos: - del self.frames - self.pos = q - self.frames = np.load(f'{self.name}_{self.pos}.npy') - return [self.frames[num % self.cache_size]] From c7767bddfe3b1f29c601d07ebbbcee2824587dd6 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 3 Jun 2025 04:12:08 -0700 Subject: [PATCH 423/477] UI: prep for custom model rendering (#920) * Refactor and extend ModelRenderer for custom Sunnypilot logic Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components. * Update selfdrive/ui/sunnypilot/qt/onroad/model.cc * Refactor `ModelRenderer` for modularity Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes. * Cleaning logic on ModelRenderSP Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation --------- Co-authored-by: DevTekVE Co-authored-by: Jason Wen --- selfdrive/ui/qt/onroad/annotated_camera.h | 2 ++ selfdrive/ui/qt/onroad/model.cc | 15 +-------------- selfdrive/ui/qt/onroad/model.h | 22 ++++++++++++++++++++-- selfdrive/ui/sunnypilot/qt/onroad/model.h | 2 +- 4 files changed, 24 insertions(+), 17 deletions(-) diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 219b39546f..e3ca837907 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -9,7 +9,9 @@ #ifdef SUNNYPILOT #include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h" #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h" +#include "selfdrive/ui/sunnypilot/qt/onroad/model.h" #define ExperimentalButton ExperimentalButtonSP +#define ModelRenderer ModelRendererSP #else #include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/onroad/hud.h" diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index 52902abdc8..dc801e591f 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -1,18 +1,5 @@ #include "selfdrive/ui/qt/onroad/model.h" -constexpr int CLIP_MARGIN = 500; -constexpr float MIN_DRAW_DISTANCE = 10.0; -constexpr float MAX_DRAW_DISTANCE = 100.0; - -static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { - const auto &line_x = line.getX(); - int max_idx = 0; - for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { - max_idx = i; - } - return max_idx; -} - void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { auto *s = uiState(); auto &sm = *(s->sm); @@ -35,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { update_model(model, lead_one); drawLaneLines(painter); - drawPath(painter, model, surface_rect.height()); + drawPath(painter, model, surface_rect); if (longitudinal_control && sm.alive("radarState")) { update_leads(radar_state, model.getPosition()); diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index 7e1b43acb4..85eb236e76 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -9,21 +9,39 @@ #include "selfdrive/ui/ui.h" #endif +constexpr int CLIP_MARGIN = 500; +constexpr float MIN_DRAW_DISTANCE = 10.0; +constexpr float MAX_DRAW_DISTANCE = 100.0; + +inline int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { + const auto &line_x = line.getX(); + int max_idx = 0; + for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { + max_idx = i; + } + return max_idx; +} + class ModelRenderer { public: + virtual ~ModelRenderer() = default; + ModelRenderer() {} void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; } void draw(QPainter &painter, const QRect &surface_rect); -private: +protected: bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out); void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert = true); void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect); void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); - void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); + virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); void drawLaneLines(QPainter &painter); void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height); + virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {; + drawPath(painter, model, surface_rect.height()); + } void updatePathGradient(QLinearGradient &bg); QColor blendColors(const QColor &start, const QColor &end, float t); diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h index e8594629cb..8569e58f66 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h @@ -11,5 +11,5 @@ class ModelRendererSP : public ModelRenderer { public: - ModelRendererSP() {} + ModelRendererSP() = default; }; From 10dc40db04d29260ffcc6684d5271aab2c659687 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 02:07:42 +0800 Subject: [PATCH 424/477] ui: fill the bg with disengaged color if not started (#35434) fill the bg with disengaged color if not started --- selfdrive/ui/onroad/augmented_road_view.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index f987d70c9c..58ba822e35 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -45,7 +45,8 @@ class AugmentedRoadView(CameraView): def render(self, rect): # Only render when system is started to avoid invalid data access - if not ui_state.started: + if not ui_state.started or not self.frame: + rl.draw_rectangle_rec(rect, BORDER_COLORS[UIStatus.DISENGAGED]) return # Update calibration before rendering From e6f55a7eea008f042a76e82fa340e6ffbff4e510 Mon Sep 17 00:00:00 2001 From: Nayan Date: Tue, 3 Jun 2025 16:05:02 -0400 Subject: [PATCH 425/477] ui: visuals panel (#919) --- selfdrive/ui/sunnypilot/SConscript | 1 + .../sunnypilot/qt/offroad/settings/settings.cc | 2 ++ .../qt/offroad/settings/visuals_panel.cc | 12 ++++++++++++ .../qt/offroad/settings/visuals_panel.h | 18 ++++++++++++++++++ selfdrive/ui/tests/test_ui/run.py | 7 +++++++ .../selfdrive/assets/offroad/icon_visuals.png | 3 +++ 6 files changed, 43 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_visuals.png diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index b5d18c5b91..0353c9babd 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -31,6 +31,7 @@ qt_src = [ "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc", "sunnypilot/qt/offroad/settings/trips_panel.cc", "sunnypilot/qt/offroad/settings/vehicle_panel.cc", + "sunnypilot/qt/offroad/settings/visuals_panel.cc", "sunnypilot/qt/onroad/annotated_camera.cc", "sunnypilot/qt/onroad/buttons.cc", "sunnypilot/qt/onroad/hud.cc", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index ad057ac714..e91de4c903 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -20,6 +20,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h" TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) { QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState); @@ -83,6 +84,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { 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("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"), diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc new file mode 100644 index 0000000000..cf9729be18 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -0,0 +1,12 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h" + +VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { + +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h new file mode 100644 index 0000000000..9f58104c4e --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h @@ -0,0 +1,18 @@ +/** + * 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 VisualsPanel : public QWidget { + Q_OBJECT + +public: + explicit VisualsPanel(QWidget *parent = nullptr); + +}; diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 0b9d266ad6..536917a1a6 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -252,6 +252,12 @@ def setup_settings_driving(click, pm: PubMaster, scroll=None): click(278, 962) time.sleep(UI_DELAY) +def setup_settings_visuals(click, pm: PubMaster, scroll=None): + setup_settings_device(click, pm) + scroll(-400, 278, 962) + click(278, 560) + time.sleep(UI_DELAY) + def setup_settings_trips(click, pm: PubMaster, scroll=None): setup_settings_device(click, pm) scroll(-400, 278, 962) @@ -307,6 +313,7 @@ CASES.update({ "settings_steering_mads": setup_settings_steering_mads, "settings_steering_alc": setup_settings_steering_alc, "settings_driving": setup_settings_driving, + "settings_visuals": setup_settings_visuals, "settings_trips": setup_settings_trips, "settings_vehicle": setup_settings_vehicle, }) diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png new file mode 100644 index 0000000000..3cc9c3b145 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ecaac6fb687fcab3300d1fe2dfea96fb49734d634a663e2c02ee0b26ebd773e +size 20632 From da58feb869fef108f2d4c5e9d1b90dcfe661ff96 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 04:08:10 +0800 Subject: [PATCH 426/477] system/ui: fix wifi network icon resize artifacts (#35440) fix wifi network icon resize artifacts --- system/ui/widgets/network.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 46274dbf7e..80f55ebf56 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -15,7 +15,7 @@ NM_DEVICE_STATE_NEED_AUTH = 60 MIN_PASSWORD_LENGTH = 8 MAX_PASSWORD_LENGTH = 64 ITEM_HEIGHT = 160 -ICON_SIZE = 49 +ICON_SIZE = 50 STRENGTH_ICONS = [ "icons/wifi_strength_low.png", From 928dc6259b6e1cec383cd02038ff27f7dd2f9ea5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 14:51:15 -0700 Subject: [PATCH 427/477] Revert "ui: fill the bg with disengaged color if not started" (#35441) Revert "ui: fill the bg with disengaged color if not started (#35434)" This reverts commit 10dc40db04d29260ffcc6684d5271aab2c659687. --- selfdrive/ui/onroad/augmented_road_view.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 58ba822e35..f987d70c9c 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -45,8 +45,7 @@ class AugmentedRoadView(CameraView): def render(self, rect): # Only render when system is started to avoid invalid data access - if not ui_state.started or not self.frame: - rl.draw_rectangle_rec(rect, BORDER_COLORS[UIStatus.DISENGAGED]) + if not ui_state.started: return # Update calibration before rendering From ae8076e729b5e293b11b07055c80acdcc4282f64 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 05:51:56 +0800 Subject: [PATCH 428/477] selfdrive/ui: add experimental mode toggle button with visual indicator (#35439) add experimental mode toggle button with visual indicator --- selfdrive/ui/onroad/hud_renderer.py | 55 ++++++++++++++++++++++++----- 1 file changed, 47 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index ed0b7cc974..c2482771de 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -4,6 +4,7 @@ from cereal.messaging import SubMaster from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params # Constants SET_SPEED_NA = 255 @@ -61,8 +62,17 @@ class HudRenderer: self.set_speed: float = SET_SPEED_NA self.speed: float = 0.0 self.v_ego_cluster_seen: bool = False + self._experimental_mode: bool = False + self._engageable: bool = False + self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} + + self._white_color: rl.Color = rl.Color(255, 255, 255, 255) self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._experimental_texture: rl.Texture = gui_app.texture('icons/experimental.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) + self._wheel_rect: rl.Rectangle = rl.Rectangle(0, 0, UI_CONFIG.button_size, UI_CONFIG.button_size) + self._params = Params() + 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) @@ -94,9 +104,15 @@ class HudRenderer: speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH self.speed = max(0.0, v_ego * speed_conversion) + selfdrive_state = sm["selfdriveState"] + self._experimental_mode = selfdrive_state.experimentalMode + self._engageable = selfdrive_state.engageable or selfdrive_state.enabled + def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None: """Render HUD elements to the screen.""" self._update_state(sm) + + # Draw the header background rl.draw_rectangle_gradient_v( int(rect.x), int(rect.y), @@ -110,7 +126,17 @@ class HudRenderer: self._draw_set_speed(rect) self._draw_current_speed(rect) - self._draw_wheel_icon(rect) + + self._wheel_rect.x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size + self._wheel_rect.y = rect.y + UI_CONFIG.border_size + self._handle_click() + self._draw_wheel_icon() + + def _handle_click(self) -> None: + if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)): + if self._experimental_toggle_allowed(): + self._params.putBool("ExperimentalMode", not self._experimental_mode) def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" @@ -167,15 +193,18 @@ class HudRenderer: 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: + def _draw_wheel_icon(self) -> 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) + center_x = int(self._wheel_rect.x + self._wheel_rect.width // 2) + center_y = int(self._wheel_rect.y + self._wheel_rect.height // 2) - opacity = 0.7 if ui_state.status == UIStatus.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))) + mouse_down = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)) + self._white_color.a = 180 if (mouse_down or not self._engageable) else 255 + texture = self._experimental_texture if self._experimental_mode else self._wheel_texture + + rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent) + rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2: """Measure text dimensions with caching.""" @@ -183,3 +212,13 @@ class HudRenderer: 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] + + def _experimental_toggle_allowed(self): + if not self._params.get_bool("ExperimentalModeConfirmed"): + return False + + car_params = ui_state.sm["carParams"] + if car_params.alphaLongitudinalAvailable: + return self._params.get_bool("AlphaLongitudinalEnabled") + else: + return car_params.openpilotLongitudinalControl From 68b043606c20e43acd66960db19784562726aa65 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 05:52:43 +0800 Subject: [PATCH 429/477] ui: fix alert timeout detection using wrong FPS constant (#35438) fix alert timeiout detection using wrong FPS constant --- selfdrive/ui/onroad/alert_renderer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index 8efee54373..37276b11a4 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -3,7 +3,7 @@ import pyray as rl from dataclasses import dataclass from cereal import messaging, log from openpilot.system.hardware import TICI -from openpilot.system.ui.lib.application import gui_app, FontWeight, DEBUG_FPS +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS from openpilot.system.ui.lib.label import gui_text_box from openpilot.selfdrive.ui.ui_state import ui_state @@ -73,7 +73,7 @@ class AlertRenderer: # Check if selfdriveState messages have stopped arriving if not sm.updated['selfdriveState']: recv_frame = sm.recv_frame['selfdriveState'] - if (sm.frame - recv_frame) > 5 * DEBUG_FPS: + if (sm.frame - recv_frame) > 5 * DEFAULT_FPS: # Check if waiting to start if recv_frame < ui_state.started_frame: return ALERT_STARTUP_PENDING From fb6243688dd508f9e467ad7a83b52e73d4219758 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 14:53:26 -0700 Subject: [PATCH 430/477] raylib: rename DEBUG_FPS --- system/ui/README.md | 2 +- system/ui/lib/application.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/system/ui/README.md b/system/ui/README.md index c71b77ab66..85d32bfd6c 100644 --- a/system/ui/README.md +++ b/system/ui/README.md @@ -3,7 +3,7 @@ The user interfaces here are built with [raylib](https://www.raylib.com/). Quick start: -* set `DEBUG_FPS=1` to show the FPS +* set `SHOW_FPS=1` to show the FPS * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps * set `SCALE=1.5` to scale the entire UI by 1.5x * https://www.raylib.com/cheatsheet/cheatsheet.html diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index fcef55d531..c2d6ac8e2c 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -13,7 +13,7 @@ FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1" -DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' +SHOW_FPS = os.getenv("SHOW_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' SCALE = float(os.getenv("SCALE", "1.0")) @@ -158,7 +158,7 @@ class GuiApplication: dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height)) rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) - if DEBUG_FPS: + if SHOW_FPS: rl.draw_fps(10, 10) rl.end_drawing() From 2dcab07be7d087cd381c0256817025aac3004fc6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 14:59:07 -0700 Subject: [PATCH 431/477] Revert "selfdrive/ui: add experimental mode toggle button with visual indicator" (#35442) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "selfdrive/ui: add experimental mode toggle button with visual indicat…" This reverts commit ae8076e729b5e293b11b07055c80acdcc4282f64. --- selfdrive/ui/onroad/hud_renderer.py | 55 +++++------------------------ 1 file changed, 8 insertions(+), 47 deletions(-) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index c2482771de..ed0b7cc974 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -4,7 +4,6 @@ from cereal.messaging import SubMaster from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params # Constants SET_SPEED_NA = 255 @@ -62,17 +61,8 @@ class HudRenderer: self.set_speed: float = SET_SPEED_NA self.speed: float = 0.0 self.v_ego_cluster_seen: bool = False - self._experimental_mode: bool = False - self._engageable: bool = False - self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {} - - self._white_color: rl.Color = rl.Color(255, 255, 255, 255) self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) - self._experimental_texture: rl.Texture = gui_app.texture('icons/experimental.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size) - self._wheel_rect: rl.Rectangle = rl.Rectangle(0, 0, UI_CONFIG.button_size, UI_CONFIG.button_size) - self._params = Params() - 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) @@ -104,15 +94,9 @@ class HudRenderer: speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH self.speed = max(0.0, v_ego * speed_conversion) - selfdrive_state = sm["selfdriveState"] - self._experimental_mode = selfdrive_state.experimentalMode - self._engageable = selfdrive_state.engageable or selfdrive_state.enabled - def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None: """Render HUD elements to the screen.""" self._update_state(sm) - - # Draw the header background rl.draw_rectangle_gradient_v( int(rect.x), int(rect.y), @@ -126,17 +110,7 @@ class HudRenderer: self._draw_set_speed(rect) self._draw_current_speed(rect) - - self._wheel_rect.x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size - self._wheel_rect.y = rect.y + UI_CONFIG.border_size - self._handle_click() - self._draw_wheel_icon() - - def _handle_click(self) -> None: - if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and - rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)): - if self._experimental_toggle_allowed(): - self._params.putBool("ExperimentalMode", not self._experimental_mode) + self._draw_wheel_icon(rect) def _draw_set_speed(self, rect: rl.Rectangle) -> None: """Draw the MAX speed indicator box.""" @@ -193,18 +167,15 @@ class HudRenderer: 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) -> None: + def _draw_wheel_icon(self, rect: rl.Rectangle) -> None: """Draw the steering wheel icon with status-based opacity.""" - center_x = int(self._wheel_rect.x + self._wheel_rect.width // 2) - center_y = int(self._wheel_rect.y + self._wheel_rect.height // 2) - - mouse_down = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and - rl.check_collision_point_rec(rl.get_mouse_position(), self._wheel_rect)) - self._white_color.a = 180 if (mouse_down or not self._engageable) else 255 - texture = self._experimental_texture if self._experimental_mode else self._wheel_texture - + 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) - rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) + + opacity = 0.7 if ui_state.status == UIStatus.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.""" @@ -212,13 +183,3 @@ class HudRenderer: 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] - - def _experimental_toggle_allowed(self): - if not self._params.get_bool("ExperimentalModeConfirmed"): - return False - - car_params = ui_state.sm["carParams"] - if car_params.alphaLongitudinalAvailable: - return self._params.get_bool("AlphaLongitudinalEnabled") - else: - return car_params.openpilotLongitudinalControl From 4c8f15221e97a17f2d83454363a099b7f379b2d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Jun 2025 22:07:52 -0700 Subject: [PATCH 432/477] Tesla: move safety out of debug (#35447) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index f01c4b82b1..0d7fef4422 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f01c4b82b1cd41ef8053a038ad631bbd31105fc6 +Subproject commit 0d7fef4422456aeb456fa895da1617a1f61f6896 From fc0bb721472a8f3ad91e824bf8279f2e763c2884 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 14:06:46 +0800 Subject: [PATCH 433/477] selfdrive/ui: enable conflate mode in VisionIpcClient to prevent stale frame rendering (#35445) use conflate mode in VisionIpcClient to prevent stale frame rendering --- selfdrive/ui/onroad/cameraview.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index 329b8349ba..d59e7b0a48 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -57,7 +57,7 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): - self.client = VisionIpcClient(name, stream_type, False) + self.client = VisionIpcClient(name, stream_type, conflate=True) self._name = name self._stream_type = stream_type @@ -90,7 +90,7 @@ class CameraView: self._clear_textures() self.frame = None self._stream_type = stream_type - self.client = VisionIpcClient(self._name, stream_type, False) + self.client = VisionIpcClient(self._name, stream_type, conflate=True) @property def stream_type(self) -> VisionStreamType: From 7ee50e7b870a753e65714b5127fabf4ecbdce3a7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 14:07:29 +0800 Subject: [PATCH 434/477] system/ui: add text measurement caching (#35436) --- selfdrive/ui/onroad/alert_renderer.py | 10 ++-------- selfdrive/ui/onroad/hud_renderer.py | 17 +++++------------ system/ui/lib/text_measure.py | 13 +++++++++++++ 3 files changed, 20 insertions(+), 20 deletions(-) create mode 100644 system/ui/lib/text_measure.py diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index 37276b11a4..7b0128271e 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -5,6 +5,7 @@ from cereal import messaging, log from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS from openpilot.system.ui.lib.label import gui_text_box +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.selfdrive.ui.ui_state import ui_state @@ -64,7 +65,6 @@ class AlertRenderer: def __init__(self): 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 get_alert(self, sm: messaging.SubMaster) -> Alert | None: """Generate the current alert based on selfdrive state.""" @@ -152,14 +152,8 @@ class AlertRenderer: text_rect.y = rect.y + rect.height // 2 gui_text_box(text_rect, alert.text2, ALERT_FONT_BIG, alignment=align_ment) - def _measure_text(self, font: rl.Font, text: str, font_size: int, font_type: str) -> rl.Vector2: - 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] - def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None: - text_size = self._measure_text(font, text, font_size, 'bold' if font == self.font_bold else 'regular') + text_size = measure_text_cached(font, text, font_size) x = rect.x + (rect.width - text_size.x) / 2 y = rect.y + ((rect.height - text_size.y) / 2 if center_y else 0) rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index ed0b7cc974..0e893acfe9 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -3,6 +3,7 @@ from dataclasses import dataclass from cereal.messaging import SubMaster from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.common.conversions import Conversions as CV # Constants @@ -61,7 +62,6 @@ class HudRenderer: 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) @@ -134,7 +134,7 @@ class HudRenderer: max_color = COLORS.override max_text = "MAX" - max_text_width = self._measure_text(max_text, self._font_semi_bold, FONT_SIZES.max_speed, 'semi_bold').x + max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x rl.draw_text_ex( self._font_semi_bold, max_text, @@ -145,7 +145,7 @@ class HudRenderer: ) set_speed_text = CRUISE_DISABLED_CHAR 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 + speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x rl.draw_text_ex( self._font_bold, set_speed_text, @@ -158,12 +158,12 @@ class HudRenderer: 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_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed) speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) unit_text = "km/h" if ui_state.is_metric else "mph" - unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium') + unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit) unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent) @@ -176,10 +176,3 @@ class HudRenderer: opacity = 0.7 if ui_state.status == UIStatus.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/lib/text_measure.py b/system/ui/lib/text_measure.py new file mode 100644 index 0000000000..9cdd566409 --- /dev/null +++ b/system/ui/lib/text_measure.py @@ -0,0 +1,13 @@ +import pyray as rl + +_cache: dict[int, rl.Vector2] = {} + + +def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: int = 0) -> rl.Vector2: + key = hash((font.texture.id, text, font_size, spacing)) + if key in _cache: + return _cache[key] + + result = rl.measure_text_ex(font, text, font_size, spacing) + _cache[key] = result + return result From 2e41d959ac8610f2a91d28627c0f1357b1089453 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 4 Jun 2025 14:12:36 +0800 Subject: [PATCH 435/477] ui: add main UI entry point (#35422) * add new main UI entry point * cleanup * mv to selfdrive/ui * fix imports * handle_mouse_click * use ui_state * remove ui_state from gui_app * setup callbacks * handle clicks * put layouts in a dict * update state in render * rebase master * implement settings sidebar * rename files --- selfdrive/ui/layouts/__init__.py | 0 selfdrive/ui/layouts/home.py | 17 ++ selfdrive/ui/layouts/main.py | 92 +++++++++ selfdrive/ui/layouts/settings/settings.py | 174 +++++++++++++++++ selfdrive/ui/layouts/sidebar.py | 207 +++++++++++++++++++++ selfdrive/ui/onroad/augmented_road_view.py | 2 +- selfdrive/ui/ui.py | 20 ++ 7 files changed, 511 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/layouts/__init__.py create mode 100644 selfdrive/ui/layouts/home.py create mode 100644 selfdrive/ui/layouts/main.py create mode 100644 selfdrive/ui/layouts/settings/settings.py create mode 100644 selfdrive/ui/layouts/sidebar.py create mode 100755 selfdrive/ui/ui.py diff --git a/selfdrive/ui/layouts/__init__.py b/selfdrive/ui/layouts/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py new file mode 100644 index 0000000000..56df253b52 --- /dev/null +++ b/selfdrive/ui/layouts/home.py @@ -0,0 +1,17 @@ +import pyray as rl +from openpilot.system.ui.lib.label import gui_text_box + + +class HomeLayout: + def __init__(self): + pass + + def render(self, rect: rl.Rectangle): + gui_text_box( + rect, + "Demo Home Layout", + font_size=170, + color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py new file mode 100644 index 0000000000..2096480f22 --- /dev/null +++ b/selfdrive/ui/layouts/main.py @@ -0,0 +1,92 @@ +import pyray as rl +from enum import IntEnum +from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH +from openpilot.selfdrive.ui.layouts.home import HomeLayout +from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView + + +class MainState(IntEnum): + HOME = 0 + SETTINGS = 1 + ONROAD = 2 + + +class MainLayout: + def __init__(self): + self._sidebar = Sidebar() + self._sidebar_visible = True + self._current_mode = MainState.HOME + self._prev_onroad = False + self._window_rect = None + self._current_callback: callable | None = None + + # Initialize layouts + self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()} + + self._sidebar_rect = rl.Rectangle(0, 0, 0, 0) + self._content_rect = rl.Rectangle(0, 0, 0, 0) + + # Set callbacks + self._setup_callbacks() + + def render(self, rect): + self._current_callback = None + + self._update_layout_rects(rect) + self._render_main_content() + self._handle_input() + + if self._current_callback: + self._current_callback() + + def _setup_callbacks(self): + self._sidebar.set_callbacks( + on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked), + on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked), + ) + self._layouts[MainState.SETTINGS].set_callbacks( + on_close=lambda: setattr(self, '_current_callback', self._on_settings_closed) + ) + + def _update_layout_rects(self, rect): + self._window_rect = rect + self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height) + + x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0 + self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height) + + def _on_settings_clicked(self): + self._current_mode = MainState.SETTINGS + self._sidebar_visible = False + + def _on_settings_closed(self): + self._current_mode = MainState.HOME if not ui_state.started else MainState.ONROAD + self._sidebar_visible = True + + def _on_flag_clicked(self): + pass + + def _render_main_content(self): + # Render sidebar + if self._sidebar_visible: + self._sidebar.render(self._sidebar_rect) + + if ui_state.started != self._prev_onroad: + self._prev_onroad = ui_state.started + if ui_state.started: + self._current_mode = MainState.ONROAD + else: + self._current_mode = MainState.HOME + + content_rect = self._content_rect if self._sidebar_visible else self._window_rect + self._layouts[self._current_mode].render(content_rect) + + def _handle_input(self): + if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + return + + mouse_pos = rl.get_mouse_position() + if rl.check_collision_point_rec(mouse_pos, self._content_rect): + self._sidebar_visible = not self._sidebar_visible diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py new file mode 100644 index 0000000000..6a9a50b855 --- /dev/null +++ b/selfdrive/ui/layouts/settings/settings.py @@ -0,0 +1,174 @@ +import pyray as rl +from dataclasses import dataclass +from enum import IntEnum +from collections.abc import Callable +from openpilot.common.params import Params +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.label import gui_text_box + +# Import individual panels + +SETTINGS_CLOSE_TEXT = "X" +# Constants +SIDEBAR_WIDTH = 500 +CLOSE_BTN_SIZE = 200 +NAV_BTN_HEIGHT = 80 +PANEL_MARGIN = 50 +SCROLL_SPEED = 30 + +# Colors +SIDEBAR_COLOR = rl.BLACK +PANEL_COLOR = rl.Color(41, 41, 41, 255) +CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255) +CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255) +TEXT_NORMAL = rl.Color(128, 128, 128, 255) +TEXT_SELECTED = rl.Color(255, 255, 255, 255) +TEXT_PRESSED = rl.Color(173, 173, 173, 255) + + +class PanelType(IntEnum): + DEVICE = 0 + NETWORK = 1 + TOGGLES = 2 + SOFTWARE = 3 + FIREHOSE = 4 + DEVELOPER = 5 + + +@dataclass +class PanelInfo: + name: str + instance: object + button_rect: rl.Rectangle + + +class SettingsLayout: + def __init__(self): + self._params = Params() + self._current_panel = PanelType.DEVICE + self._close_btn_pressed = False + self._scroll_offset = 0.0 + self._max_scroll = 0.0 + + # Panel configuration + self._panels = { + PanelType.DEVICE: PanelInfo("Device", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.TOGGLES: PanelInfo("Toggles", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.SOFTWARE: PanelInfo("Software", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.DEVELOPER: PanelInfo("Developer", None, rl.Rectangle(0, 0, 0, 0)), + } + + self._font_medium = gui_app.font(FontWeight.MEDIUM) + self._font_bold = gui_app.font(FontWeight.SEMI_BOLD) + + # Callbacks + self._close_callback: Callable | None = None + + def set_callbacks(self, on_close: Callable): + self._close_callback = on_close + + def render(self, rect: rl.Rectangle): + # Calculate layout + sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height) + panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height) + + # Draw components + self._draw_sidebar(sidebar_rect) + self._draw_current_panel(panel_rect) + + if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + self.handle_mouse_release(rl.get_mouse_position()) + + def _draw_sidebar(self, rect: rl.Rectangle): + rl.draw_rectangle_rec(rect, SIDEBAR_COLOR) + + # Close button + close_btn_rect = rl.Rectangle( + rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 45, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE + ) + + close_color = CLOSE_BTN_PRESSED if self._close_btn_pressed else CLOSE_BTN_COLOR + rl.draw_rectangle_rounded(close_btn_rect, 0.5, 20, close_color) + close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0) + close_text_pos = rl.Vector2( + close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2, + close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2 - 20, + ) + rl.draw_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, close_text_pos, 140, 0, TEXT_SELECTED) + + # Store close button rect for click detection + self._close_btn_rect = close_btn_rect + + # Navigation buttons + nav_start_y = rect.y + 300 + button_spacing = 20 + + i = 0 + for panel_type, panel_info in self._panels.items(): + button_rect = rl.Rectangle( + rect.x + 50, + nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing), + rect.width - 150, # Right-aligned with margin + NAV_BTN_HEIGHT, + ) + + # Button styling + is_selected = panel_type == self._current_panel + text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL + + # Draw button text (right-aligned) + text_size = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0) + text_pos = rl.Vector2( + button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(self._font_medium, panel_info.name, text_pos, 65, 0, text_color) + + # Store button rect for click detection + panel_info.button_rect = button_rect + i += 1 + + def _draw_current_panel(self, rect: rl.Rectangle): + content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50) + rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR) + gui_text_box( + content_rect, + f"Demo {self._panels[self._current_panel].name} Panel", + font_size=170, + color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) + + def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: + # Check close button + if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect): + self._close_btn_pressed = True + if self._close_callback: + self._close_callback() + return True + + # Check navigation buttons + for panel_type, panel_info in self._panels.items(): + if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect): + self._switch_to_panel(panel_type) + return True + + return False + + def _switch_to_panel(self, panel_type: PanelType): + if panel_type != self._current_panel: + self._current_panel = panel_type + self._scroll_offset = 0.0 # Reset scroll when switching panels + self._transition_progress = 0.0 + self._transitioning = True + + def set_current_panel(self, index: int, param: str = ""): + panel_types = list(self._panels.keys()) + if 0 <= index < len(panel_types): + self._switch_to_panel(panel_types[index]) + + def close_settings(self): + if self._close_callback: + self._close_callback() diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py new file mode 100644 index 0000000000..eeb073e67b --- /dev/null +++ b/selfdrive/ui/layouts/sidebar.py @@ -0,0 +1,207 @@ +import pyray as rl +import time +from dataclasses import dataclass +from collections.abc import Callable +from cereal import log +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight + +SIDEBAR_WIDTH = 300 +METRIC_HEIGHT = 126 +METRIC_WIDTH = 240 +METRIC_MARGIN = 30 + +SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117) +HOME_BTN = rl.Rectangle(60, 860, 180, 180) + +ThermalStatus = log.DeviceState.ThermalStatus +NetworkType = log.DeviceState.NetworkType + +# Color scheme +class Colors: + SIDEBAR_BG = rl.Color(57, 57, 57, 255) + WHITE = rl.Color(255, 255, 255, 255) + WHITE_DIM = rl.Color(255, 255, 255, 85) + GRAY = rl.Color(84, 84, 84, 255) + + # Status colors + GOOD = rl.Color(255, 255, 255, 255) + WARNING = rl.Color(218, 202, 37, 255) + DANGER = rl.Color(201, 34, 49, 255) + + # UI elements + METRIC_BORDER = rl.Color(255, 255, 255, 85) + BUTTON_NORMAL = rl.Color(255, 255, 255, 255) + BUTTON_PRESSED = rl.Color(255, 255, 255, 166) + +NETWORK_TYPES = { + NetworkType.none: "Offline", + NetworkType.wifi: "WiFi", + NetworkType.cell2G: "2G", + NetworkType.cell3G: "3G", + NetworkType.cell4G: "LTE", + NetworkType.cell5G: "5G", + NetworkType.ethernet: "Ethernet", +} + + +@dataclass(slots=True) +class MetricData: + label: str + value: str + color: rl.Color + + def update(self, label: str, value: str, color: rl.Color): + self.label = label + self.value = value + self.color = color + +class Sidebar: + def __init__(self): + self._net_type = NETWORK_TYPES.get(NetworkType.none) + self._net_strength = 0 + + self._temp_status = MetricData("TEMP", "GOOD", Colors.GOOD) + self._panda_status = MetricData("VEHICLE", "ONLINE", Colors.GOOD) + self._connect_status = MetricData("CONNECT", "OFFLINE", Colors.WARNING) + + self._home_img = gui_app.texture("images/button_home.png", HOME_BTN.width, HOME_BTN.height) + self._flag_img = gui_app.texture("images/button_flag.png", HOME_BTN.width, HOME_BTN.height) + self._settings_img = gui_app.texture("images/button_settings.png", SETTINGS_BTN.width, SETTINGS_BTN.height) + self._font_regular = gui_app.font(FontWeight.NORMAL) + self._font_bold = gui_app.font(FontWeight.SEMI_BOLD) + + # Callbacks + self._on_settings_click: Callable | None = None + self._on_flag_click: Callable | None = None + + def set_callbacks(self, on_settings: Callable | None = None, on_flag: Callable | None = None): + self._on_settings_click = on_settings + self._on_flag_click = on_flag + + def render(self, rect: rl.Rectangle): + self.update_state() + + # Background + rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG) + + self._draw_buttons(rect) + self._draw_network_indicator(rect) + self._draw_metrics(rect) + + self._handle_mouse_release() + + def update_state(self): + sm = ui_state.sm + if not sm.updated['deviceState']: + return + + device_state = sm['deviceState'] + + self._update_network_status(device_state) + self._update_temperature_status(device_state) + self._update_connection_status(device_state) + self._update_panda_status() + + def _update_network_status(self, device_state): + self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, "Unknown") + strength = device_state.networkStrength + self._net_strength = max(0, min(5, strength.raw + 1)) if strength > 0 else 0 + + def _update_temperature_status(self, device_state): + thermal_status = device_state.thermalStatus + + if thermal_status == ThermalStatus.green: + self._temp_status.update("TEMP", "GOOD", Colors.GOOD) + elif thermal_status == ThermalStatus.yellow: + self._temp_status.update("TEMP", "OK", Colors.WARNING) + else: + self._temp_status.update("TEMP", "HIGH", Colors.DANGER) + + def _update_connection_status(self, device_state): + last_ping = device_state.lastAthenaPingTime + if last_ping == 0: + self._connect_status.update("CONNECT", "OFFLINE", Colors.WARNING) + elif time.monotonic_ns() - last_ping < 80_000_000_000: # 80 seconds in nanoseconds + self._connect_status.update("CONNECT", "ONLINE", Colors.GOOD) + else: + self._connect_status.update("CONNECT", "ERROR", Colors.DANGER) + + def _update_panda_status(self): + if ui_state.panda_type == log.PandaState.PandaType.unknown: + self._panda_status.update("NO", "PANDA", Colors.DANGER) + else: + self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD) + + def _handle_mouse_release(self): + if not rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + return + + mouse_pos = rl.get_mouse_position() + if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN): + if self._on_settings_click: + self._on_settings_click() + elif rl.check_collision_point_rec(mouse_pos, HOME_BTN) and ui_state.started: + if self._on_flag_click: + self._on_flag_click() + + def _draw_buttons(self, rect: rl.Rectangle): + mouse_pos = rl.get_mouse_position() + mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) + + + # Settings button + settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN) + tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL + rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint) + + # Home/Flag button + flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN) + button_img = self._flag_img if ui_state.started else self._home_img + + tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL + rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint) + + def _draw_network_indicator(self, rect: rl.Rectangle): + # Signal strength dots + x_start = rect.x + 58 + y_pos = rect.y + 196 + dot_size = 27 + dot_spacing = 37 + + for i in range(5): + color = Colors.WHITE if i < self._net_strength else Colors.GRAY + x = int(x_start + i * dot_spacing + dot_size // 2) + y = int(y_pos + dot_size // 2) + rl.draw_circle(x, y, dot_size // 2, color) + + # Network type text + text_y = rect.y + 247 + text_pos = rl.Vector2(rect.x + 58, text_y) + rl.draw_text_ex(self._font_regular, self._net_type, text_pos, 35, 0, Colors.WHITE) + + def _draw_metrics(self, rect: rl.Rectangle): + metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)] + + for metric, y_offset in metrics: + self._draw_metric(rect, metric, rect.y + y_offset) + + def _draw_metric(self, rect: rl.Rectangle, metric: MetricData, y: float): + metric_rect = rl.Rectangle(rect.x + METRIC_MARGIN, y, METRIC_WIDTH, METRIC_HEIGHT) + # Draw colored left edge (clipped rounded rectangle) + edge_rect = rl.Rectangle(metric_rect.x + 4, metric_rect.y + 4, 100, 118) + rl.begin_scissor_mode(int(metric_rect.x + 4), int(metric_rect.y), 18, int(metric_rect.height)) + rl.draw_rectangle_rounded(edge_rect, 0.18, 10, metric.color) + rl.end_scissor_mode() + + # Draw border + rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER) + + # Draw text + text = f"{metric.label}\n{metric.value}" + text_size = rl.measure_text_ex(self._font_bold, text, 35, 0) + text_pos = rl.Vector2( + metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2, + metric_rect.y + (metric_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(self._font_bold, text, text_pos, 35, 0, Colors.WHITE) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index f987d70c9c..fa7469d2dd 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -26,7 +26,7 @@ BORDER_COLORS = { class AugmentedRoadView(CameraView): - def __init__(self, stream_type: VisionStreamType): + def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD): super().__init__("camerad", stream_type) self.device_camera: DeviceCameraConfig | None = None diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py new file mode 100755 index 0000000000..8a3e34466f --- /dev/null +++ b/selfdrive/ui/ui.py @@ -0,0 +1,20 @@ +#!/usr/bin/env python3 +import pyray as rl +from openpilot.system.ui.lib.application import gui_app +from openpilot.selfdrive.ui.layouts.main import MainLayout +from openpilot.selfdrive.ui.ui_state import ui_state + + +def main(): + gui_app.init_window("UI") + main_layout = MainLayout() + for _ in gui_app.render(): + ui_state.update() + + #TODO handle brigntness and awake state here + + main_layout.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + + +if __name__ == "__main__": + main() From 912160c429903c80664208b89de980b0204331d0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 04:54:45 +0800 Subject: [PATCH 436/477] ui: improve calibration height initialization (#35459) improve calibration height initialization --- selfdrive/ui/onroad/model_renderer.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 38951fb504..ad037f8af3 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -7,6 +7,7 @@ from openpilot.common.params import Params from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import DEFAULT_FPS from openpilot.system.ui.lib.shader_polygon import draw_polygon +from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT CLIP_MARGIN = 500 @@ -51,7 +52,7 @@ class ModelRenderer: 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 + self._path_offset_z = HEIGHT_INIT[0] # Initialize ModelPoints objects self._path = ModelPoints() @@ -99,7 +100,10 @@ class ModelRenderer: # Update state self._experimental_mode = sm['selfdriveState'].experimentalMode - self._path_offset_z = sm['liveCalibration'].height[0] + + live_calib = sm['liveCalibration'] + self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0] + if sm.updated['carParams']: self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl From 88466fb62f0530813e8823132883e458c24ce164 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 04:55:03 +0800 Subject: [PATCH 437/477] ui: improve onroad layout transitions (#35458) improve onroad layout transitions --- selfdrive/ui/layouts/main.py | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index 2096480f22..08ce50407d 100644 --- a/selfdrive/ui/layouts/main.py +++ b/selfdrive/ui/layouts/main.py @@ -35,6 +35,7 @@ class MainLayout: self._current_callback = None self._update_layout_rects(rect) + self._handle_onroad_transition() self._render_main_content() self._handle_input() @@ -47,7 +48,7 @@ class MainLayout: on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked), ) self._layouts[MainState.SETTINGS].set_callbacks( - on_close=lambda: setattr(self, '_current_callback', self._on_settings_closed) + on_close=lambda: setattr(self, '_current_callback', self._set_mode_for_state) ) def _update_layout_rects(self, rect): @@ -57,14 +58,24 @@ class MainLayout: x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0 self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height) + def _handle_onroad_transition(self): + if ui_state.started != self._prev_onroad: + self._prev_onroad = ui_state.started + + self._set_mode_for_state() + + def _set_mode_for_state(self): + if ui_state.started: + self._current_mode = MainState.ONROAD + self._sidebar_visible = False + else: + self._current_mode = MainState.HOME + self._sidebar_visible = True + def _on_settings_clicked(self): self._current_mode = MainState.SETTINGS self._sidebar_visible = False - def _on_settings_closed(self): - self._current_mode = MainState.HOME if not ui_state.started else MainState.ONROAD - self._sidebar_visible = True - def _on_flag_clicked(self): pass @@ -73,13 +84,6 @@ class MainLayout: if self._sidebar_visible: self._sidebar.render(self._sidebar_rect) - if ui_state.started != self._prev_onroad: - self._prev_onroad = ui_state.started - if ui_state.started: - self._current_mode = MainState.ONROAD - else: - self._current_mode = MainState.HOME - content_rect = self._content_rect if self._sidebar_visible else self._window_rect self._layouts[self._current_mode].render(content_rect) From 96cfd5aaf7746e965e7f19850de13881c644d8d5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 05:06:50 +0800 Subject: [PATCH 438/477] ui: add ListView component and settings layouts with declarative UI (#35453) * add flexible ListView component * fix crash --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/layouts/settings/developer.py | 52 +++ selfdrive/ui/layouts/settings/device.py | 47 +++ selfdrive/ui/layouts/settings/settings.py | 37 +- selfdrive/ui/layouts/settings/software.py | 21 ++ selfdrive/ui/layouts/settings/toggles.py | 68 ++++ system/ui/lib/list_view.py | 380 +++++++++++++++++++++ system/ui/lib/toggle.py | 24 +- system/ui/lib/wrap_text.py | 87 +++++ 8 files changed, 690 insertions(+), 26 deletions(-) create mode 100644 selfdrive/ui/layouts/settings/developer.py create mode 100644 selfdrive/ui/layouts/settings/device.py create mode 100644 selfdrive/ui/layouts/settings/software.py create mode 100644 selfdrive/ui/layouts/settings/toggles.py create mode 100644 system/ui/lib/list_view.py create mode 100644 system/ui/lib/wrap_text.py diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py new file mode 100644 index 0000000000..6ab5be2792 --- /dev/null +++ b/selfdrive/ui/layouts/settings/developer.py @@ -0,0 +1,52 @@ +from openpilot.system.ui.lib.list_view import ListView, toggle_item +from openpilot.common.params import Params + +# Description constants +DESCRIPTIONS = { + 'enable_adb': ( + "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." + ), + 'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)", +} + + +class DeveloperLayout: + def __init__(self): + self._params = Params() + items = [ + toggle_item( + "Enable ADB", + description=DESCRIPTIONS["enable_adb"], + initial_state=self._params.get_bool("AdbEnabled"), + callback=self._on_enable_adb, + ), + toggle_item( + "Joystick Debug Mode", + description=DESCRIPTIONS["joystick_debug_mode"], + initial_state=self._params.get_bool("JoystickDebugMode"), + callback=self._on_joystick_debug_mode, + ), + toggle_item( + "Longitudinal Maneuver Mode", + description="", + initial_state=self._params.get_bool("LongitudinalManeuverMode"), + callback=self._on_long_maneuver_mode, + ), + toggle_item( + "openpilot Longitudinal Control (Alpha)", + description="", + initial_state=self._params.get_bool("AlphaLongitudinalEnabled"), + callback=self._on_alpha_long_enabled, + ), + ] + + self._list_widget = ListView(items) + + def render(self, rect): + self._list_widget.render(rect) + + def _on_enable_adb(self): pass + def _on_joystick_debug_mode(self): pass + def _on_long_maneuver_mode(self): pass + def _on_alpha_long_enabled(self): pass diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py new file mode 100644 index 0000000000..5051dd6ba6 --- /dev/null +++ b/selfdrive/ui/layouts/settings/device.py @@ -0,0 +1,47 @@ +from openpilot.system.ui.lib.list_view import ListView, text_item, button_item +from openpilot.common.params import Params +from openpilot.system.hardware import TICI + +# Description constants +DESCRIPTIONS = { + 'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.", + 'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)", + 'reset_calibration': ( + "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." + ), + 'review_guide': "Review the rules, features, and limitations of openpilot", +} + + +class DeviceLayout: + def __init__(self): + params = Params() + dongle_id = params.get("DongleId", encoding="utf-8") or "N/A" + serial = params.get("HardwareSerial") or "N/A" + + items = [ + text_item("Dongle ID", dongle_id), + text_item("Serial", serial), + button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device), + button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera), + button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration), + button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide), + ] + + if TICI: + items.append(button_item("Regulatory", "VIEW", callback=self._on_regulatory)) + + items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language)) + + self._list_widget = ListView(items) + + def render(self, rect): + self._list_widget.render(rect) + + def _on_pair_device(self): pass + def _on_driver_camera(self): pass + def _on_reset_calibration(self): pass + def _on_review_training_guide(self): pass + def _on_regulatory(self): pass + def _on_change_language(self): pass diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 6a9a50b855..fc03529e56 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -3,6 +3,10 @@ from dataclasses import dataclass from enum import IntEnum from collections.abc import Callable from openpilot.common.params import Params +from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout +from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout +from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout +from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box @@ -52,12 +56,12 @@ class SettingsLayout: # Panel configuration self._panels = { - PanelType.DEVICE: PanelInfo("Device", None, rl.Rectangle(0, 0, 0, 0)), - PanelType.TOGGLES: PanelInfo("Toggles", None, rl.Rectangle(0, 0, 0, 0)), - PanelType.SOFTWARE: PanelInfo("Software", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.DEVICE: PanelInfo("Device", DeviceLayout(), rl.Rectangle(0, 0, 0, 0)), + PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)), + PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)), PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)), PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)), - PanelType.DEVELOPER: PanelInfo("Developer", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)), } self._font_medium = gui_app.font(FontWeight.MEDIUM) @@ -130,16 +134,23 @@ class SettingsLayout: i += 1 def _draw_current_panel(self, rect: rl.Rectangle): - content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50) - rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR) - gui_text_box( - content_rect, - f"Demo {self._panels[self._current_panel].name} Panel", - font_size=170, - color=rl.WHITE, - alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + rl.draw_rectangle_rounded( + rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20), 0.04, 30, PANEL_COLOR ) + content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50) + # rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR) + panel = self._panels[self._current_panel] + if panel.instance: + panel.instance.render(content_rect) + else: + gui_text_box( + content_rect, + f"Demo {self._panels[self._current_panel].name} Panel", + font_size=170, + color=rl.WHITE, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: # Check close button diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py new file mode 100644 index 0000000000..e57e13c148 --- /dev/null +++ b/selfdrive/ui/layouts/settings/software.py @@ -0,0 +1,21 @@ +from openpilot.system.ui.lib.list_view import ListView, button_item, text_item + +class SoftwareLayout: + def __init__(self): + items = [ + text_item("Current Version", ""), + button_item("Download", "CHECK", callback=self._on_download_update), + button_item("Install Update", "INSTALL", callback=self._on_install_update), + button_item("Target Branch", "SELECT", callback=self._on_select_branch), + button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall), + ] + + self._list_widget = ListView(items) + + def render(self, rect): + self._list_widget.render(rect) + + def _on_download_update(self): pass + def _on_install_update(self): pass + def _on_select_branch(self): pass + def _on_uninstall(self): pass diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py new file mode 100644 index 0000000000..d966baf9cd --- /dev/null +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -0,0 +1,68 @@ +from openpilot.system.ui.lib.list_view import ListView, toggle_item +from openpilot.common.params import Params + +# Description constants +DESCRIPTIONS = { + "OpenpilotEnabledToggle": ( + "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " + + "Your attention is required at all times to use this feature." + ), + "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.", + "IsLdwEnabled": ( + "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)." + ), + "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.", + 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", + "IsMetric": "Display speed in km/h instead of mph.", +} + + +class TogglesLayout: + def __init__(self): + self._params = Params() + items = [ + toggle_item( + "Enable openpilot", + DESCRIPTIONS["OpenpilotEnabledToggle"], + self._params.get_bool("OpenpilotEnabledToggle"), + icon="chffr_wheel.png", + ), + toggle_item( + "Experimental Mode", + initial_state=self._params.get_bool("ExperimentalMode"), + icon="experimental_white.png", + ), + toggle_item( + "Disengage on Accelerator Pedal", + DESCRIPTIONS["DisengageOnAccelerator"], + self._params.get_bool("DisengageOnAccelerator"), + icon="disengage_on_accelerator.png", + ), + toggle_item( + "Enable Lane Departure Warnings", + DESCRIPTIONS["IsLdwEnabled"], + self._params.get_bool("IsLdwEnabled"), + icon="warning.png", + ), + toggle_item( + "Always-On Driver Monitoring", + DESCRIPTIONS["AlwaysOnDM"], + self._params.get_bool("AlwaysOnDM"), + icon="monitoring.png", + ), + toggle_item( + "Record and Upload Driver Camera", + DESCRIPTIONS["RecordFront"], + self._params.get_bool("RecordFront"), + icon="monitoring.png", + ), + toggle_item( + "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png" + ), + ] + + self._list_widget = ListView(items) + + def render(self, rect): + self._list_widget.render(rect) diff --git a/system/ui/lib/list_view.py b/system/ui/lib/list_view.py new file mode 100644 index 0000000000..9ca2363bc7 --- /dev/null +++ b/system/ui/lib/list_view.py @@ -0,0 +1,380 @@ +import os +import pyray as rl +from dataclasses import dataclass +from collections.abc import Callable +from abc import ABC, abstractmethod +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.toggle import Toggle +from openpilot.system.ui.lib.toggle import WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT + + +LINE_PADDING = 40 +LINE_COLOR = rl.GRAY +ITEM_PADDING = 20 +ITEM_SPACING = 80 +ITEM_BASE_HEIGHT = 170 +ITEM_TEXT_FONT_SIZE = 50 +ITEM_TEXT_COLOR = rl.WHITE +ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255) +ITEM_DESC_FONT_SIZE = 40 +ITEM_DESC_V_OFFSET = 130 +RIGHT_ITEM_PADDING = 20 +ICON_SIZE = 80 +BUTTON_WIDTH = 250 +BUTTON_HEIGHT = 100 +BUTTON_BORDER_RADIUS = 50 +BUTTON_FONT_SIZE = 35 +BUTTON_FONT_WEIGHT = FontWeight.MEDIUM + + +# Abstract base class for right-side items +class RightItem(ABC): + def __init__(self, width: int = 100): + self.width = width + self.enabled = True + + @abstractmethod + def draw(self, rect: rl.Rectangle) -> bool: + pass + + @abstractmethod + def get_width(self) -> int: + pass + + +class ToggleRightItem(RightItem): + def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH): + super().__init__(width) + self.toggle = Toggle(initial_state=initial_state) + self.state = initial_state + self.enabled = True + + def draw(self, rect: rl.Rectangle) -> bool: + if self.toggle.render(rl.Rectangle(rect.x, rect.y + (rect.height - TOGGLE_HEIGHT) / 2, self.width, TOGGLE_HEIGHT)): + self.state = not self.state + return True + return False + + def get_width(self) -> int: + return self.width + + def set_state(self, state: bool): + self.state = state + self.toggle.set_state(state) + + def get_state(self) -> bool: + return self.state + + def set_enabled(self, enabled: bool): + self.enabled = enabled + + +class ButtonRightItem(RightItem): + def __init__(self, text: str, width: int = BUTTON_WIDTH): + super().__init__(width) + self.text = text + self.enabled = True + + def draw(self, rect: rl.Rectangle) -> bool: + return ( + gui_button( + rl.Rectangle(rect.x, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT), + self.text, + border_radius=BUTTON_BORDER_RADIUS, + font_weight=BUTTON_FONT_WEIGHT, + font_size=BUTTON_FONT_SIZE, + is_enabled=self.enabled, + ) + == 1 + ) + + def get_width(self) -> int: + return self.width + + def set_enabled(self, enabled: bool): + self.enabled = enabled + + +class TextRightItem(RightItem): + def __init__(self, text: str, color: rl.Color = ITEM_TEXT_COLOR, font_size: int = ITEM_TEXT_FONT_SIZE): + self.text = text + self.color = color + self.font_size = font_size + + font = gui_app.font(FontWeight.NORMAL) + text_width = measure_text_cached(font, text, font_size).x + super().__init__(int(text_width + 20)) + + def draw(self, rect: rl.Rectangle) -> bool: + font = gui_app.font(FontWeight.NORMAL) + text_size = measure_text_cached(font, self.text, self.font_size) + + # Center the text in the allocated rectangle + text_x = rect.x + (rect.width - text_size.x) / 2 + text_y = rect.y + (rect.height - text_size.y) / 2 + + rl.draw_text_ex(font, self.text, rl.Vector2(text_x, text_y), self.font_size, 0, self.color) + return False + + def get_width(self) -> int: + return self.width + + def set_text(self, text: str): + self.text = text + font = gui_app.font(FontWeight.NORMAL) + text_width = measure_text_cached(font, text, self.font_size).x + self.width = int(text_width + 20) + + +@dataclass +class ListItem: + title: str + icon: str | None = None + description: str | None = None + description_visible: bool = False + rect: "rl.Rectangle | None" = None + callback: Callable | None = None + right_item: RightItem | None = None + + # Cached properties for performance + _wrapped_description: str | None = None + _description_height: float = 0 + + def get_right_item(self) -> RightItem | None: + return self.right_item + + def get_item_height(self, font: rl.Font, max_width: int) -> float: + if self.description_visible and self.description: + if not self._wrapped_description: + wrapped_lines = wrap_text(font, self.description, ITEM_DESC_FONT_SIZE, max_width) + self._wrapped_description = "\n".join(wrapped_lines) + self._description_height = len(wrapped_lines) * 20 + 10 # Line height + padding + return ITEM_BASE_HEIGHT + self._description_height - (ITEM_BASE_HEIGHT - ITEM_DESC_V_OFFSET) + ITEM_SPACING + return ITEM_BASE_HEIGHT + + def get_content_width(self, total_width: int) -> int: + if self.right_item: + return total_width - self.right_item.get_width() - RIGHT_ITEM_PADDING + return total_width + + def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle: + if not self.right_item: + return rl.Rectangle(0, 0, 0, 0) + + right_width = self.right_item.get_width() + right_x = item_rect.x + item_rect.width - right_width + right_y = item_rect.y + return rl.Rectangle(right_x, right_y, right_width, ITEM_BASE_HEIGHT) + + +class ListView: + def __init__(self, items: list[ListItem]): + self._items: list[ListItem] = items + self._last_dim: tuple[float, float] = (0, 0) + self.scroll_panel = GuiScrollPanel() + + self._font_normal = gui_app.font(FontWeight.NORMAL) + + # Interaction state + self._hovered_item: int = -1 + self._last_mouse_pos = rl.Vector2(0, 0) + + self._total_height: float = 0 + self._visible_range = (0, 0) + + def invalid_height_cache(self): + self._last_dim = (0, 0) + + def render(self, rect: rl.Rectangle): + if self._last_dim != (rect.width, rect.height): + self._update_item_rects(rect) + self._last_dim = (rect.width, rect.height) + + # Update layout and handle scrolling + content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._total_height) + scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect) + + # Handle mouse interaction + if self.scroll_panel.is_click_valid(): + self._handle_mouse_interaction(rect, scroll_offset) + + # Set scissor mode for clipping + rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) + + # Calculate visible range for performance + self._calculate_visible_range(rect, -scroll_offset.y) + + # Render only visible items + for i in range(self._visible_range[0], min(self._visible_range[1], len(self._items))): + item = self._items[i] + if item.rect: + adjusted_rect = rl.Rectangle(item.rect.x, item.rect.y + scroll_offset.y, item.rect.width, item.rect.height) + self._render_item(item, adjusted_rect, i) + + if i != len(self._items) - 1: + rl.draw_line_ex( + rl.Vector2(adjusted_rect.x + LINE_PADDING, adjusted_rect.y + adjusted_rect.height - 1), + rl.Vector2( + adjusted_rect.x + adjusted_rect.width - LINE_PADDING * 2, adjusted_rect.y + adjusted_rect.height - 1 + ), + 1.0, + LINE_COLOR, + ) + rl.end_scissor_mode() + + def _render_item(self, item: ListItem, rect: rl.Rectangle, index: int): + content_x = rect.x + ITEM_PADDING + text_x = content_x + + # Calculate available width for main content + content_width = item.get_content_width(int(rect.width - ITEM_PADDING * 2)) + + # Draw icon if present + if item.icon: + icon_texture = gui_app.texture(os.path.join("icons", item.icon), ICON_SIZE, ICON_SIZE) + rl.draw_texture( + icon_texture, int(content_x), int(rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE + ) + text_x += ICON_SIZE + ITEM_PADDING + + # Draw main text + text_size = measure_text_cached(self._font_normal, item.title, ITEM_TEXT_FONT_SIZE) + item_y = rect.y + (ITEM_BASE_HEIGHT - text_size.y) // 2 + rl.draw_text_ex(self._font_normal, item.title, rl.Vector2(text_x, item_y), ITEM_TEXT_FONT_SIZE, 0, ITEM_TEXT_COLOR) + + # Draw description if visible (adjust width for right item) + if item.description_visible and item._wrapped_description: + desc_y = rect.y + ITEM_DESC_V_OFFSET + desc_max_width = int(content_width - (text_x - content_x)) + + # Re-wrap description if needed due to right item + if (item.right_item and item.description) and not item._wrapped_description: + wrapped_lines = wrap_text(self._font_normal, item.description, ITEM_DESC_FONT_SIZE, desc_max_width) + item._wrapped_description = "\n".join(wrapped_lines) + + rl.draw_text_ex( + self._font_normal, + item._wrapped_description, + rl.Vector2(text_x, desc_y), + ITEM_DESC_FONT_SIZE, + 0, + ITEM_DESC_TEXT_COLOR, + ) + + # Draw right item if present + if item.right_item: + right_rect = item.get_right_item_rect(rect) + # Adjust for scroll offset + right_rect.y = right_rect.y + if item.right_item.draw(right_rect): + # Right item was clicked/activated + if item.callback: + item.callback() + + def _update_item_rects(self, container_rect: rl.Rectangle) -> None: + current_y: float = 0.0 + self._total_height = 0 + + for item in self._items: + content_width = item.get_content_width(int(container_rect.width - ITEM_PADDING * 2)) + item_height = item.get_item_height(self._font_normal, content_width) + item.rect = rl.Rectangle(container_rect.x, container_rect.y + current_y, container_rect.width, item_height) + current_y += item_height + self._total_height += item_height + + def _calculate_visible_range(self, rect: rl.Rectangle, scroll_offset: float): + if not self._items: + self._visible_range = (0, 0) + return + + visible_top = scroll_offset + visible_bottom = scroll_offset + rect.height + + start_idx = 0 + end_idx = len(self._items) + + # Find first visible item + for i, item in enumerate(self._items): + if item.rect and item.rect.y + item.rect.height >= visible_top: + start_idx = max(0, i - 1) + break + + # Find last visible item + for i in range(start_idx, len(self._items)): + item = self._items[i] + if item.rect and item.rect.y > visible_bottom: + end_idx = min(len(self._items), i + 2) + break + + self._visible_range = (start_idx, end_idx) + + def _handle_mouse_interaction(self, rect: rl.Rectangle, scroll_offset: rl.Vector2): + mouse_pos = rl.get_mouse_position() + + self._hovered_item = -1 + if not rl.check_collision_point_rec(mouse_pos, rect): + return + + content_mouse_y = mouse_pos.y - rect.y - scroll_offset.y + + for i, item in enumerate(self._items): + if item.rect: + # Check if mouse is within this item's bounds in content space + if ( + mouse_pos.x >= rect.x + and mouse_pos.x <= rect.x + rect.width + and content_mouse_y >= item.rect.y + and content_mouse_y <= item.rect.y + item.rect.height + ): + item_screen_y = item.rect.y + scroll_offset.y + if item_screen_y < rect.height and item_screen_y + item.rect.height > 0: + self._hovered_item = i + break + + # Handle click on main item (not right item) + if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._hovered_item >= 0: + item = self._items[self._hovered_item] + + # Check if click was on right item area + if item.right_item and item.rect: + adjusted_rect = rl.Rectangle(item.rect.x, item.rect.y + scroll_offset.y, item.rect.width, item.rect.height) + right_rect = item.get_right_item_rect(adjusted_rect) + if rl.check_collision_point_rec(mouse_pos, right_rect): + # Click was handled by right item, don't process main item click + return + + # Toggle description visibility if item has description + if item.description: + item.description_visible = not item.description_visible + # Force layout update when description visibility changes + self._last_dim = (0, 0) + + # Call item callback + if item.callback: + item.callback() + + +# Factory functions +def simple_item(title: str, callback: Callable | None = None) -> ListItem: + return ListItem(title=title, callback=callback) + + +def toggle_item( + title: str, description: str = None, initial_state: bool = False, callback: Callable | None = None, icon: str = "" +) -> ListItem: + toggle = ToggleRightItem(initial_state=initial_state) + return ListItem(title=title, description=description, right_item=toggle, icon=icon, callback=callback) + + +def button_item(title: str, button_text: str, description: str = None, callback: Callable | None = None) -> ListItem: + button = ButtonRightItem(text=button_text) + return ListItem(title=title, description=description, right_item=button, callback=callback) + + +def text_item(title: str, value: str, description: str = None, callback: Callable | None = None) -> ListItem: + text_item = TextRightItem(text=value, color=rl.Color(170, 170, 170, 255)) + return ListItem(title=title, description=description, right_item=text_item, callback=callback) diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py index 5ae2500406..0128dca206 100644 --- a/system/ui/lib/toggle.py +++ b/system/ui/lib/toggle.py @@ -9,9 +9,9 @@ ANIMATION_SPEED = 8.0 class Toggle: - def __init__(self, x, y, initial_state=False): + def __init__(self, initial_state=False): self._state = initial_state - self._rect = rl.Rectangle(x, y, WIDTH, HEIGHT) + self._rect = rl.Rectangle(0, 0, WIDTH, HEIGHT) self._progress = 1.0 if initial_state else 0.0 self._target = self._progress @@ -20,17 +20,23 @@ class Toggle: 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 + return 1 + return 0 def get_state(self): return self._state + def set_state(self, state: bool): + self._state = 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): + def render(self, rect: rl.Rectangle): + self._rect.x, self._rect.y = rect.x, rect.y self. update() # Draw background bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT) @@ -42,15 +48,7 @@ class Toggle: knob_y = self._rect.y + HEIGHT / 2 rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, KNOB_COLOR) + return self.handle_input() + 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__": - from openpilot.system.ui.lib.application import gui_app - - gui_app.init_window("Text toggle example") - toggle = Toggle(100, 100) - for _ in gui_app.render(): - toggle.handle_input() - toggle.render() diff --git a/system/ui/lib/wrap_text.py b/system/ui/lib/wrap_text.py new file mode 100644 index 0000000000..fdfb1970aa --- /dev/null +++ b/system/ui/lib/wrap_text.py @@ -0,0 +1,87 @@ +import pyray as rl +from openpilot.system.ui.lib.text_measure import measure_text_cached + +def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -> list[str]: + if not word: + return [] + + parts = [] + remaining = word + + while remaining: + if measure_text_cached(font, remaining, font_size).x <= max_width: + parts.append(remaining) + break + + # Binary search for the longest substring that fits + left, right = 1, len(remaining) + best_fit = 1 + + while left <= right: + mid = (left + right) // 2 + substring = remaining[:mid] + width = measure_text_cached(font, substring, font_size).x + + if width <= max_width: + best_fit = mid + left = mid + 1 + else: + right = mid - 1 + + # Add the part that fits + parts.append(remaining[:best_fit]) + remaining = remaining[best_fit:] + + return parts + + +def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[str]: + if not text or max_width <= 0: + return [] + + words = text.split() + if not words: + return [] + + lines: list[str] = [] + current_line: list[str] = [] + current_width = 0 + space_width = int(measure_text_cached(font, " ", font_size).x) + + for word in words: + word_width = int(measure_text_cached(font, word, font_size).x) + + # Check if word alone exceeds max width (need to break the word) + if word_width > max_width: + # Finish current line if it has content + if current_line: + lines.append(" ".join(current_line)) + current_line = [] + current_width = 0 + + # Break the long word into parts + lines.extend(_break_long_word(font, word, font_size, max_width)) + continue + + # Calculate width if we add this word + needed_width = current_width + if current_line: # Need space before word + needed_width += space_width + needed_width += word_width + + # Check if word fits on current line + if needed_width <= max_width: + current_line.append(word) + current_width = needed_width + else: + # Start new line with this word + if current_line: + lines.append(" ".join(current_line)) + current_line = [word] + current_width = word_width + + # Add remaining words + if current_line: + lines.append(" ".join(current_line)) + + return lines From 0360926962ead2b08158b2d4a975ae688ab1190a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 05:08:29 +0800 Subject: [PATCH 439/477] ui: fill the bg with disengaged color if no frame (#35451) fill the bg with disengaged color if no frame Co-authored-by: Shane Smiskol --- selfdrive/ui/onroad/augmented_road_view.py | 1 + selfdrive/ui/onroad/cameraview.py | 12 ++++++++++++ 2 files changed, 13 insertions(+) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index fa7469d2dd..d727337e31 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -28,6 +28,7 @@ BORDER_COLORS = { class AugmentedRoadView(CameraView): def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD): super().__init__("camerad", stream_type) + self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED]) self.device_camera: DeviceCameraConfig | None = None self.view_from_calib = view_frame_from_device_frame.copy() diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index d59e7b0a48..2bc49fec03 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -74,6 +74,8 @@ class CameraView: self.egl_images: dict[int, EGLImage] = {} self.egl_texture: rl.Texture | None = None + self._placeholder_color : rl.Color | None = None + # Initialize EGL for zero-copy rendering on TICI if TICI: if not init_egl(): @@ -84,6 +86,10 @@ class CameraView: self.egl_texture = rl.load_texture_from_image(temp_image) rl.unload_image(temp_image) + def _set_placeholder_color(self, color: rl.Color): + """Set a placeholder color to be drawn when no frame is available.""" + self._placeholder_color = color + def switch_stream(self, stream_type: VisionStreamType) -> None: if self._stream_type != stream_type: cloudlog.debug(f'switching stream from {self._stream_type} to {stream_type}') @@ -130,6 +136,7 @@ class CameraView: def render(self, rect: rl.Rectangle): if not self._ensure_connection(): + self._draw_placeholder(rect) return # Try to get a new buffer without blocking @@ -139,6 +146,7 @@ class CameraView: self.frame = buffer if not self.frame: + self._draw_placeholder(rect) return transform = self._calc_frame_matrix(rect) @@ -163,6 +171,10 @@ class CameraView: else: self._render_textures(src_rect, dst_rect) + def _draw_placeholder(self, rect: rl.Rectangle): + if self._placeholder_color: + rl.draw_rectangle_rec(rect, self._placeholder_color) + def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None: """Render using EGL for direct buffer access""" if self.frame is None or self.egl_texture is None: From 8b516abb31ae6c68c52e09771c5e1fb6af05b6b5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 05:14:40 +0800 Subject: [PATCH 440/477] ui: replace rl.measure_text with measure_text_cached in sidebar (#35450) Replace rl.measure_text with measure_text_cached --- selfdrive/ui/layouts/sidebar.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index eeb073e67b..343efe5851 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -5,6 +5,7 @@ from collections.abc import Callable from cereal import log from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached SIDEBAR_WIDTH = 300 METRIC_HEIGHT = 126 @@ -199,7 +200,7 @@ class Sidebar: # Draw text text = f"{metric.label}\n{metric.value}" - text_size = rl.measure_text_ex(self._font_bold, text, 35, 0) + text_size = measure_text_cached(self._font_bold, text, 35) text_pos = rl.Vector2( metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2, metric_rect.y + (metric_rect.height - text_size.y) / 2 From 462301d2e0f6697ca2c5ca2e126ba387e83fb960 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 05:20:52 +0800 Subject: [PATCH 441/477] ui: implement smooth camera stream switching with seamless transitions (#35449) implement smooth camera stream switching with seamless transitions Co-authored-by: Shane Smiskol --- selfdrive/ui/onroad/augmented_road_view.py | 14 ++-- selfdrive/ui/onroad/cameraview.py | 81 +++++++++++++++++++--- 2 files changed, 81 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index d727337e31..47769f268e 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -16,6 +16,8 @@ from openpilot.common.transformations.orientation import rot_from_euler OpState = log.SelfdriveState.OpenpilotState CALIBRATED = log.LiveCalibrationData.Status.calibrated +ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD +WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"] BORDER_COLORS = { @@ -36,6 +38,7 @@ class AugmentedRoadView(CameraView): self._last_calib_time: float = 0 self._last_rect_dims = (0.0, 0.0) + self._last_stream_type = stream_type self._cached_matrix: np.ndarray | None = None self._content_rect = rl.Rectangle() @@ -120,6 +123,7 @@ class AugmentedRoadView(CameraView): 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._last_stream_type == self.stream_type and self._cached_matrix is not None): return self._cached_matrix @@ -155,9 +159,10 @@ class AugmentedRoadView(CameraView): except (ZeroDivisionError, OverflowError): x_offset, y_offset = 0, 0 - # Update cache values + # Cache the computed transformation matrix to avoid recalculations self._last_calib_time = calib_time self._last_rect_dims = current_dims + self._last_stream_type = self.stream_type self._cached_matrix = np.array([ [zoom * 2 * cx / w, 0, -x_offset / w * 2], [0, zoom * 2 * cy / h, -y_offset / h * 2], @@ -176,14 +181,15 @@ class AugmentedRoadView(CameraView): if __name__ == "__main__": gui_app.init_window("OnRoad Camera View") - road_camera_view = AugmentedRoadView(VisionStreamType.VISION_STREAM_ROAD) + road_camera_view = AugmentedRoadView(ROAD_CAM) print("***press space to switch camera view***") try: for _ in gui_app.render(): ui_state.update() if rl.is_key_released(rl.KeyboardKey.KEY_SPACE): - is_wide = road_camera_view.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD - road_camera_view.switch_stream(VisionStreamType.VISION_STREAM_ROAD if is_wide else VisionStreamType.VISION_STREAM_WIDE_ROAD) + if WIDE_CAM in road_camera_view.available_streams: + stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM + road_camera_view.switch_stream(stream) road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: road_camera_view.close() diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index 2bc49fec03..9f58133abf 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -57,9 +57,17 @@ else: class CameraView: def __init__(self, name: str, stream_type: VisionStreamType): - self.client = VisionIpcClient(name, stream_type, conflate=True) self._name = name + # Primary stream + self.client = VisionIpcClient(name, stream_type, conflate=True) self._stream_type = stream_type + self.available_streams: list[VisionStreamType] = [] + + # Target stream for switching + self._target_client: VisionIpcClient | None = None + self._target_stream_type: VisionStreamType | None = None + self._switching: bool = False + self._texture_needs_update = True self.last_connection_attempt: float = 0.0 @@ -91,12 +99,20 @@ class CameraView: self._placeholder_color = color def switch_stream(self, stream_type: VisionStreamType) -> None: - if self._stream_type != stream_type: - cloudlog.debug(f'switching stream from {self._stream_type} to {stream_type}') - self._clear_textures() - self.frame = None - self._stream_type = stream_type - self.client = VisionIpcClient(self._name, stream_type, conflate=True) + if self._stream_type == stream_type: + return + + if self._switching and self._target_stream_type == stream_type: + return + + cloudlog.debug(f'Preparing switch from {self._stream_type} to {stream_type}') + + if self._target_client: + del self._target_client + + self._target_stream_type = stream_type + self._target_client = VisionIpcClient(self._name, stream_type, conflate=True) + self._switching = True @property def stream_type(self) -> VisionStreamType: @@ -135,6 +151,9 @@ class CameraView: ]) def render(self, rect: rl.Rectangle): + if self._switching: + self._handle_switch() + if not self._ensure_connection(): self._draw_placeholder(rect) return @@ -226,6 +245,7 @@ class CameraView: def _ensure_connection(self) -> bool: if not self.client.is_connected(): self.frame = None + self.available_streams.clear() # Throttle connection attempts current_time = rl.get_time() @@ -237,16 +257,57 @@ class CameraView: return False cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}") - self._clear_textures() + self._initialize_textures() + self.available_streams = self.client.available_streams(self._name, block=False) + return True + + def _handle_switch(self) -> None: + """Check if target stream is ready and switch immediately.""" + if not self._target_client or not self._switching: + return + + # Try to connect target if needed + if not self._target_client.is_connected(): + if not self._target_client.connect(False) or not self._target_client.num_buffers: + return + + cloudlog.debug(f"Target stream connected: {self._target_stream_type}") + + # Check if target has frames ready + target_frame = self._target_client.recv(timeout_ms=0) + if target_frame: + self.frame = target_frame # Update current frame to target frame + self._complete_switch() + + def _complete_switch(self) -> None: + """Instantly switch to target stream.""" + cloudlog.debug(f"Switching to {self._target_stream_type}") + # Clean up current resources + if self.client: + del self.client + + # Switch to target + self.client = self._target_client + self._stream_type = self._target_stream_type + self._texture_needs_update = True + + # Reset state + self._target_client = None + self._target_stream_type = None + self._switching = False + + # Initialize textures for new stream + self._initialize_textures() + + def _initialize_textures(self): + self._clear_textures() if not TICI: self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) - return True - def _clear_textures(self): if self.texture_y and self.texture_y.id: rl.unload_texture(self.texture_y) From 0d7b157965e246762f93a69456be46a7f78c803c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Jun 2025 15:10:52 -0700 Subject: [PATCH 442/477] bump opendbc (#35465) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 0d7fef4422..ed0fe857f9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0d7fef4422456aeb456fa895da1617a1f61f6896 +Subproject commit ed0fe857f9cda9720250eef9139210d58062cd4c From 57dc9152bb48b0a2bd158fa90d585d0263cea27f Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Wed, 4 Jun 2025 21:10:26 -0700 Subject: [PATCH 443/477] Networking: Fix Prime Level Five For Users in Roaming Only Networks (#986) Fix prime level five for users in roaming only networks. --- selfdrive/ui/qt/network/networking.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 41527fe692..7754e6e5ba 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -79,7 +79,8 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { } void Networking::setPrimeType(PrimeState::Type type) { - an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE); + an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_UNKNOWN || \ + type == PrimeState::PRIME_TYPE_PURPLE || type == PrimeState::PRIME_TYPE_LITE); wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE); } From 0c506c868d43251f82bf33580f5ba44078d7a4dc Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 5 Jun 2025 00:21:58 -0400 Subject: [PATCH 444/477] Controls: Pause lateral control based on blinker state and vehicle speed (#983) * Controls: Pause lateral control based on blinker state and vehicle speed * in its own module * tests * cleanup tests * ui * always refresh on show panel * remove default * change to 20 default * need to update params live * shorter * off by default * lol lint * use ExpandableToggleRow * not needed * shorter * ci ui preview delay for all offroad * more * Revert "more" This reverts commit 809cfd99dac4183e318f3f7dff8e7c14f8223d62. * Revert "ci ui preview delay for all offroad" This reverts commit ab38292fa84165081e32fcfc7b44f7f7afdfe791. --------- Co-authored-by: nayan8teen --- common/params_keys.h | 2 + selfdrive/ui/sunnypilot/SConscript | 1 + .../lateral/blinker_pause_lateral_settings.cc | 27 ++++ .../lateral/blinker_pause_lateral_settings.h | 25 ++++ .../qt/offroad/settings/lateral_panel.cc | 13 ++ .../qt/offroad/settings/lateral_panel.h | 2 + .../selfdrive/controls/controlsd_ext.py | 10 +- .../controls/lib/blinker_pause_lateral.py | 34 +++++ .../lib/tests/test_blinker_pause_lateral.py | 130 ++++++++++++++++++ system/manager/manager.py | 2 + 10 files changed, 243 insertions(+), 3 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h create mode 100644 sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py create mode 100644 sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py diff --git a/common/params_keys.h b/common/params_keys.h index a28a02693b..6474fb5840 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -125,6 +125,8 @@ inline static std::unordered_map keys = { {"ApiCache_DriveStats", PERSISTENT}, {"AutoLaneChangeBsmDelay", PERSISTENT}, {"AutoLaneChangeTimer", PERSISTENT}, + {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP}, + {"BlinkerPauseLateralControl", PERSISTENT | BACKUP}, {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CarParamsSPCache", CLEAR_ON_MANAGER_START}, {"CarParamsSPPersistent", PERSISTENT}, diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 0353c9babd..796107da77 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -40,6 +40,7 @@ qt_src = [ ] lateral_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc", "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc", "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc", "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc new file mode 100644 index 0000000000..b43c6162c6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc @@ -0,0 +1,27 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h" + +BlinkerPauseLateralSettings::BlinkerPauseLateralSettings(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent) + : ExpandableToggleRow(param, title, description, icon, parent) { + + pauseLateralSpeed = new OptionControlSP("BlinkerMinLateralControlSpeed", "", "", "", {0, 255}, 5); + connect(pauseLateralSpeed, &OptionControlSP::updateLabels, this, &BlinkerPauseLateralSettings::refresh); + addItem(pauseLateralSpeed); + + refresh(); +} + +void BlinkerPauseLateralSettings::refresh() { + const QString option = QString::fromStdString(params.get("BlinkerMinLateralControlSpeed")); + const bool is_metric = params.getBool("IsMetric"); + const QString unit = is_metric ? "km/h" : "mph"; + + pauseLateralSpeed->setLabel(option + " " + unit); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h new file mode 100644 index 0000000000..7f02337b9c --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h @@ -0,0 +1,25 @@ +/** + * 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/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h" + +class BlinkerPauseLateralSettings : public ExpandableToggleRow { + Q_OBJECT + +public: + BlinkerPauseLateralSettings(const QString ¶m, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr); + void refresh(); + +private: + Params params; + OptionControlSP *pauseLateralSpeed; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc index 0beae6e24f..ae954d7539 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc @@ -64,6 +64,17 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) { list->addItem(vertical_space(0)); list->addItem(horizontal_line()); + // Blinker Pause Lateral Control + blinkerPauseLateralSettings = new BlinkerPauseLateralSettings( + "BlinkerPauseLateralControl", + tr("Pause Lateral Control with Blinker"), + tr("Pause lateral control with blinker when traveling below the desired speed selected."), + "", + this); + list->addItem(blinkerPauseLateralSettings); + + list->addItem(horizontal_line()); + // Neural Network Lateral Control nnlcToggle = new NeuralNetworkLateralControl(); list->addItem(nnlcToggle); @@ -139,5 +150,7 @@ void LateralPanel::updateToggles(bool _offroad) { madsSettingsButton->setEnabled(madsToggle->isToggled()); + blinkerPauseLateralSettings->refresh(); + offroad = _offroad; } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h index cf003dfaf3..7b5e73fceb 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h @@ -11,6 +11,7 @@ #include #include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h" @@ -43,6 +44,7 @@ private: PushButtonSP *laneChangeSettingsButton; LaneChangeSettings *laneChangeWidget = nullptr; NeuralNetworkLateralControl *nnlcToggle = nullptr; + BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr; const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC)."); diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index 4978c01332..9a7f0cb5fc 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -11,12 +11,14 @@ from opendbc.car import structs from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore +from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral class ControlsExt: def __init__(self, CP: structs.CarParams, params: Params): self.CP = CP self.params = params + self.blinker_pause_lateral = BlinkerPauseLateral() self.param_store = ParamStore(self.CP) self.get_params_sp() @@ -29,11 +31,13 @@ class ControlsExt: def get_params_sp(self) -> None: self.param_store.update(self.params) + self.blinker_pause_lateral.get_params() + + def get_lat_active(self, sm: messaging.SubMaster) -> bool: + if self.blinker_pause_lateral.update(sm['carState']): + return False - @staticmethod - def get_lat_active(sm: messaging.SubMaster) -> bool: ss_sp = sm['selfdriveStateSP'] - if ss_sp.mads.available: return bool(ss_sp.mads.active) diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py new file mode 100644 index 0000000000..fb86280358 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py @@ -0,0 +1,34 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from cereal import car + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params + + +class BlinkerPauseLateral: + def __init__(self): + self.params = Params() + + self.enabled = self.params.get_bool("BlinkerPauseLateralControl") + self.is_metric = self.params.get_bool("IsMetric") + self.min_speed = 0 + + def get_params(self) -> None: + self.enabled = self.params.get_bool("BlinkerPauseLateralControl") + self.is_metric = self.params.get_bool("IsMetric") + self.min_speed = int(self.params.get("BlinkerMinLateralControlSpeed", encoding='utf8')) + + def update(self, CS: car.CarState) -> bool: + if not self.enabled: + return False + + one_blinker = CS.leftBlinker != CS.rightBlinker + speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS + min_speed_ms = self.min_speed * speed_factor + + return bool(one_blinker and CS.vEgo < min_speed_ms) diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py new file mode 100644 index 0000000000..6ba1dcef41 --- /dev/null +++ b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py @@ -0,0 +1,130 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from cereal import car + +from openpilot.common.conversions import Conversions as CV +from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral + + +class TestBlinkerPauseLateral: + + def setup_method(self): + self.blinker_pause_lateral = BlinkerPauseLateral() + self._reset_states() + + def _reset_states(self): + self.blinker_pause_lateral.enabled = True + self.blinker_pause_lateral.is_metric = False + self.blinker_pause_lateral.min_speed = 20 # MPH + + self.CS = car.CarState.new_message() + self.CS.vEgo = 0 + self.CS.leftBlinker = False + self.CS.rightBlinker = False + + def _test_should_blinker_pause_lateral(self, expected_results) -> None: + for left in (True, False): + for right in (True, False): + self.CS.leftBlinker = left + self.CS.rightBlinker = right + + result = self.blinker_pause_lateral.update(self.CS) + assert result == expected_results[(left, right)] + + def test_below_min_speed_blinker(self): + self.CS.vEgo = 4.5 # ~10 MPH + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_above_min_speed_blinker(self): + self.CS.vEgo = 13.4 # ~30 MPH + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_just_below_min_speed(self): + self.CS.vEgo = (20 * CV.MPH_TO_MS) - 0.01 + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_disabled(self): + self.blinker_pause_lateral.enabled = False + self.CS.vEgo = 4.5 # ~10 MPH + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_metric_units_below_min_speed(self): + self.blinker_pause_lateral.is_metric = True + self.CS.vEgo = 5.0 # ~18 km/h + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_metric_units_above_threshold(self): + self.blinker_pause_lateral.is_metric = True + self.CS.vEgo = 6.0 # ~21.6 km/h + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + def test_change_min_speed_threshold(self): + self.blinker_pause_lateral.min_speed = 30 # MPH + + # below min speed + self.CS.vEgo = 11.2 # ~25 MPH + + expected_results = { + (False, False): False, + (True, False): True, + (False, True): True, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) + + # above min speed + self.CS.vEgo = 15.6 # ~35 MPH + + expected_results = { + (False, False): False, + (True, False): False, + (False, True): False, + (True, True): False + } + self._test_should_blinker_pause_lateral(expected_results) diff --git a/system/manager/manager.py b/system/manager/manager.py index 71f2bc525a..46b849108c 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -44,6 +44,8 @@ def manager_init() -> None: sunnypilot_default_params: list[tuple[str, str | bytes]] = [ ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), + ("BlinkerMinLateralControlSpeed", "20"), # MPH or km/h + ("BlinkerPauseLateralControl", "0"), ("DynamicExperimentalControl", "0"), ("HyundaiLongitudinalTuning", "0"), ("Mads", "1"), From a8639d3feb79f77278f87f4517778b38eeea3fee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 4 Jun 2025 23:40:41 -0700 Subject: [PATCH 445/477] rgb is default (#35467) * rgb is default * change dummy default --- selfdrive/test/process_replay/regen.py | 2 +- tools/lib/framereader.py | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 4d00613f0a..273659c9ff 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -23,7 +23,7 @@ class DummyFrameReader(BaseFrameReader): self.frame_count = frame_count self.frame_type = FrameType.raw - def get(self, idx, count=1, pix_fmt="yuv420p"): + def get(self, idx, count=1, pix_fmt="rgb24"): if pix_fmt == "rgb24": shape = (self.h, self.w, 3) elif pix_fmt == "nv12" or pix_fmt == "yuv420p": diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 275b9b65b8..0eddc88868 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -209,7 +209,7 @@ class BaseFrameReader: def close(self): pass - def get(self, num, count=1, pix_fmt="yuv420p"): + def get(self, num, count=1, pix_fmt="rgb24"): raise NotImplementedError @@ -497,7 +497,7 @@ class GOPFrameReader(BaseFrameReader): return self.frame_cache[(num, pix_fmt)] - def get(self, num, count=1, pix_fmt="yuv420p"): + def get(self, num, count=1, pix_fmt="rgb24"): assert self.frame_count is not None if num + count > self.frame_count: @@ -523,12 +523,12 @@ class StreamFrameReader(StreamGOPReader, GOPFrameReader): GOPFrameReader.__init__(self, readahead, readbehind) -def GOPFrameIterator(gop_reader, pix_fmt): +def GOPFrameIterator(gop_reader, pix_fmt='rgb24'): dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt) yield from dec.read() -def FrameIterator(fn, pix_fmt, **kwargs): +def FrameIterator(fn, pix_fmt='rgb24', **kwargs): fr = FrameReader(fn, **kwargs) if isinstance(fr, GOPReader): yield from GOPFrameIterator(fr, pix_fmt) From 05fa135be662fd8d8772b5f8cb15818c67cf744d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 6 Jun 2025 01:13:44 +0800 Subject: [PATCH 446/477] ui: make the toggle color match QT (#35466) make the toggle color match QT --- system/ui/lib/toggle.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py index 0128dca206..32b9ca5416 100644 --- a/system/ui/lib/toggle.py +++ b/system/ui/lib/toggle.py @@ -1,6 +1,6 @@ import pyray as rl -ON_COLOR = rl.Color(0, 255, 0, 255) +ON_COLOR = rl.Color(51, 171, 76, 255) OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) KNOB_COLOR = rl.WHITE WIDTH, HEIGHT = 160, 80 From 3ad74b440c29e72d139ca097de097ff199487a5b Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Thu, 5 Jun 2025 20:23:27 +0300 Subject: [PATCH 447/477] macos: no logcatd and proclogd (#35457) * don't build proclogd on mac * don't run logcatd and proclogd on mac --- SConstruct | 2 +- system/manager/process_config.py | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/SConstruct b/SConstruct index c534eedbe8..d5051c8fb2 100644 --- a/SConstruct +++ b/SConstruct @@ -342,13 +342,13 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/proclogd/SConscript', 'system/ubloxd/SConscript', 'system/loggerd/SConscript', ]) if arch != "Darwin": SConscript([ 'system/logcatd/SConscript', + 'system/proclogd/SConscript', ]) if arch == "larch64": diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 738c20a85b..ecd5b724cd 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -1,5 +1,6 @@ import os import operator +import platform from cereal import car from openpilot.common.params import Params @@ -70,8 +71,8 @@ procs = [ NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM), PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad, platform.system() != "Darwin"), PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), From ef6719f24eeef7c93118e85477b7cb213aea21cc Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Thu, 5 Jun 2025 20:23:51 +0300 Subject: [PATCH 448/477] webcam: make driver camera optional (#35455) * webcam: driverCamera optional * webcam: update README --- tools/webcam/README.md | 20 ++++++++++---------- tools/webcam/camerad.py | 9 +++++++-- 2 files changed, 17 insertions(+), 12 deletions(-) diff --git a/tools/webcam/README.md b/tools/webcam/README.md index f4b46d1f66..67ad2cc8cb 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -1,22 +1,22 @@ # Run openpilot with webcam on PC What's needed: -- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) +- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS - GPU (recommended) -- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615) -- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car -- [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer -That's it! +- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60) +- [Car harness](https://comma.ai/shop/products/comma-car-harness) +- [panda](https://comma.ai/shop/panda) +- USB-A to USB-A cable to connect panda to your computer ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements -- Install OpenCL Driver +- Install OpenCL Driver (Ubuntu) ``` sudo apt install pocl-opencl-icd ``` ## Connect the hardware -- Connect the road facing camera first, then the driver facing camera +- Connect the camera first - Connect your computer to panda ## GO @@ -24,12 +24,12 @@ sudo apt install pocl-opencl-icd USE_WEBCAM=1 system/manager/manager.py ``` - Start the car, then the UI should show the road webcam's view -- Adjust and secure the webcams. +- Adjust and secure the webcam - Finish calibration and engage! ## Specify Cameras -Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera): +Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera): ``` -USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py +USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py ``` diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index a0916ed5ee..cb096dc00b 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -9,14 +9,19 @@ from cereal import messaging from openpilot.tools.webcam.camera import Camera from openpilot.common.realtime import Ratekeeper +ROAD_CAM = os.getenv("ROAD_CAM", "0") WIDE_CAM = os.getenv("WIDE_CAM") +DRIVER_CAM = os.getenv("DRIVER_CAM") + CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"]) + CAMERAS = [ - CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")), - CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")), + CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM) ] if WIDE_CAM: CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM)) +if DRIVER_CAM: + CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM)) class Camerad: def __init__(self): From 459179ff6c3e2313897332029a28a3f6a9b1c603 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 6 Jun 2025 02:01:49 +0800 Subject: [PATCH 449/477] ui: fix settings close button shape and press state (#35469) fix button rounding and pressed state display in settings --- selfdrive/ui/layouts/settings/settings.py | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index fc03529e56..849a26f0dd 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -50,8 +50,6 @@ class SettingsLayout: def __init__(self): self._params = Params() self._current_panel = PanelType.DEVICE - self._close_btn_pressed = False - self._scroll_offset = 0.0 self._max_scroll = 0.0 # Panel configuration @@ -93,12 +91,15 @@ class SettingsLayout: rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 45, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE ) - close_color = CLOSE_BTN_PRESSED if self._close_btn_pressed else CLOSE_BTN_COLOR - rl.draw_rectangle_rounded(close_btn_rect, 0.5, 20, close_color) + pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and + rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect)) + close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR + rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color) + close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0) close_text_pos = rl.Vector2( close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2, - close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2 - 20, + close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2, ) rl.draw_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, close_text_pos, 140, 0, TEXT_SELECTED) @@ -121,7 +122,6 @@ class SettingsLayout: # Button styling is_selected = panel_type == self._current_panel text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL - # Draw button text (right-aligned) text_size = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0) text_pos = rl.Vector2( @@ -155,7 +155,6 @@ class SettingsLayout: def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: # Check close button if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect): - self._close_btn_pressed = True if self._close_callback: self._close_callback() return True @@ -171,9 +170,6 @@ class SettingsLayout: def _switch_to_panel(self, panel_type: PanelType): if panel_type != self._current_panel: self._current_panel = panel_type - self._scroll_offset = 0.0 # Reset scroll when switching panels - self._transition_progress = 0.0 - self._transitioning = True def set_current_panel(self, index: int, param: str = ""): panel_types = list(self._panels.keys()) From 1668a46b6a74d53dbd81e6beb48b91d0212e2908 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 5 Jun 2025 11:42:05 -0700 Subject: [PATCH 450/477] bump submodules --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index ed0fe857f9..e370a03607 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ed0fe857f9cda9720250eef9139210d58062cd4c +Subproject commit e370a036073bf38856f3cd9936c0bd44ff349dea diff --git a/panda b/panda index c19692245c..e462c34d3d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c19692245cfe681389a1e9ddb2401340cf08759d +Subproject commit e462c34d3d5402c2c4a274bee7abaafabf516993 From 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 5 Jun 2025 12:51:21 -0700 Subject: [PATCH 451/477] selfdrived: more robust NVMe check --- selfdrive/selfdrived/selfdrived.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index f3dabf3791..8529dff4e2 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -117,7 +117,8 @@ class SelfdriveD: # some comma three with NVMe experience NVMe dropouts mid-drive that # cause loggerd to crash on write, so ignore it only on that platform self.ignored_processes = set() - if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'): + nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment")) + if HARDWARE.get_device_type() == 'tici' and nvme_expected: self.ignored_processes = {'loggerd', } # Determine startup event From 23ea85dca656e3646354799bf59d896386c09ac0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 6 Jun 2025 04:14:57 +0800 Subject: [PATCH 452/477] ui: kick watchdog (#35460) * kick watchdog * use global * use monotonic --- common/watchdog.py | 22 ++++++++++++++++++++++ selfdrive/ui/ui.py | 4 ++++ system/manager/process.py | 3 +-- 3 files changed, 27 insertions(+), 2 deletions(-) create mode 100644 common/watchdog.py diff --git a/common/watchdog.py b/common/watchdog.py new file mode 100644 index 0000000000..ddb6f744e9 --- /dev/null +++ b/common/watchdog.py @@ -0,0 +1,22 @@ +import os +import time +import struct +from openpilot.system.hardware.hw import Paths + +WATCHDOG_FN = f"{Paths.shm_path()}/wd_" +_LAST_KICK = 0.0 + +def kick_watchdog(): + global _LAST_KICK + current_time = time.monotonic() + + if current_time - _LAST_KICK < 1.0: + return + + try: + with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f: + f.write(struct.pack(' Date: Fri, 6 Jun 2025 04:15:12 +0800 Subject: [PATCH 453/477] ui: add support for enabling/disabling the toggle (#35471) add support for enabling/disabling the toggle --- system/ui/lib/toggle.py | 27 ++++++++++++++++++++++++--- 1 file changed, 24 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py index 32b9ca5416..5b3fbf277c 100644 --- a/system/ui/lib/toggle.py +++ b/system/ui/lib/toggle.py @@ -3,6 +3,9 @@ import pyray as rl ON_COLOR = rl.Color(51, 171, 76, 255) OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) KNOB_COLOR = rl.WHITE +DISABLED_ON_COLOR = rl.Color(0x22, 0x77, 0x22, 255) # Dark green when disabled + on +DISABLED_OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) +DISABLED_KNOB_COLOR = rl.Color(0x88, 0x88, 0x88, 255) WIDTH, HEIGHT = 160, 80 BG_HEIGHT = 60 ANIMATION_SPEED = 8.0 @@ -11,11 +14,15 @@ ANIMATION_SPEED = 8.0 class Toggle: def __init__(self, initial_state=False): self._state = initial_state + self._enabled = True self._rect = rl.Rectangle(0, 0, WIDTH, HEIGHT) self._progress = 1.0 if initial_state else 0.0 self._target = self._progress def handle_input(self): + if not self._enabled: + return 0 + if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON): if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect): self._state = not self._state @@ -28,6 +35,13 @@ class Toggle: def set_state(self, state: bool): self._state = state + self._target = 1.0 if state else 0.0 + + def set_enabled(self, enabled: bool): + self._enabled = enabled + + def is_enabled(self): + return self._enabled def update(self): if abs(self._progress - self._target) > 0.01: @@ -37,16 +51,23 @@ class Toggle: def render(self, rect: rl.Rectangle): self._rect.x, self._rect.y = rect.x, rect.y - self. update() + self.update() + + if self._enabled: + bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress) + knob_color = KNOB_COLOR + else: + bg_color = self._blend_color(DISABLED_OFF_COLOR, DISABLED_ON_COLOR, self._progress) + knob_color = DISABLED_KNOB_COLOR + # 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) # 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) + rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, knob_color) return self.handle_input() From 6b59f67ab548415b98cbd765b20a80cd4b25381d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 6 Jun 2025 04:16:07 +0800 Subject: [PATCH 454/477] ui: implement home layout with fully functional offroad alerts (#35468) implement home layout with offroad alerts --- selfdrive/ui/layouts/home.py | 213 +++++++++++++++- selfdrive/ui/widgets/offroad_alerts.py | 328 +++++++++++++++++++++++++ 2 files changed, 532 insertions(+), 9 deletions(-) create mode 100644 selfdrive/ui/widgets/offroad_alerts.py diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py index 56df253b52..55de9e82f1 100644 --- a/selfdrive/ui/layouts/home.py +++ b/selfdrive/ui/layouts/home.py @@ -1,17 +1,212 @@ +import time import pyray as rl -from openpilot.system.ui.lib.label import gui_text_box +from collections.abc import Callable +from enum import IntEnum +from openpilot.common.params import Params +from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR + + +HEADER_HEIGHT = 80 +HEAD_BUTTON_FONT_SIZE = 40 +CONTENT_MARGIN = 40 +SPACING = 25 +RIGHT_COLUMN_WIDTH = 750 +REFRESH_INTERVAL = 10.0 + +PRIME_BG_COLOR = rl.Color(51, 51, 51, 255) + + +class HomeLayoutState(IntEnum): + HOME = 0 + UPDATE = 1 + ALERTS = 2 class HomeLayout: def __init__(self): - pass + self.params = Params() + + self.update_alert = UpdateAlert() + self.offroad_alert = OffroadAlert() + + self.current_state = HomeLayoutState.HOME + self.last_refresh = 0 + self.settings_callback: callable | None = None + + self.update_available = False + self.alert_count = 0 + + self.header_rect = rl.Rectangle(0, 0, 0, 0) + self.content_rect = rl.Rectangle(0, 0, 0, 0) + self.left_column_rect = rl.Rectangle(0, 0, 0, 0) + self.right_column_rect = rl.Rectangle(0, 0, 0, 0) + + self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10) + self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10) + + self._setup_callbacks() + + def _setup_callbacks(self): + self.update_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME)) + self.offroad_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME)) + + def set_settings_callback(self, callback: Callable): + self.settings_callback = callback + + def _set_state(self, state: HomeLayoutState): + self.current_state = state def render(self, rect: rl.Rectangle): - gui_text_box( - rect, - "Demo Home Layout", - font_size=170, - color=rl.WHITE, - alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + self._update_layout_rects(rect) + + current_time = time.time() + if current_time - self.last_refresh >= REFRESH_INTERVAL: + self._refresh() + self.last_refresh = current_time + + self._handle_input() + self._render_header() + + # Render content based on current state + if self.current_state == HomeLayoutState.HOME: + self._render_home_content() + elif self.current_state == HomeLayoutState.UPDATE: + self._render_update_view() + elif self.current_state == HomeLayoutState.ALERTS: + self._render_alerts_view() + + def _update_layout_rects(self, rect: rl.Rectangle): + self.header_rect = rl.Rectangle( + rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT ) + + content_y = rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING + content_height = rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN + + self.content_rect = rl.Rectangle( + rect.x + CONTENT_MARGIN, content_y, rect.width - 2 * CONTENT_MARGIN, content_height + ) + + left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING + + self.left_column_rect = rl.Rectangle(self.content_rect.x, self.content_rect.y, left_width, self.content_rect.height) + + self.right_column_rect = rl.Rectangle( + self.content_rect.x + left_width + SPACING, self.content_rect.y, RIGHT_COLUMN_WIDTH, self.content_rect.height + ) + + self.update_notif_rect.x = self.header_rect.x + self.update_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2 + + notif_x = self.header_rect.x + (220 if self.update_available else 0) + self.alert_notif_rect.x = notif_x + self.alert_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2 + + def _handle_input(self): + if not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + return + + mouse_pos = rl.get_mouse_position() + + if self.update_available and rl.check_collision_point_rec(mouse_pos, self.update_notif_rect): + self._set_state(HomeLayoutState.UPDATE) + return + + if self.alert_count > 0 and rl.check_collision_point_rec(mouse_pos, self.alert_notif_rect): + self._set_state(HomeLayoutState.ALERTS) + return + + # Content area input handling + if self.current_state == HomeLayoutState.UPDATE: + self.update_alert.handle_input(mouse_pos, True) + elif self.current_state == HomeLayoutState.ALERTS: + self.offroad_alert.handle_input(mouse_pos, True) + + def _render_header(self): + font = gui_app.font(FontWeight.MEDIUM) + + # Update notification button + if self.update_available: + # Highlight if currently viewing updates + highlight_color = rl.Color(255, 140, 40, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(255, 102, 0, 255) + rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color) + + text = "UPDATE" + text_width = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE).x + text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_width) // 2 + text_y = self.update_notif_rect.y + (self.update_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2 + rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE) + + # Alert notification button + if self.alert_count > 0: + # Highlight if currently viewing alerts + highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255) + rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color) + + alert_text = f"{self.alert_count} ALERT{'S' if self.alert_count > 1 else ''}" + text_width = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE).x + text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_width) // 2 + text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2 + rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE) + + # Version text (right aligned) + version_text = self._get_version_text() + text_width = measure_text_cached(gui_app.font(FontWeight.NORMAL), version_text, 48).x + version_x = self.header_rect.x + self.header_rect.width - text_width + version_y = self.header_rect.y + (self.header_rect.height - 48) // 2 + rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), version_text, rl.Vector2(int(version_x), int(version_y)), 48, 0, DEFAULT_TEXT_COLOR) + + def _render_home_content(self): + self._render_left_column() + self._render_right_column() + + def _render_update_view(self): + self.update_alert.render(self.content_rect) + + def _render_alerts_view(self): + self.offroad_alert.render(self.content_rect) + + def _render_left_column(self): + rl.draw_rectangle_rounded(self.left_column_rect, 0.02, 10, PRIME_BG_COLOR) + gui_label(self.left_column_rect, "Prime Widget", 48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + + def _render_right_column(self): + widget_height = (self.right_column_rect.height - SPACING) // 2 + + exp_rect = rl.Rectangle( + self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, widget_height + ) + rl.draw_rectangle_rounded(exp_rect, 0.02, 10, PRIME_BG_COLOR) + gui_label(exp_rect, "Experimental Mode", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + + setup_rect = rl.Rectangle( + self.right_column_rect.x, + self.right_column_rect.y + widget_height + SPACING, + self.right_column_rect.width, + widget_height, + ) + rl.draw_rectangle_rounded(setup_rect, 0.02, 10, PRIME_BG_COLOR) + gui_label(setup_rect, "Setup", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + + def _refresh(self): + self.update_available = self.update_alert.refresh() + self.alert_count = self.offroad_alert.refresh() + self._update_state_priority(self.update_available, self.alert_count > 0) + + def _update_state_priority(self, update_available: bool, alerts_present: bool): + current_state = self.current_state + + if not update_available and not alerts_present: + self.current_state = HomeLayoutState.HOME + elif update_available and (current_state == HomeLayoutState.HOME or (not alerts_present and current_state == HomeLayoutState.ALERTS)): + self.current_state = HomeLayoutState.UPDATE + elif alerts_present and (current_state == HomeLayoutState.HOME or (not update_available and current_state == HomeLayoutState.UPDATE)): + self.current_state = HomeLayoutState.ALERTS + + def _get_version_text(self) -> str: + brand = "openpilot" + description = self.params.get("UpdaterCurrentDescription", encoding='utf-8') + return f"{brand} {description}" if description else brand diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py new file mode 100644 index 0000000000..df88dc8554 --- /dev/null +++ b/selfdrive/ui/widgets/offroad_alerts.py @@ -0,0 +1,328 @@ +import json +import pyray as rl +from abc import ABC, abstractmethod +from collections.abc import Callable +from dataclasses import dataclass +from openpilot.common.params import Params +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.wrap_text import wrap_text +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.application import gui_app, FontWeight + +class AlertColors: + HIGH_SEVERITY = rl.Color(226, 44, 44, 255) + LOW_SEVERITY = rl.Color(41, 41, 41, 255) + BACKGROUND = rl.Color(57, 57, 57, 255) + BUTTON = rl.WHITE + BUTTON_TEXT = rl.BLACK + SNOOZE_BG = rl.Color(79, 79, 79, 255) + TEXT = rl.WHITE + + +class AlertConstants: + BUTTON_SIZE = (400, 125) + SNOOZE_BUTTON_SIZE = (550, 125) + REBOOT_BUTTON_SIZE = (600, 125) + MARGIN = 50 + SPACING = 30 + FONT_SIZE = 48 + BORDER_RADIUS = 30 + ALERT_HEIGHT = 120 + ALERT_SPACING = 20 + + +@dataclass +class AlertData: + key: str + text: str + severity: int + visible: bool = False + + +class AbstractAlert(ABC): + def __init__(self, has_reboot_btn: bool = False): + self.params = Params() + self.has_reboot_btn = has_reboot_btn + self.dismiss_callback: Callable | None = None + + self.dismiss_btn_rect = rl.Rectangle(0, 0, *AlertConstants.BUTTON_SIZE) + self.snooze_btn_rect = rl.Rectangle(0, 0, *AlertConstants.SNOOZE_BUTTON_SIZE) + self.reboot_btn_rect = rl.Rectangle(0, 0, *AlertConstants.REBOOT_BUTTON_SIZE) + + self.snooze_visible = False + self.content_rect = rl.Rectangle(0, 0, 0, 0) + self.scroll_panel_rect = rl.Rectangle(0, 0, 0, 0) + self.scroll_panel = GuiScrollPanel() + + def set_dismiss_callback(self, callback: Callable): + self.dismiss_callback = callback + + @abstractmethod + def refresh(self) -> bool: + pass + + @abstractmethod + def get_content_height(self) -> float: + pass + + def handle_input(self, mouse_pos: rl.Vector2, mouse_clicked: bool) -> bool: + # TODO: fix scroll_panel.is_click_valid() + if not mouse_clicked: + return False + + if rl.check_collision_point_rec(mouse_pos, self.dismiss_btn_rect): + if self.dismiss_callback: + self.dismiss_callback() + return True + + if self.snooze_visible and rl.check_collision_point_rec(mouse_pos, self.snooze_btn_rect): + self.params.put_bool("SnoozeUpdate", True) + if self.dismiss_callback: + self.dismiss_callback() + return True + + if self.has_reboot_btn and rl.check_collision_point_rec(mouse_pos, self.reboot_btn_rect): + HARDWARE.reboot() + return True + + return False + + def render(self, rect: rl.Rectangle): + rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.width, 10, AlertColors.BACKGROUND) + + footer_height = AlertConstants.BUTTON_SIZE[1] + AlertConstants.SPACING + content_height = rect.height - 2 * AlertConstants.MARGIN - footer_height + + self.content_rect = rl.Rectangle( + rect.x + AlertConstants.MARGIN, + rect.y + AlertConstants.MARGIN, + rect.width - 2 * AlertConstants.MARGIN, + content_height, + ) + self.scroll_panel_rect = rl.Rectangle( + self.content_rect.x, self.content_rect.y, self.content_rect.width, self.content_rect.height + ) + + self._render_scrollable_content() + self._render_footer(rect) + + def _render_scrollable_content(self): + content_total_height = self.get_content_height() + content_bounds = rl.Rectangle(0, 0, self.scroll_panel_rect.width, content_total_height) + scroll_offset = self.scroll_panel.handle_scroll(self.scroll_panel_rect, content_bounds) + + rl.begin_scissor_mode( + int(self.scroll_panel_rect.x), + int(self.scroll_panel_rect.y), + int(self.scroll_panel_rect.width), + int(self.scroll_panel_rect.height), + ) + + content_rect_with_scroll = rl.Rectangle( + self.scroll_panel_rect.x, + self.scroll_panel_rect.y + scroll_offset.y, + self.scroll_panel_rect.width, + content_total_height, + ) + + self._render_content(content_rect_with_scroll) + rl.end_scissor_mode() + + @abstractmethod + def _render_content(self, content_rect: rl.Rectangle): + pass + + def _render_footer(self, rect: rl.Rectangle): + footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_SIZE[1] + font = gui_app.font(FontWeight.MEDIUM) + + self.dismiss_btn_rect.x = rect.x + AlertConstants.MARGIN + self.dismiss_btn_rect.y = footer_y + rl.draw_rectangle_rounded(self.dismiss_btn_rect, 0.3, 10, AlertColors.BUTTON) + + text = "Close" + text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x + text_x = self.dismiss_btn_rect.x + (AlertConstants.BUTTON_SIZE[0] - text_width) // 2 + text_y = self.dismiss_btn_rect.y + (AlertConstants.BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2 + rl.draw_text_ex( + font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT + ) + + if self.snooze_visible: + self.snooze_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.SNOOZE_BUTTON_SIZE[0] + self.snooze_btn_rect.y = footer_y + rl.draw_rectangle_rounded(self.snooze_btn_rect, 0.3, 10, AlertColors.SNOOZE_BG) + + text = "Snooze Update" + text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x + text_x = self.snooze_btn_rect.x + (AlertConstants.SNOOZE_BUTTON_SIZE[0] - text_width) // 2 + text_y = self.snooze_btn_rect.y + (AlertConstants.SNOOZE_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2 + rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.TEXT) + + elif self.has_reboot_btn: + self.reboot_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.REBOOT_BUTTON_SIZE[0] + self.reboot_btn_rect.y = footer_y + rl.draw_rectangle_rounded(self.reboot_btn_rect, 0.3, 10, AlertColors.BUTTON) + + text = "Reboot and Update" + text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x + text_x = self.reboot_btn_rect.x + (AlertConstants.REBOOT_BUTTON_SIZE[0] - text_width) // 2 + text_y = self.reboot_btn_rect.y + (AlertConstants.REBOOT_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2 + rl.draw_text_ex( + font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT + ) + + +class OffroadAlert(AbstractAlert): + def __init__(self): + super().__init__(has_reboot_btn=False) + self.sorted_alerts: list[AlertData] = [] + + def refresh(self): + if not self.sorted_alerts: + self._build_alerts() + + active_count = 0 + connectivity_needed = False + + for alert_data in self.sorted_alerts: + text = "" + bytes_data = self.params.get(alert_data.key) + + if bytes_data: + try: + alert_json = json.loads(bytes_data) + text = alert_json.get("text", "").replace("{}", alert_json.get("extra", "")) + except json.JSONDecodeError: + text = "" + + alert_data.text = text + alert_data.visible = bool(text) + + if alert_data.visible: + active_count += 1 + + if alert_data.key == "Offroad_ConnectivityNeeded" and alert_data.visible: + connectivity_needed = True + + self.snooze_visible = connectivity_needed + return active_count + + def get_content_height(self) -> float: + if not self.sorted_alerts: + return 0 + + total_height = 20 + font = gui_app.font(FontWeight.NORMAL) + + for alert_data in self.sorted_alerts: + if not alert_data.visible: + continue + + text_width = int(self.content_rect.width - 90) + wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width) + line_count = len(wrapped_lines) + text_height = line_count * (AlertConstants.FONT_SIZE + 5) + alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT) + total_height += alert_item_height + AlertConstants.ALERT_SPACING + + if total_height > 20: + total_height = total_height - AlertConstants.ALERT_SPACING + 20 + + return total_height + + def _build_alerts(self): + self.sorted_alerts = [] + try: + with open("../selfdrived/alerts_offroad.json", "rb") as f: + alerts_config = json.load(f) + for key, config in sorted(alerts_config.items(), key=lambda x: x[1].get("severity", 0), reverse=True): + severity = config.get("severity", 0) + alert_data = AlertData(key=key, text="", severity=severity) + self.sorted_alerts.append(alert_data) + except (FileNotFoundError, json.JSONDecodeError): + pass + + def _render_content(self, content_rect: rl.Rectangle): + y_offset = 20 + font = gui_app.font(FontWeight.NORMAL) + + for alert_data in self.sorted_alerts: + if not alert_data.visible: + continue + + bg_color = AlertColors.HIGH_SEVERITY if alert_data.severity > 0 else AlertColors.LOW_SEVERITY + text_width = int(content_rect.width - 90) + wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width) + line_count = len(wrapped_lines) + text_height = line_count * (AlertConstants.FONT_SIZE + 5) + alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT) + + alert_rect = rl.Rectangle( + content_rect.x + 10, + content_rect.y + y_offset, + content_rect.width - 30, + alert_item_height, + ) + + rl.draw_rectangle_rounded(alert_rect, 0.2, 10, bg_color) + + text_x = alert_rect.x + 30 + text_y = alert_rect.y + 20 + + for i, line in enumerate(wrapped_lines): + rl.draw_text_ex( + font, + line, + rl.Vector2(text_x, text_y + i * (AlertConstants.FONT_SIZE + 5)), + AlertConstants.FONT_SIZE, + 0, + AlertColors.TEXT, + ) + + y_offset += alert_item_height + AlertConstants.ALERT_SPACING + + +class UpdateAlert(AbstractAlert): + def __init__(self): + super().__init__(has_reboot_btn=True) + self.release_notes = "" + self._wrapped_release_notes = "" + self._cached_content_height: float = 0.0 + + def refresh(self) -> bool: + update_available: bool = self.params.get_bool("UpdateAvailable") + if update_available: + self.release_notes = self.params.get("UpdaterNewReleaseNotes", encoding='utf-8') + self._cached_content_height = 0 + + return update_available + + def get_content_height(self) -> float: + if not self.release_notes: + return 100 + + if self._cached_content_height == 0: + self._wrapped_release_notes = self.release_notes + size = measure_text_cached(gui_app.font(FontWeight.NORMAL), self._wrapped_release_notes, AlertConstants.FONT_SIZE) + self._cached_content_height = max(size.y + 60, 100) + + return self._cached_content_height + + def _render_content(self, content_rect: rl.Rectangle): + if self.release_notes: + rl.draw_text_ex( + gui_app.font(FontWeight.NORMAL), + self._wrapped_release_notes, + rl.Vector2(content_rect.x + 30, content_rect.y + 30), + AlertConstants.FONT_SIZE, + 0.0, + AlertColors.TEXT, + ) + else: + no_notes_text = "No release notes available." + text_width = rl.measure_text(no_notes_text, AlertConstants.FONT_SIZE) + text_x = content_rect.x + (content_rect.width - text_width) // 2 + text_y = content_rect.y + 50 + rl.draw_text(no_notes_text, int(text_x), int(text_y), AlertConstants.FONT_SIZE, AlertColors.TEXT) From 3a622cbe255735d02b13227b4c910dffacf6e175 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 6 Jun 2025 04:16:38 +0800 Subject: [PATCH 455/477] ui: add WiFi manager to settings (#35454) add WiFi manager to settings --- selfdrive/ui/layouts/network.py | 19 +++++++++++++++++++ selfdrive/ui/layouts/settings/settings.py | 3 ++- 2 files changed, 21 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/layouts/network.py diff --git a/selfdrive/ui/layouts/network.py b/selfdrive/ui/layouts/network.py new file mode 100644 index 0000000000..bf52f18876 --- /dev/null +++ b/selfdrive/ui/layouts/network.py @@ -0,0 +1,19 @@ +import pyray as rl +from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.widgets.network import WifiManagerUI + + +class NetworkLayout: + def __init__(self): + self.wifi_manager = WifiManagerWrapper() + self.wifi_ui = WifiManagerUI(self.wifi_manager) + + def render(self, rect: rl.Rectangle): + self.wifi_ui.render(rect) + + @property + def require_full_screen(self): + return self.wifi_ui.require_full_screen + + def shutdown(self): + self.wifi_manager.shutdown() diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 849a26f0dd..b3d28b0adf 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -9,6 +9,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box +from openpilot.selfdrive.ui.layouts.network import NetworkLayout # Import individual panels @@ -58,7 +59,7 @@ class SettingsLayout: PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)), PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)), PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)), - PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)), + PanelType.NETWORK: PanelInfo("Network", NetworkLayout(), rl.Rectangle(0, 0, 0, 0)), PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)), } From 2000f9aff3477e6eaaf9dea4006acd93e59bc816 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 5 Jun 2025 14:37:12 -0700 Subject: [PATCH 456/477] raylib: ban non-cached measure_text_ex (#35462) * add * use it * Update pyproject.toml * many more * comment --- pyproject.toml | 1 + selfdrive/ui/layouts/settings/settings.py | 5 +++-- system/ui/lib/button.py | 3 ++- system/ui/lib/inputbox.py | 7 ++++--- system/ui/lib/label.py | 7 ++++--- system/ui/lib/text_measure.py | 3 ++- system/ui/spinner.py | 3 ++- system/ui/text.py | 3 ++- 8 files changed, 20 insertions(+), 12 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index b9a9fcab55..ce763d152d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -259,6 +259,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false "tools".msg = "Use openpilot.tools" "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" "unittest".msg = "Use pytest" +"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure" [tool.coverage.run] concurrency = ["multiprocessing", "thread"] diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index b3d28b0adf..1afa4f8f4a 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -9,6 +9,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.label import gui_text_box +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.selfdrive.ui.layouts.network import NetworkLayout # Import individual panels @@ -97,7 +98,7 @@ class SettingsLayout: close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color) - close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0) + close_text_size = measure_text_cached(self._font_bold, SETTINGS_CLOSE_TEXT, 140) close_text_pos = rl.Vector2( close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2, close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2, @@ -124,7 +125,7 @@ class SettingsLayout: is_selected = panel_type == self._current_panel text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL # Draw button text (right-aligned) - text_size = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0) + text_size = measure_text_cached(self._font_medium, panel_info.name, 65) text_pos = rl.Vector2( button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2 ) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 9ca82c9732..024e360448 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -1,6 +1,7 @@ import pyray as rl from enum import IntEnum from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached class ButtonStyle(IntEnum): @@ -99,7 +100,7 @@ def gui_button( # Handle icon and text positioning font = gui_app.font(font_weight) - text_size = rl.measure_text_ex(font, text, font_size, 0) + text_size = measure_text_cached(font, text, font_size) text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2) # Vertical centering # Draw icon if provided diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 367e0dc7e4..ae036c03c2 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -1,6 +1,7 @@ import pyray as rl import time from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.text_measure import measure_text_cached PASSWORD_MASK_CHAR = "•" @@ -60,7 +61,7 @@ class InputBox: padding = 10 if self._cursor_position > 0: - cursor_x = rl.measure_text_ex(font, display_text[: self._cursor_position], self._font_size, 0).x + cursor_x = measure_text_cached(font, display_text[: self._cursor_position], self._font_size).x else: cursor_x = 0 @@ -141,7 +142,7 @@ class InputBox: if self._show_cursor: cursor_x = rect.x + padding if len(display_text) > 0 and self._cursor_position > 0: - cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x + cursor_x += measure_text_cached(font, display_text[: self._cursor_position], font_size).x # Apply text offset to cursor position cursor_x -= self._text_offset @@ -182,7 +183,7 @@ class InputBox: min_distance = float('inf') for i in range(len(self._input_text) + 1): - char_width = rl.measure_text_ex(font, display_text[:i], font_size, 0).x + char_width = measure_text_cached(font, display_text[:i], font_size).x distance = abs(relative_x - char_width) if distance < min_distance: min_distance = distance diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index 00a4eda7c6..82533660de 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -1,5 +1,6 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.utils import GuiStyleContext @@ -14,7 +15,7 @@ def gui_label( elide_right: bool = True ): font = gui_app.font(font_weight) - text_size = rl.measure_text_ex(font, text, font_size, 0) + text_size = measure_text_cached(font, text, font_size) display_text = text # Elide text to fit within the rectangle @@ -24,13 +25,13 @@ def gui_label( while left < right: mid = (left + right) // 2 candidate = text[:mid] + ellipsis - candidate_size = rl.measure_text_ex(font, candidate, font_size, 0) + candidate_size = measure_text_cached(font, candidate, font_size) if candidate_size.x <= rect.width: left = mid + 1 else: right = mid display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis - text_size = rl.measure_text_ex(font, display_text, font_size, 0) + text_size = measure_text_cached(font, display_text, font_size) # Calculate horizontal position based on alignment text_x = rect.x + { diff --git a/system/ui/lib/text_measure.py b/system/ui/lib/text_measure.py index 9cdd566409..c172f94251 100644 --- a/system/ui/lib/text_measure.py +++ b/system/ui/lib/text_measure.py @@ -4,10 +4,11 @@ _cache: dict[int, rl.Vector2] = {} def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: int = 0) -> rl.Vector2: + """Caches text measurements to avoid redundant calculations.""" key = hash((font.texture.id, text, font_size, spacing)) if key in _cache: return _cache[key] - result = rl.measure_text_ex(font, text, font_size, spacing) + result = rl.measure_text_ex(font, text, font_size, spacing) # noqa: TID251 _cache[key] = result return result diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 2af24c4e51..3825f1300d 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -4,6 +4,7 @@ import threading import time from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text @@ -78,7 +79,7 @@ class SpinnerRenderer: rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) elif wrapped_lines: for i, line in enumerate(wrapped_lines): - text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0) + text_size = measure_text_cached(gui_app.font(), line, FONT_SIZE) rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT), FONT_SIZE, 0.0, rl.WHITE) diff --git a/system/ui/text.py b/system/ui/text.py index 82e64d836f..63d00fbde3 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -3,6 +3,7 @@ import re import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -33,7 +34,7 @@ def wrap_text(text, font_size, max_width): while len(words): word = words.pop(0) test_line = current_line + word + (words.pop(0) if words else "") - if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: + if measure_text_cached(font, test_line, font_size).x <= max_width: current_line = test_line else: lines.append(current_line) From ce9d1683a572aae708be7dea1dd988fe580bd834 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 5 Jun 2025 16:58:44 -0700 Subject: [PATCH 457/477] bump to 0.9.10 --- RELEASES.md | 3 +++ common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 5d74689a2d..91652d6dc7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.9.10 (2025-06-30) +======================== + Version 0.9.9 (2025-05-23) ======================== * New driving model diff --git a/common/version.h b/common/version.h index 6351a5b3ff..67b69da7c7 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.9" +#define COMMA_VERSION "0.9.10" From 445eda9d5de2540a6d9e46d6f7ac34557d5692a5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 5 Jun 2025 23:41:04 -0400 Subject: [PATCH 458/477] Bump submodules --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 4ff297f230..f2b2b9e50d 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4ff297f230a55ab052be0f047d7c3049b1b317be +Subproject commit f2b2b9e50ded6c9024715cbb1f5aa7ef911c792d From 835d6a656e77917d69253dafe206a9b03577fc8e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 6 Jun 2025 00:05:20 -0400 Subject: [PATCH 459/477] Bump submodules --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index f2b2b9e50d..202a26d943 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f2b2b9e50ded6c9024715cbb1f5aa7ef911c792d +Subproject commit 202a26d94315edaa981ce80ed73c6022d2d66997 From 8849f44e4190f55673af9256df89a937f5c7a6dc Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 6 Jun 2025 14:33:33 -0400 Subject: [PATCH 460/477] ui: sp spinner (#984) * sp spinner * fine!! --------- Co-authored-by: DevTekVE --- .../assets/images/spinner_sunnypilot.png | 3 +++ system/ui/spinner.py | 4 +++- system/ui/sunnypilot/lib/application.py | 21 +++++++++++++++++++ 3 files changed, 27 insertions(+), 1 deletion(-) create mode 100644 sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png create mode 100644 system/ui/sunnypilot/lib/application.py diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png new file mode 100644 index 0000000000..edc5c6e5c2 --- /dev/null +++ b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dbacb55581a5ea8cbcd5cea0560ec21d96ac7185463a40fff0f81bebf044ffa +size 23187 diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 3825f1300d..ed605885b0 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -8,6 +8,8 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text +from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp + # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 @@ -25,7 +27,7 @@ def clamp(value, min_value, max_value): class SpinnerRenderer: def __init__(self): - self._comma_texture = gui_app.texture("images/spinner_comma.png", TEXTURE_SIZE, TEXTURE_SIZE) + self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE) self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 self._progress: int | None = None diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py new file mode 100644 index 0000000000..10227ce9fd --- /dev/null +++ b/system/ui/sunnypilot/lib/application.py @@ -0,0 +1,21 @@ +from openpilot.system.ui.lib.application import GuiApplication +from importlib.resources import as_file, files + +ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets") + +class GuiApplicationSP(GuiApplication): + + def __init__(self, width: int, height: int): + super().__init__(width, height) + + def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True): + cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" + if cache_key in self._textures: + return self._textures[cache_key] + + with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath: + texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio) + self._textures[cache_key] = texture_obj + return texture_obj + +gui_app_sp = GuiApplicationSP(2160, 1080) From 65c512acc00f9c4b6c485ef7b08fe26ec35ec279 Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Fri, 6 Jun 2025 11:43:10 -0700 Subject: [PATCH 461/477] ui/models panel: liveDelay Toggle (#971) * Model panel * Get this outta here and use sunnylink instead * Remove space * 'not' because we want gas gating to use e2e/mpc blend * Add toggles to models_panel.cc * "keep enabled for stock behavior" * Add this here * Cloudlog result * change cloudlog to debug, and add latsmooth to steer actuator delay. Need to edit json. Will do locally so when this is merged its a simple ready to go push. * Cleanup * Update longitudinal_planner.py * Remove gasgating for now.. may need to be placed in model --------- Co-authored-by: DevTekVE --- common/params_keys.h | 5 +++- .../qt/offroad/settings/models_panel.cc | 7 +++++ sunnypilot/modeld/modeld.py | 6 ++++- sunnypilot/modeld_v2/modeld.py | 6 ++++- sunnypilot/models/modeld_lagd.py | 26 +++++++++++++++++++ system/manager/manager.py | 1 + 6 files changed, 48 insertions(+), 3 deletions(-) create mode 100644 sunnypilot/models/modeld_lagd.py diff --git a/common/params_keys.h b/common/params_keys.h index 6474fb5840..4fd98c1b38 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,7 +71,7 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, - {"LiveDelay", PERSISTENT}, + {"LiveDelay", PERSISTENT | BACKUP}, {"LiveParameters", PERSISTENT}, {"LiveParametersV2", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, @@ -170,4 +170,7 @@ inline static std::unordered_map keys = { {"HyundaiLongitudinalTuning", PERSISTENT}, {"DynamicExperimentalControl", PERSISTENT}, + + // model panel params + {"LagdToggle", PERSISTENT | BACKUP}, }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc index d33cb550ce..3c8d034c5a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -31,6 +31,13 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) { }); connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels); list->addItem(currentModelLblBtn); + + // LiveDelay toggle + list->addItem(new ParamControlSP("LagdToggle", + tr("Live Learning Steer Delay"), + tr("Enable this for the car to learn and adapt its steering response time. " + "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."), + "../assets/offroad/icon_shell.png")); } diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py index 2ac3f5700e..d4bd96ff66 100755 --- a/sunnypilot/modeld/modeld.py +++ b/sunnypilot/modeld/modeld.py @@ -25,6 +25,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants +from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext @@ -201,8 +202,9 @@ def main(demo=False): cloudlog.info("modeld got CarParams: %s", CP.brand) + modeld_lagd = ModeldLagd() + # Enable lagd support for sunnypilot modeld - steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -246,6 +248,8 @@ def main(demo=False): v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId + steer_delay = modeld_lagd.lagd_main(CP, sm, model) + if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index 4c8acafcad..fe322f462e 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -23,6 +23,7 @@ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFr from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants from openpilot.sunnypilot.models.helpers import get_active_bundle +from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd from openpilot.sunnypilot.models.runners.helpers import get_model_runner PROCESS_NAME = "selfdrive.modeld.modeld" @@ -238,6 +239,9 @@ def main(demo=False): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("modeld got CarParams: %s", CP.brand) + + modeld_lagd = ModeldLagd() + # TODO Move smooth seconds to action function long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -282,7 +286,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) - steer_delay = sm["liveDelay"].lateralDelay + model.LAT_SMOOTH_SECONDS + steer_delay = modeld_lagd.lagd_main(CP, sm, model) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] diff --git a/sunnypilot/models/modeld_lagd.py b/sunnypilot/models/modeld_lagd.py new file mode 100644 index 0000000000..9e538123a8 --- /dev/null +++ b/sunnypilot/models/modeld_lagd.py @@ -0,0 +1,26 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog + + +class ModeldLagd: + def __init__(self): + self.params = Params() + + def lagd_main(self, CP, sm, model): + if self.params.get_bool("LagdToggle"): + lateral_delay = sm["liveDelay"].lateralDelay + lat_smooth = model.LAT_SMOOTH_SECONDS + result = lateral_delay + lat_smooth + cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}") + return result + steer_actuator_delay = CP.steerActuatorDelay + lat_smooth = model.LAT_SMOOTH_SECONDS + result = (steer_actuator_delay + 0.2) + lat_smooth + cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}") + return result diff --git a/system/manager/manager.py b/system/manager/manager.py index 46b849108c..13048a8851 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -48,6 +48,7 @@ def manager_init() -> None: ("BlinkerPauseLateralControl", "0"), ("DynamicExperimentalControl", "0"), ("HyundaiLongitudinalTuning", "0"), + ("LagdToggle", "1"), ("Mads", "1"), ("MadsMainCruiseAllowed", "1"), ("MadsSteeringMode", "0"), From ab68ce99bada7edae852a264131aebeb486616ea Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Fri, 6 Jun 2025 20:53:58 +0200 Subject: [PATCH 462/477] chore: Update CODEOWNERS with new ownership rules (#982) Update CODEOWNERS with new ownership rules Expand ownership to additional paths for better code coverage and clarity. Newly added owners include @Discountchubbs and @devtekve for specified directories and files. This ensures proper oversight and maintenance of critical areas. --- .github/CODEOWNERS | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 65d2f5588e..e8f1b7eb8b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,3 +1,11 @@ * @sunnypilot/dev-internal /.github/ @devtekve @sunnyhaibin -/release/ci/ @devtekve @sunnyhaibin \ No newline at end of file +/release/ci/ @devtekve @sunnyhaibin +/tinygrad_repo @devtekve @Discountchubbs +/tinygrad/ @devtekve @Discountchubbs +/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs +/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs +/selfdrive/modeld/ @devtekve @Discountchubbs +/sunnypilot/model* @devtekve @Discountchubbs +/sunnypilot/sunnylink/ @devtekve +/system/athena/ @devtekve \ No newline at end of file From 539b5aab75e7f35624799cd9983dd8eadaa46d62 Mon Sep 17 00:00:00 2001 From: royjr Date: Fri, 6 Jun 2025 15:38:16 -0400 Subject: [PATCH 463/477] ui: display different border color for long control without lat (#981) Update ui.cc Co-authored-by: Jason Wen Co-authored-by: DevTekVE --- selfdrive/ui/ui.cc | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 06208638db..a521902f89 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -80,8 +80,12 @@ void UIState::updateStatus() { status = STATUS_OVERRIDE; } else { if (mads.getAvailable()) { - if (mads.getEnabled()) { - status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY; + if (mads.getEnabled() && ss.getEnabled()) { + status = STATUS_ENGAGED; + } else if (mads.getEnabled()) { + status = STATUS_LAT_ONLY; + } else if (ss.getEnabled()) { + status = STATUS_LONG_ONLY; } else { status = STATUS_DISENGAGED; } From debba0c9f9dcc74dfc0c902aa92286860c5c7d73 Mon Sep 17 00:00:00 2001 From: royjr Date: Fri, 6 Jun 2025 15:51:05 -0400 Subject: [PATCH 464/477] ui: add brightness controls (#974) * brightness * better brightness * cleanup --------- Co-authored-by: DevTekVE --- common/params_keys.h | 1 + selfdrive/ui/sunnypilot/SConscript | 1 + .../qt/offroad/settings/brightness.cc | 50 +++++++++++++++++++ .../qt/offroad/settings/brightness.h | 25 ++++++++++ .../qt/offroad/settings/device_panel.cc | 5 ++ .../qt/offroad/settings/device_panel.h | 2 + selfdrive/ui/ui.cc | 16 ++++-- system/manager/manager.py | 1 + 8 files changed, 98 insertions(+), 3 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h diff --git a/common/params_keys.h b/common/params_keys.h index 4fd98c1b38..a74f6061d0 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -133,6 +133,7 @@ inline static std::unordered_map keys = { {"CarPlatformBundle", PERSISTENT}, {"EnableGithubRunner", PERSISTENT | BACKUP}, {"MaxTimeOffroad", PERSISTENT | BACKUP}, + {"Brightness", PERSISTENT | BACKUP}, {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION}, {"OffroadMode", CLEAR_ON_MANAGER_START}, {"OffroadMode_Status", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 796107da77..9a9e395d92 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/brightness.cc", "sunnypilot/qt/offroad/settings/models_panel.cc", "sunnypilot/qt/offroad/settings/settings.cc", "sunnypilot/qt/offroad/settings/software_panel.cc", diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc new file mode 100644 index 0000000000..ffd3ce1d8b --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc @@ -0,0 +1,50 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h" + +// Map of Brightness Options +const QMap Brightness::brightness_options = { + {"0", "1"}, // Auto (Dark) + {"1", "0"}, // Auto + {"2", "10"}, + {"3", "20"}, + {"4", "30"}, + {"5", "40"}, + {"6", "50"}, + {"7", "60"}, + {"8", "70"}, + {"9", "80"}, + {"10", "90"}, + {"11", "100"} +}; + +Brightness::Brightness() : OptionControlSP( + "Brightness", + tr("Brightness"), + tr("Overrides the brightness of the device."), + "../assets/offroad/icon_blank.png", + {0, 11}, 1, true, &brightness_options) { + + refresh(); +} + +void Brightness::refresh() { + const int brightness = QString::fromStdString(params.get("Brightness")).toInt(); + + QString label; + if (brightness == 1) { + label = tr("Auto (Dark)"); + } else if (brightness == 0) { + label = tr("Auto"); + } else { + const int value = brightness; + label = QString("%1").arg(value); + } + + setLabel(label); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h new file mode 100644 index 0000000000..20d0a291d9 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h @@ -0,0 +1,25 @@ +/** + * 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/ui.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" + +class Brightness : public OptionControlSP { + Q_OBJECT + +public: + static const QMap brightness_options; + + Brightness(); + void refresh(); + +private: + Params params; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index e6855c4b4e..a2c7414460 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -80,6 +80,11 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) { connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh); addItem(maxTimeOffroad); + // Brightness + brightness = new Brightness(); + connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh); + addItem(brightness); + addItem(device_grid_layout); // offroad mode and power buttons diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h index 7b7412a739..e83801dd29 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h @@ -8,6 +8,7 @@ #pragma once #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" @@ -25,6 +26,7 @@ private: std::map buttons; PushButtonSP *offroadBtn; MaxTimeOffroad *maxTimeOffroad; + Brightness *brightness; const QString alwaysOffroadStyle = R"( PushButtonSP { diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index a521902f89..c9dc70cdff 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -171,6 +171,8 @@ void Device::resetInteractiveTimeout(int timeout) { } void Device::updateBrightness(const UIState &s) { + int brightness; + int brightness_override = QString::fromStdString(Params().get("Brightness")).toInt(); float clipped_brightness = offroad_brightness; if (s.scene.started && s.scene.light_sensor >= 0) { clipped_brightness = s.scene.light_sensor; @@ -182,11 +184,19 @@ void Device::updateBrightness(const UIState &s) { clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0); } - // Scale back to 10% to 100% - clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); + if (brightness_override == 1) { + clipped_brightness = std::clamp(100.0f * clipped_brightness, 1.0f, 100.0f); // Scale back to 1% to 100% + } else if (brightness_override == 0) { + clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); // Scale back to 10% to 100% + } + } + + if (brightness_override == 0 || brightness_override == 1) { + brightness = brightness_filter.update(clipped_brightness); + } else { + brightness = brightness_override; } - int brightness = brightness_filter.update(clipped_brightness); if (!awake) { brightness = 0; } diff --git a/system/manager/manager.py b/system/manager/manager.py index 13048a8851..1d72beeda1 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -54,6 +54,7 @@ def manager_init() -> None: ("MadsSteeringMode", "0"), ("MadsUnifiedEngagementMode", "1"), ("MaxTimeOffroad", "1800"), + ("Brightness", "0"), ("ModelManager_LastSyncTime", "0"), ("ModelManager_ModelsCache", ""), ("NeuralNetworkLateralControl", "0"), From 1979b00cc075bbe2980bf0b52f53905cb2362bec Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 6 Jun 2025 13:39:26 -0700 Subject: [PATCH 465/477] UI: Visual indicator for blind spot (#834) * Refactor and extend ModelRenderer for custom Sunnypilot logic Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components. * Update selfdrive/ui/sunnypilot/qt/onroad/model.cc * Refactor `ModelRenderer` for modularity Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes. * Cleaning logic on ModelRenderSP Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation * Enable blind spot detection and visualization. Added support for blind spot warnings, including gradient-colored visualizations for left and right blind spots on the on-road UI. Introduced a new "BlindSpot" parameter with related logic for detection and rendering, as well as a settings option for user toggling. * Cleanup format Clean Cleanup and fixes * Let's backup the BlindSpot setting * add false for restart-needed * Add blind spot warning toggle to VisualsPanel Moved blind spot warning toggle from settings.cc to VisualsPanel and implemented support for dynamic parameter updates. This change introduces a dedicated layout for managing visual settings and improves modularity in the settings interface. * Update Blind Spot Warnings setting description Clarified the description to specify that warnings are displayed only if the car supports Blind Spot Monitoring (BSM). This ensures better user understanding of the feature's requirements. * Avoid diff on settings.cc * More cleanup --------- Co-authored-by: DevTekVE Co-authored-by: Jason Wen Co-authored-by: Nayan --- common/params_keys.h | 1 + .../qt/offroad/settings/visuals_panel.cc | 58 +++++++++++++++++++ .../qt/offroad/settings/visuals_panel.h | 12 ++++ selfdrive/ui/sunnypilot/qt/onroad/model.cc | 44 ++++++++++++++ selfdrive/ui/sunnypilot/qt/onroad/model.h | 7 +++ system/manager/manager.py | 1 + 6 files changed, 123 insertions(+) diff --git a/common/params_keys.h b/common/params_keys.h index a74f6061d0..c87894a959 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -171,6 +171,7 @@ inline static std::unordered_map keys = { {"HyundaiLongitudinalTuning", PERSISTENT}, {"DynamicExperimentalControl", PERSISTENT}, + {"BlindSpot", PERSISTENT | BACKUP}, // model panel params {"LagdToggle", PERSISTENT | BACKUP}, diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc index cf9729be18..0d42bd74f4 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc @@ -8,5 +8,63 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h" VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) { + param_watcher = new ParamWatcher(this); + connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { + paramsRefresh(); + }); + + main_layout = new QStackedLayout(this); + ListWidgetSP *list = new ListWidgetSP(this, false); + sunnypilotScreen = new QWidget(this); + QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen); + vlayout->setContentsMargins(50, 20, 50, 20); + + std::vector > toggle_defs{ + { + "BlindSpot", + tr("Show Blind Spot Warnings"), + tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."), + "../assets/offroad/icon_monitoring.png", + false, + }, + }; + + for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) { + auto toggle = new ParamControlSP(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, &ParamControlSP::toggleFlipped, [=](bool state) { + params.putBool("OnroadCycleRequested", true); + }); + } + + list->addItem(toggle); + toggles[param.toStdString()] = toggle; + param_watcher->addParam(param); + } + + sunnypilotScroller = new ScrollViewSP(list, this); + vlayout->addWidget(sunnypilotScroller); + + main_layout->addWidget(sunnypilotScreen); +} + +void VisualsPanel::paramsRefresh() { + if (!isVisible()) { + return; + } + + for (auto toggle : toggles) { + toggle.second->refresh(); + } } diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h index 9f58104c4e..42e0688957 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h @@ -8,6 +8,9 @@ #pragma once #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +class ScrollViewSP; class VisualsPanel : public QWidget { Q_OBJECT @@ -15,4 +18,13 @@ class VisualsPanel : public QWidget { public: explicit VisualsPanel(QWidget *parent = nullptr); + void paramsRefresh(); + +protected: + QStackedLayout* main_layout = nullptr; + QWidget* sunnypilotScreen = nullptr; + ScrollViewSP *sunnypilotScroller = nullptr; + Params params; + std::map toggles; + ParamWatcher * param_watcher; }; diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc index 617b64f58e..af0177c344 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc @@ -6,3 +6,47 @@ */ #include "selfdrive/ui/sunnypilot/qt/onroad/model.h" + + +void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) { + ModelRenderer::update_model(model, lead); + const auto &model_position = model.getPosition(); + const auto &lane_lines = model.getLaneLines(); + float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); + int max_idx = get_path_length_idx(lane_lines[0], max_distance); + // update blindspot vertices + float max_distance_barrier = 100; + int max_idx_barrier = std::min(max_idx, get_path_length_idx(lane_lines[0], max_distance_barrier)); + mapLineToPolygon(model.getLaneLines()[1], 0.2, -0.05, &left_blindspot_vertices, max_idx_barrier); + mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier); +} + +void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) { + auto *s = uiState(); + auto &sm = *(s->sm); + bool blindspot = Params().getBool("BlindSpot"); + + if (blindspot) { + bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot(); + bool right_blindspot = sm["carState"].getCarState().getRightBlindspot(); + + //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4)); // Red with alpha for blind spot + + if (left_blindspot && !left_blindspot_vertices.isEmpty()) { + QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right + gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha + gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha + painter.setBrush(gradient); + painter.drawPolygon(left_blindspot_vertices); + } + + if (right_blindspot && !right_blindspot_vertices.isEmpty()) { + QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left + gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha + gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha + painter.setBrush(gradient); + painter.drawPolygon(right_blindspot_vertices); + } + } + ModelRenderer::drawPath(painter, model, surface_rect.height()); +} diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h index 8569e58f66..24404f32f0 100644 --- a/selfdrive/ui/sunnypilot/qt/onroad/model.h +++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h @@ -12,4 +12,11 @@ class ModelRendererSP : public ModelRenderer { public: ModelRendererSP() = default; + +private: + void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override; + void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override; + + QPolygonF left_blindspot_vertices; + QPolygonF right_blindspot_vertices; }; diff --git a/system/manager/manager.py b/system/manager/manager.py index 1d72beeda1..9afe1a4f26 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -44,6 +44,7 @@ def manager_init() -> None: sunnypilot_default_params: list[tuple[str, str | bytes]] = [ ("AutoLaneChangeTimer", "0"), ("AutoLaneChangeBsmDelay", "0"), + ("BlindSpot", "0"), ("BlinkerMinLateralControlSpeed", "20"), # MPH or km/h ("BlinkerPauseLateralControl", "0"), ("DynamicExperimentalControl", "0"), From 489d9164f8c8aba20b898c55e29e1c98f4598d09 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 6 Jun 2025 16:50:10 -0400 Subject: [PATCH 466/477] ui: model fuzzy search (#958) * models panel * models panel * fix ui report * stupid scroll * move model selector to models panel * cleanup whitespaces * cleanup bad merge * model search * support searching with short name --------- Co-authored-by: DevTekVE --- .../qt/offroad/settings/models_panel.cc | 33 ++++++++++++++++--- .../qt/offroad/settings/models_panel.h | 3 +- 2 files changed, 31 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc index 3c8d034c5a..1ce1b1b991 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -24,7 +24,17 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) { currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model); currentModelLblBtn->setValue(current_model); - connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked); + connect(currentModelLblBtn, &ButtonControlSP::clicked, [=]() { + + InputDialog d(tr("Search Model"), this, tr("Enter search keywords, or leave blank to list all models."), false); + d.setMinLength(0); + const int ret = d.exec(); + if (ret) { + handleCurrentModelLblBtnClicked(d.text()); + } + + }); + connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { is_onroad = !offroad; updateLabels(); @@ -134,7 +144,7 @@ void ModelsPanel::updateModelManagerState() { * @brief Handles the model bundle selection button click * Displays available bundles, allows selection, and initiates download */ -void ModelsPanel::handleCurrentModelLblBtnClicked() { +void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) { currentModelLblBtn->setEnabled(false); currentModelLblBtn->setValue(tr("Fetching models...")); @@ -142,7 +152,8 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() { 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())); + std::string bundleStr = std::string(bundle.getDisplayName()) + " $SNAME$ " + std::string(bundle.getInternalName()); + index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundleStr)); } // Sort bundles by index in descending order @@ -156,10 +167,24 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() { bundleNames.append(index_to_bundle[index]); } + QStringList filteredBundleNames = searchFromList(query, bundleNames); + currentModelLblBtn->setValue(GetActiveModelName()); + if (filteredBundleNames.isEmpty()) { + ConfirmationDialog::alert(tr("No model found for keywords: %1").arg(query), this); + return; + } + + for (const QString &bundleName: filteredBundleNames) { + int index = bundleName.indexOf("$SNAME$"); + if (index != -1) { + filteredBundleNames.replace(filteredBundleNames.indexOf(bundleName), bundleName.left(index).trimmed()); + } + } + const QString selectedBundleName = MultiOptionDialog::getSelection( - tr("Select a Model"), bundleNames, GetActiveModelName(), this); + tr("Select a Model"), filteredBundleNames, GetActiveModelName(), this); if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) { return; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h index 4ba526651e..ee6a74a666 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h @@ -7,6 +7,7 @@ #pragma once +#include "selfdrive/ui/sunnypilot/qt/util.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h" class ModelsPanel : public QWidget { @@ -30,7 +31,7 @@ private: // UI update related methods void updateLabels(); - void handleCurrentModelLblBtnClicked(); + void handleCurrentModelLblBtnClicked(const QString &query); void handleBundleDownloadProgress(); void showResetParamsDialog(); cereal::ModelManagerSP::Reader model_manager; From 5be2cd9b61a8fca813f2a17d3601791ff9dfd3e3 Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 6 Jun 2025 17:06:13 -0400 Subject: [PATCH 467/477] bug: fix default model selection ui (#977) fix default model selection ui Co-authored-by: DevTekVE --- selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc index 1ce1b1b991..2d7367de1c 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -159,7 +159,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) { // Sort bundles by index in descending order QStringList bundleNames; // Add "Default" as the first option - bundleNames.append(tr("Use Default")); + bundleNames.append(DEFAULT_MODEL); auto indices = index_to_bundle.keys(); std::sort(indices.begin(), indices.end(), std::greater()); @@ -191,7 +191,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked(const QString &query) { } // Handle "Stock" selection differently - if (selectedBundleName == tr("Use Default")) { + if (selectedBundleName == DEFAULT_MODEL) { params.remove("ModelManager_ActiveBundle"); currentModelLblBtn->setValue(tr("Default")); showResetParamsDialog(); From ab6d19271456c9a74e4fe5622ee64a8fabed3cc9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 7 Jun 2025 03:47:09 -0400 Subject: [PATCH 468/477] `mapd` (#989) * init * some fixes * move * more * old navd helpers * bring back cereal * fix linting * more * add to cereal first * sp events * lint * implement in long plan * fixme-sp * refactor state machine * wrong state * start refactor controller * some type hints * init these * enable debug print * ui? ui! * print them out * fix spinner import * fix path * let's use gps chips directly for now * service missing * publish events * no nav for now * need to sub * no car state speed yet * missed event * Car: `CarStateSP` * fix tests * bring back car state speed limit * fix * use old controller for now * fix * fix source * type hints * none for now * formatting * more * create directory if does not exist * mypy my bt * policy param catch exceptions * handle all params with exceptions * more * single method * define types in init * rename * simpler op enabled check * more mypy stuff * rename * no need for brake pressed * don't reset if gas pressed * type hint all * type hint all * back to upstream * in another pr * no longer need data type * qlog * slc in another pr * use horizontal accuracy * set core affinity for all realtime processes * unused * sort * unused * type hint and slight cleanup * from old implementation * use directly * combine pm * slight more cleanup * type hints * even more type hint * lint * more cleanup * even less * license --- cereal/custom.capnp | 8 +- cereal/log.capnp | 2 +- cereal/services.py | 1 + common/params_keys.h | 20 ++ selfdrive/selfdrived/alerts_offroad.json | 4 + selfdrive/ui/sunnypilot/SConscript | 7 +- .../ui/sunnypilot/qt/common/json_fetcher.h | 41 +++ .../offroad/settings/osm/locations_fetcher.h | 63 ++++ .../qt/offroad/settings/osm/models_fetcher.cc | 158 ++++++++++ .../qt/offroad/settings/osm/models_fetcher.h | 143 +++++++++ .../qt/offroad/settings/osm_panel.cc | 283 ++++++++++++++++++ .../qt/offroad/settings/osm_panel.h | 232 ++++++++++++++ .../qt/offroad/settings/settings.cc | 2 + sunnypilot/mapd/__init__.py | 0 sunnypilot/mapd/live_map_data/__init__.py | 22 ++ .../mapd/live_map_data/base_map_data.py | 76 +++++ sunnypilot/mapd/live_map_data/debug.py | 57 ++++ sunnypilot/mapd/live_map_data/osm_map_data.py | 51 ++++ sunnypilot/mapd/live_map_data/standalone.py | 42 +++ sunnypilot/mapd/mapd_installer.py | 152 ++++++++++ sunnypilot/mapd/mapd_manager.py | 146 +++++++++ sunnypilot/navd/helpers.py | 189 ++++++++++++ .../selfdrive/assets/offroad/icon_map.png | 3 + system/hardware/hw.py | 8 + system/manager/manager.py | 3 + system/manager/process_config.py | 7 + third_party/mapd_pfeiferj/README.md | 2 + third_party/mapd_pfeiferj/mapd | Bin 0 -> 8192000 bytes 28 files changed, 1719 insertions(+), 3 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/qt/common/json_fetcher.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h create mode 100644 sunnypilot/mapd/__init__.py create mode 100644 sunnypilot/mapd/live_map_data/__init__.py create mode 100644 sunnypilot/mapd/live_map_data/base_map_data.py create mode 100644 sunnypilot/mapd/live_map_data/debug.py create mode 100644 sunnypilot/mapd/live_map_data/osm_map_data.py create mode 100644 sunnypilot/mapd/live_map_data/standalone.py create mode 100755 sunnypilot/mapd/mapd_installer.py create mode 100644 sunnypilot/mapd/mapd_manager.py create mode 100644 sunnypilot/navd/helpers.py create mode 100644 sunnypilot/selfdrive/assets/offroad/icon_map.png create mode 100644 third_party/mapd_pfeiferj/README.md create mode 100755 third_party/mapd_pfeiferj/mapd diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8a42f8b6a5..c9e4f3e16d 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -226,7 +226,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 { struct CarStateSP @0xb86e6369214c01c8 { } -struct CustomReserved8 @0xf416ec09499d9d19 { +struct LiveMapDataSP @0xf416ec09499d9d19 { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedLimitAheadValid @2 :Bool; + speedLimitAhead @3 :Float32; + speedLimitAheadDistance @4 :Float32; + roadName @5 :Text; } struct CustomReserved9 @0xa1680744031fdb2d { diff --git a/cereal/log.capnp b/cereal/log.capnp index 412660bc6a..46d1d25d64 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2610,7 +2610,7 @@ struct Event { carControlSP @112 :Custom.CarControlSP; backupManagerSP @113 :Custom.BackupManagerSP; carStateSP @114 :Custom.CarStateSP; - customReserved8 @115 :Custom.CustomReserved8; + liveMapDataSP @115 :Custom.LiveMapDataSP; customReserved9 @116 :Custom.CustomReserved9; customReserved10 @136 :Custom.CustomReserved10; customReserved11 @137 :Custom.CustomReserved11; diff --git a/cereal/services.py b/cereal/services.py index 4097e484f6..3e72041b72 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -84,6 +84,7 @@ _services: dict[str, tuple] = { "carParamsSP": (True, 0.02, 1), "carControlSP": (True, 100., 10), "carStateSP": (True, 100., 10), + "liveMapDataSP": (True, 1., 1), # debug "uiDebug": (True, 0., 1), diff --git a/common/params_keys.h b/common/params_keys.h index c87894a959..d2863d7b33 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -175,4 +175,24 @@ inline static std::unordered_map keys = { // model panel params {"LagdToggle", PERSISTENT | BACKUP}, + + // mapd + {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION}, + {"MapdVersion", PERSISTENT}, + {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION}, + {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START}, + {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START}, // mapd database update happens with device ON, reset on boot + {"OSMDownloadBounds", PERSISTENT}, + {"OsmDownloadedDate", PERSISTENT}, + {"OSMDownloadLocations", PERSISTENT}, + {"OSMDownloadProgress", CLEAR_ON_MANAGER_START}, + {"OsmLocal", PERSISTENT}, + {"OsmLocationName", PERSISTENT}, + {"OsmLocationTitle", PERSISTENT}, + {"OsmLocationUrl", PERSISTENT}, + {"OsmStateName", PERSISTENT}, + {"OsmStateTitle", PERSISTENT}, + {"OsmWayTest", PERSISTENT}, + {"RoadName", CLEAR_ON_ONROAD_TRANSITION}, }; diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 68f5949398..6ea1bcf233 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -48,5 +48,9 @@ "OffroadMode_Status": { "text": "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.", "severity": 1 + }, + "Offroad_OSMUpdateRequired": { + "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1", + "severity": 0 } } diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript index 9a9e395d92..de7f3efbc5 100644 --- a/selfdrive/ui/sunnypilot/SConscript +++ b/selfdrive/ui/sunnypilot/SConscript @@ -26,6 +26,7 @@ qt_src = [ "sunnypilot/qt/offroad/settings/max_time_offroad.cc", "sunnypilot/qt/offroad/settings/brightness.cc", "sunnypilot/qt/offroad/settings/models_panel.cc", + "sunnypilot/qt/offroad/settings/osm_panel.cc", "sunnypilot/qt/offroad/settings/settings.cc", "sunnypilot/qt/offroad/settings/software_panel.cc", "sunnypilot/qt/offroad/settings/sunnylink_panel.cc", @@ -54,6 +55,10 @@ network_src = [ "sunnypilot/qt/network/sunnylink/services/user_service.cc", ] +osm_panel_qt_src = [ + "sunnypilot/qt/offroad/settings/osm/models_fetcher.cc", +] + vehicle_panel_qt_src = [ "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc", "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc", @@ -76,7 +81,7 @@ brand_settings_qt_src = [ ] sp_widgets_src = widgets_src + network_src -sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src +sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + osm_panel_qt_src sp_qt_util = qt_util Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util") diff --git a/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h new file mode 100644 index 0000000000..5691f600a6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h @@ -0,0 +1,41 @@ +/** + * 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 +#include +#include +#include + +class JsonFetcher { +public: + static QJsonObject getJsonFromURL(const QString &url) { + const auto qurl = QUrl(url); + QNetworkAccessManager manager; + const QNetworkRequest request(qurl); + QNetworkReply *reply = manager.get(request); + QEventLoop loop; + + // Send GET request + + QObject::connect(reply, &QNetworkReply::finished, &loop, &QEventLoop::quit); + loop.exec(); + + if (reply->error() != QNetworkReply::NoError) { + qWarning() << "Failed to fetch data from URL: " << reply->errorString(); + return QJsonObject(); + } + + const QByteArray responseData = reply->readAll(); + const QJsonDocument doc = QJsonDocument::fromJson(responseData); + QJsonObject json = doc.object(); + + reply->deleteLater(); + return json; + } +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h new file mode 100644 index 0000000000..32d169ad15 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h @@ -0,0 +1,63 @@ +/** + * 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 // for std::sort +#include +#include +#include + +#include +#include + +#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h" + +static const std::tuple defaultLocation = std::make_tuple("== None ==", ""); + +// New class LocationsFetcher that handles web requests and JSON parsing +class LocationsFetcher { +public: + inline std::vector > + getLocationsFromURL(const QUrl &url, const std::tuple &customLocation = defaultLocation) const { + // Initialize an empty vector to hold the locations + std::vector > locations; + + JsonFetcher fetcher; + QJsonObject json = fetcher.getJsonFromURL(url.toString()); + + for (auto it = json.begin(); it != json.end(); ++it) { + QString code = it.key(); + QJsonObject obj = it.value().toObject(); + QString fullName = obj["full_name"].toString(); + + locations.push_back(std::make_tuple(fullName, code, QString(), QString())); + } + // Sort locations by full name + std::sort(locations.begin(), locations.end(), [](const auto &lhs, const auto &rhs) { + return std::get<0>(lhs) < std::get<0>(rhs); // Compare full names + }); + // Optionally, you can now add defaultName entry at the beginning + locations.insert(locations.begin(), std::tuple_cat(customLocation, std::make_tuple("", ""))); + return locations; + } + + inline std::vector > + getLocationsFromURL(const QString &url, const std::tuple &customLocation = defaultLocation) const { + return getLocationsFromURL(QUrl(url), customLocation); + } + + inline std::vector > + getOsmLocations(const std::tuple &customLocation = defaultLocation) const { + return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/nation_bounding_boxes.json", customLocation); + } + + inline std::vector > + getUsStatesLocations(const std::tuple &customLocation = defaultLocation) const { + return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/us_states_bounding_boxes.json", customLocation); + } +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc new file mode 100644 index 0000000000..b67e41e09d --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc @@ -0,0 +1,158 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h" + +#include + +ModelsFetcher::ModelsFetcher(QObject *parent) : QObject(parent) { + manager = new QNetworkAccessManager(this); +} + +QByteArray ModelsFetcher::verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches) { + hashMatches = false; // Default to false + QByteArray fileData; + + if (expectedHash.isEmpty()) { + // If no hash is provided, assume verification isn't required but return the file data + hashMatches = true; + } else { + QFile file(filePath); + if (file.open(QIODevice::ReadOnly)) { + QCryptographicHash hash(QCryptographicHash::Sha256); // Or your chosen algorithm + fileData = file.readAll(); // Read the file data once + hash.addData(fileData); + file.close(); + + QString currentHash = QString(hash.result().toHex()); + hashMatches = (currentHash == expectedHash); + } + } + + // Return the file data if hash matches or no hash was provided; empty otherwise + return hashMatches ? fileData : QByteArray(); +} + + +void ModelsFetcher::download(const DownloadInfo &downloadInfo, const QString &filename, const QString &destinationPath) { + QString fullPath = destinationPath + "/" + filename; + QFileInfo fileInfo(fullPath); + bool hashMatches = false; + QByteArray data = verifyFileHash(fullPath, downloadInfo.sha256, hashMatches); + + if (fileInfo.exists() && hashMatches) { + // Hash matches or no hash provided, and we have the file data + LOGD("File already downloaded and verified: %s", filename.toStdString().c_str()); + emit downloadProgress(100); + emit downloadComplete(data, true); // Use the data returned from verifyFileHash + return; // Exit early + } + + // Proceed with download if file does not exist or hash verification failed + QNetworkRequest request(downloadInfo.url); + QNetworkReply *reply = manager->get(request); + connect(reply, &QNetworkReply::downloadProgress, this, &ModelsFetcher::onDownloadProgress); + connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename, downloadInfo]() { + onFinished(reply, destinationPath, filename, downloadInfo.sha256); + }); +} + +QString extractFileName(const QString &contentDisposition) { + const QString filenameTag = "filename="; + const int idx = contentDisposition.indexOf(filenameTag); + if (idx < 0) { + return QString(); + } + + QString filename = contentDisposition.mid(idx + filenameTag.length()); + if (filename.startsWith("\"") && filename.endsWith("\"")) { + return filename.mid(1, filename.size() - 2); + } + + return filename; +} + +void ModelsFetcher::onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, const QString &expectedHash) { + // Handle download error + if (reply->error()) { + return; // Possibly emit a signal or log an error as per your error handling policy + } + + const QByteArray data = reply->readAll(); + + QString finalFilename = filename; + if (finalFilename.isEmpty()) { + finalFilename = extractFileName(reply->header(QNetworkRequest::ContentDispositionHeader).toString()); + } + + QString finalPath = QDir(destinationPath).filePath(finalFilename); + + // Save the downloaded file + QFile file(finalPath); + //ensure if the path exists and if not create it + if (!QDir().mkpath(destinationPath)) { + LOGE("Unable to create directory: %s", destinationPath.toStdString().c_str()); + emit downloadFailed(filename); + return; // Stop further processing + } + + //Retry the file open and write 3 times with a little delay between each retry + for (int i = 0; i < 3; i++) { + if (file.isOpen()) break; + + file.open(QIODevice::WriteOnly); + if (!file.isOpen()) QThread::msleep(100); + } + + // If the file is still not open, log an error and emit a failure signal + if (!file.isOpen()) { + LOGE("Unable to open file for writing: %s", finalPath.toStdString().c_str()); + emit downloadFailed(filename); + return; // Stop further processing + } + + file.write(data); + file.close(); + + bool hashMatches = false; + verifyFileHash(finalPath, expectedHash, hashMatches); + + // Verify the file hash if expectedHash is provided + if (!expectedHash.isEmpty() && !hashMatches) { + LOGE("The downloaded file didn't pass the hash validation!: %s", filename.toStdString().c_str()); + // Hash verification failed, handle accordingly + // This could involve deleting the file, logging an error, or emitting a failure signal + QFile::remove(finalPath); // Example action: Remove the invalid file + emit downloadFailed(filename); + return; // Stop further processing + } + + emit downloadComplete(data, false); // Emit your success signal +} + +void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) { + const double progress = (bytesReceived * 100.0) / bytesTotal; + emit downloadProgress(progress); +} + +std::vector ModelsFetcher::getModelsFromURL(const QUrl &url) { + std::vector models; + JsonFetcher fetcher; + QJsonObject json = fetcher.getJsonFromURL(url.toString()); + for (auto it = json.begin(); it != json.end(); ++it) { + models.push_back(Model(it.value().toObject())); + } + return models; +} + +std::vector ModelsFetcher::getModelsFromURL(const QString &url) { + return getModelsFromURL(QUrl(url)); +} + +std::vector ModelsFetcher::getModelsFromURL() { + return getModelsFromURL("https://docs.sunnypilot.ai/models_v5.json"); +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h new file mode 100644 index 0000000000..73890e9d5a --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h @@ -0,0 +1,143 @@ +/** + * 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 // for std::sort +#include +#include +#include + +#include +#include +#include + +#include "common/swaglog.h" +#include "common/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h" +#ifdef SUNNYPILOT +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#else +#include "selfdrive/ui/qt/widgets/controls.h" +#endif +#include "system/hardware/hw.h" + +static const QString MODELS_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/models/" : "/data/media/0/models/"; + +struct DownloadInfo { + QString url; + QString sha256; +}; + +// New class ModelsFetcher with a new function that handles web requests and JSON parsing for the new JSON structure +class Model { +public: + explicit Model(const QJsonObject &json) { + displayName = json["display_name"].toString(); + fullName = json["full_name"].toString(); + fileName = json["file_name"].toString(); + + // Parse downloadUri as an object + QJsonObject downloadUriObj = json["download_uri"].toObject(); + downloadUri.url = downloadUriObj["url"].toString(); + downloadUri.sha256 = downloadUriObj["sha256"].toString(); + + fullNameNav = json["full_name_nav"].toString(); + fileNameNav = json["file_name_nav"].toString(); + + // Parse downloadUriNav as an object + QJsonObject downloadUriNavObj = json["download_uri_nav"].toObject(); + downloadUriNav.url = downloadUriNavObj["url"].toString(); + downloadUriNav.sha256 = downloadUriNavObj["sha256"].toString(); + + fullNameMetadata = json["full_name_metadata"].toString(); + fileNameMetadata = json["file_name_metadata"].toString(); + + // Parse downloadUriMetadata as an object + QJsonObject downloadUriMetadataObj = json["download_uri_metadata"].toObject(); + downloadUriMetadata.url = downloadUriMetadataObj["url"].toString(); + downloadUriMetadata.sha256 = downloadUriMetadataObj["sha256"].toString(); + + index = json["index"].toString(); + environment = json["environment"].toString(); + generation = json["generation"].toString(); + } + + // Method to convert model back to QJsonObject, if needed + QJsonObject toJson() const { + QJsonObject json; + json["display_name"] = displayName; + json["full_name"] = fullName; + json["file_name"] = fileName; + + QJsonObject uriObj; + uriObj["url"] = downloadUri.url; + uriObj["sha256"] = downloadUri.sha256; + json["download_uri"] = uriObj; + + QJsonObject uriNavObj; + uriNavObj["url"] = downloadUriNav.url; + uriNavObj["sha256"] = downloadUriNav.sha256; + json["download_uri_nav"] = uriNavObj; + + QJsonObject uriMetadataObj; + uriMetadataObj["url"] = downloadUriMetadata.url; + uriMetadataObj["sha256"] = downloadUriMetadata.sha256; + json["download_uri_metadata"] = uriMetadataObj; + + json["full_name_nav"] = fullNameNav; + json["file_name_nav"] = fileNameNav; + json["full_name_metadata"] = fullNameMetadata; + json["file_name_metadata"] = fileNameMetadata; + json["index"] = index; + json["environment"] = environment; + json["generation"] = generation; + return json; + } + + QString displayName; + QString fullName; + QString fileName; + DownloadInfo downloadUri; + DownloadInfo downloadUriNav; + DownloadInfo downloadUriMetadata; + + QString fullNameNav; + QString fileNameNav; + QString fullNameMetadata; + QString fileNameMetadata; + QString index; + QString environment; + QString generation; +}; + +class ModelsFetcher : public QObject { + Q_OBJECT + +public: + explicit ModelsFetcher(QObject *parent = nullptr); + void download(const DownloadInfo &url, const QString &filename = "", const QString &destinationPath = MODELS_PATH); + static std::vector getModelsFromURL(const QUrl &url); + static std::vector getModelsFromURL(const QString &url); + static std::vector getModelsFromURL(); + +signals: + void downloadProgress(double percentage); + void downloadComplete(const QByteArray &data, bool fromCache = false); + void downloadFailed(const QString &filename); + +private: + // static bool verifyFileHash(const QString& filePath, const QString& expectedHash); + static QByteArray verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches); + void onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal); + void onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, + const QString &expectedHash); + + QNetworkAccessManager *manager; +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc new file mode 100644 index 0000000000..332fd71a18 --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc @@ -0,0 +1,283 @@ +/** + * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + * + * This file is part of sunnypilot and is licensed under the MIT License. + * See the LICENSE.md file in the root directory for more details. + */ + +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h" + +#include +#include +#include + +#include "common/swaglog.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h" + +OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) { + main_layout = new QStackedLayout(this); + + const auto list = new ListWidgetSP(this, false); + list->addItem(mapdVersion = new LabelControlSP(tr("Mapd Version"), "Loading...")); + list->addItem(setupOsmDeleteMapsButton(parent)); + list->addItem(offlineMapsETA = new LabelControlSP(tr("Offline Maps ETA"), "")); + list->addItem(offlineMapsElapsed = new LabelControlSP(tr("Time Elapsed"), "")); + list->addItem(setupOsmUpdateButton(parent)); + list->addItem(setupOsmDownloadButton(parent)); + list->addItem(setupUsStatesButton(parent)); + + connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) { + updateLabels(); + }); + + timer = new QTimer(this); + connect(timer, &QTimer::timeout, this, QOverload<>::of(&OsmPanel::updateLabels)); + timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds. + updateLabels(); + + osmScreen = new QWidget(this); + auto *vlayout = new QVBoxLayout(osmScreen); + vlayout->setContentsMargins(50, 20, 50, 20); + vlayout->addWidget(new ScrollViewSP(list, this), 1); + main_layout->addWidget(osmScreen); +} + +ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) { + osmDeleteMapsBtn = new ButtonControlSP(tr("Downloaded Maps"), tr("DELETE")); // Updated on updateLabels() + connect(osmDeleteMapsBtn, &ButtonControlSP::clicked, [=]() { + if (showConfirmationDialog(parent, tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all the maps?"), tr("Yes, delete all the maps."))) { + QtConcurrent::run([=]() { + QDir dir(MAP_PATH); + osmDeleteMapsBtn->setEnabled(false); + osmDeleteMapsBtn->setText("⌛"); + dir.removeRecursively(); + updateMapSize(); + osmDeleteMapsBtn->setEnabled(true); + osmDeleteMapsBtn->setText(tr("DELETE")); + }); + updateLabels(); + } + }); + return osmDeleteMapsBtn; +} + +ButtonControlSP *OsmPanel::setupOsmUpdateButton(QWidget *parent) { + osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels() + connect(osmUpdateBtn, &ButtonControlSP::clicked, [=]() { + if (osm_download_in_progress && !download_failed_state) { + updateLabels(); + } else if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } + }); + return osmUpdateBtn; +} + +ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) { + osmDownloadBtn = new ButtonControlSP(tr("Country"), tr("SELECT")); + connect(osmDownloadBtn, &ButtonControlSP::clicked, [=]() { + osmDownloadBtn->setEnabled(false); + osmDownloadBtn->setValue(tr("Fetching Country list...")); + const std::vector > locations = getOsmLocations(); + osmDownloadBtn->setEnabled(true); + osmDownloadBtn->setValue(""); + const QString initTitle = QString::fromStdString(params.get("OsmLocationTitle")); + const QString currentTitle = ((initTitle == "== None ==") || (initTitle.length() == 0)) ? "== None ==" : initTitle; + + QStringList locationTitles; + for (auto &loc: locations) { + locationTitles.push_back(std::get<0>(loc)); + } + + const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this); + if (!selection.isEmpty()) { + params.put("OsmLocal", "1"); + params.put("OsmLocationTitle", selection.toStdString()); + for (auto &loc: locations) { + if (std::get<0>(loc) == selection) { + params.put("OsmLocationName", std::get<1>(loc).toStdString()); + break; + } + } + if (params.get("OsmLocationName") == "US") { + usStatesBtn->click(); + return; + } else if (selection != "== None ==") { + if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } + } + } + updateLabels(); + }); + return osmDownloadBtn; +} + +ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) { + usStatesBtn = new ButtonControlSP(tr("State"), tr("SELECT")); + connect(usStatesBtn, &ButtonControlSP::clicked, [=]() { + const std::tuple allStatesOption = std::make_tuple("All States (~4.8 GB)", "All"); + usStatesBtn->setEnabled(false); + usStatesBtn->setValue(tr("Fetching State list...")); + const std::vector > locations = + getUsStatesLocations(allStatesOption); + usStatesBtn->setEnabled(true); + usStatesBtn->setValue(""); + const QString initTitle = QString::fromStdString(params.get("OsmStateTitle")); + const QString currentTitle = ((initTitle == std::get<0>(allStatesOption)) || (initTitle.length() == 0)) ? tr("All") : initTitle; + + QStringList locationTitles; + for (auto &loc: locations) { + locationTitles.push_back(std::get<0>(loc)); + } + + const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this); + if (!selection.isEmpty()) { + params.put("OsmStateTitle", selection.toStdString()); + for (auto &loc: locations) { + if (std::get<0>(loc) == selection) { + params.put("OsmStateName", std::get<1>(loc).toStdString()); + break; + } + } + usStatesBtn->setValue(selection); + if (showConfirmationDialog(parent)) { + osm_download_in_progress = true; + params.putBool("OsmDbUpdatesCheck", true); + updateLabels(); + } + } + updateLabels(); + }); + usStatesBtn->setVisible(false); // initially hidden + return usStatesBtn; +} + +void OsmPanel::showEvent(QShowEvent *event) { + updateLabels(); // For snappier feeling + if (!timer->isActive()) { + timer->start(FAST_REFRESH_INTERVAL); + } +} + +void OsmPanel::hideEvent(QHideEvent *event) { + if (timer->isActive()) { + timer->stop(); + } +} + + +void OsmPanel::updateLabels() { + if (!isVisible()) { + return; + } + mapd_version = params.get("MapdVersion"); + mapdVersion->setText(mapd_version.c_str()); + + updateMapSize(); + osm_download_locations = mem_params.get("OSMDownloadLocations"); + osm_download_in_progress = !osm_download_locations.empty(); + + timer->setInterval(osm_download_in_progress ? FAST_REFRESH_INTERVAL : SLOW_REFRESH_INTERVAL); + LOGT("Timer Interval %d", timer->interval()); + + const std::string osmLastDownloadTimeStr = params.get("OsmDownloadedDate"); + if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) { + const double osmLastDownloadTime = std::stod(osmLastDownloadTimeStr); + lastDownloadedTimePoint = std::chrono::system_clock::from_time_t(static_cast(osmLastDownloadTime)); + } + + osmDownloadBtn->setEnabled(!osm_download_in_progress); + usStatesBtn->setEnabled(!osm_download_in_progress); + + updateDownloadProgress(); + + const QString locationName = QString::fromStdString(params.get("OsmLocationName")); + const bool isUs = !locationName.isEmpty() && locationName == "US"; + usStatesBtn->setVisible(isUs); + + if (!locationName.isEmpty()) { + if (!isUs) { + params.remove("OsmStateName"); + params.remove("OsmStateTitle"); + } + osmUpdateBtn->setVisible(true); + } else { + params.remove("OsmLocal"); + params.remove("OsmLocationName"); + params.remove("OsmLocationTitle"); + params.remove("OsmStateName"); + params.remove("OsmStateTitle"); + osmUpdateBtn->setVisible(false); + usStatesBtn->setVisible(false); + } + + osmDownloadBtn->setValue(QString::fromStdString(params.get("OsmLocationTitle"))); + usStatesBtn->setValue(QString::fromStdString(params.get("OsmStateTitle"))); + update(); +} + +void OsmPanel::updateDownloadProgress() { + const auto pending_update_check = params.getBool("OsmDbUpdatesCheck"); + const QJsonObject osmDownloadProgress = QJsonDocument::fromJson(params.get("OSMDownloadProgress").c_str()).object(); + if (osm_download_in_progress && lastDownloadedTimePoint.has_value()) { + offlineMapsETA->setVisible(true); + offlineMapsElapsed->setVisible(true); + offlineMapsETA->setText(calculateETA(osmDownloadProgress, lastDownloadedTimePoint.value())); + offlineMapsElapsed->setText(calculateElapsedTime(osmDownloadProgress, lastDownloadedTimePoint.value())); + } else { + offlineMapsETA->setVisible(false); + offlineMapsElapsed->setVisible(false); + } + + const int total_files = extractIntFromJson(osmDownloadProgress, "total_files"); + const int downloaded_files = extractIntFromJson(osmDownloadProgress, "downloaded_files"); + download_failed_state = total_files && osm_download_in_progress && !lastDownloadedTimePoint.has_value() && downloaded_files < total_files; + + QString updateButtonText = processUpdateStatus(pending_update_check, total_files, downloaded_files, osmDownloadProgress, download_failed_state); + + osmUpdateBtn->setValue(updateButtonText); + osmUpdateBtn->setText(osm_download_in_progress && !download_failed_state ? tr("REFRESH") : tr("UPDATE")); + osmDeleteMapsBtn->setValue(formatSize(mapsDirSize)); +} + +int OsmPanel::extractIntFromJson(const QJsonObject &json, const QString &key) { + return (json.contains(key)) ? json[key].toInt() : 0; +} + +QString OsmPanel::processUpdateStatus(bool pending_update, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state) { + if (pending_update && !osm_download_in_progress && !total_files) { + lastDownloadedTimePoint.reset(); + return tr("Download starting..."); + } else if (failed_state) { + return tr("Error: Invalid download. Retry."); + } else if (osm_download_in_progress && total_files > downloaded_files) { + return formatDownloadStatus(json); + } else if (osm_download_in_progress && downloaded_files >= total_files) { + osm_download_in_progress = false; + lastDownloadedTimePoint.reset(); + return tr("Download complete!"); + } + + if (lastDownloadedTimePoint.has_value()) { + QDateTime dateTime = QDateTime::fromTime_t(std::chrono::system_clock::to_time_t(lastDownloadedTimePoint.value())); //fromMSecsSinceEpoch(duration); + dateTime = dateTime.toLocalTime(); + return QString("%1").arg(dateTime.toString("yyyy-MM-dd HH:mm:ss")); + } + + return ""; +} + +void OsmPanel::updateMapSize() { + if (mapSizeFuture.has_value() && mapSizeFuture.value().isFinished()) { + mapsDirSize = mapSizeFuture.value().result(); + } + + if (!mapSizeFuture.has_value() || !mapSizeFuture.value().isRunning()) { + mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH); + } +} diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h new file mode 100644 index 0000000000..171129a11c --- /dev/null +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h @@ -0,0 +1,232 @@ +/** + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "selfdrive/ui/qt/network/wifi_manager.h" +#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/sunnypilot/ui.h" +#include "system/hardware/hw.h" + +constexpr int FAST_REFRESH_INTERVAL = 1000; // ms +constexpr int SLOW_REFRESH_INTERVAL = 5000; // ms + +static const QString MAP_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/osm/offline/" : "/data/media/0/osm/offline/"; + +class OsmPanel : public QFrame { + Q_OBJECT + +public: + explicit OsmPanel(QWidget *parent = nullptr); + +private: + QStackedLayout *main_layout = nullptr; + QWidget *osmScreen = nullptr; + Params params; + Params mem_params{Hardware::PC() ? "" : "/dev/shm/params"}; + std::map toggles; + std::optional > mapSizeFuture; + const SubMaster &sm = *uiStateSP()->sm; + + + bool is_onroad = false; + std::string mapd_version; + + bool isWifi() const { return sm["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI; } + bool isMetered() const { return sm["deviceState"].getDeviceState().getNetworkMetered(); } + bool osm_download_in_progress = false; + bool download_failed_state = false; + quint64 mapsDirSize = 0; + + QLabel *osmUpdateLbl; + ButtonControlSP *osmDownloadBtn; + ButtonControlSP *osmUpdateBtn; + ButtonControlSP *usStatesBtn; + ButtonControlSP *osmDeleteMapsBtn; + + ButtonControlSP *setupOsmDeleteMapsButton(QWidget *parent);; + ButtonControlSP *setupOsmUpdateButton(QWidget *parent); + ButtonControlSP *setupOsmDownloadButton(QWidget *parent); + ButtonControlSP *setupUsStatesButton(QWidget *parent); + + QTimer *timer; + std::string osm_download_locations; + // void updateButtonControlSP(ButtonControlSP *btnControl, QWidget *parent, const QString &initTitle, const QString &allStatesOption); + + void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; + void updateLabels(); + void updateDownloadProgress(); + static int extractIntFromJson(const QJsonObject &json, const QString &key); + QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state); + + ConfirmationDialog *confirmationDialog; + LabelControlSP *mapdVersion; + LabelControlSP *offlineMapsStatus; + LabelControlSP *offlineMapsETA; + LabelControlSP *offlineMapsElapsed; + std::optional lastDownloadedTimePoint; + LocationsFetcher locationsFetcher; + + void updateMapSize(); + + bool showConfirmationDialog(QWidget *parent, + const QString &message = QString(), + const QString &confirmButtonText = QString()) const { + const auto _is_metered = isMetered(); + const QString warning_message = _is_metered ? tr("\n\nWarning: You are on a metered connection!") : QString(); + QString final_message = message.isEmpty() ? tr("This will start the download process and it might take a while to complete.") : message; + final_message += warning_message; // Append the warning message if the connection is metered + + const QString final_buttonText = confirmButtonText.isEmpty() ? (_is_metered ? tr("Continue on Metered") : tr("Start Download")) : confirmButtonText; + + return ConfirmationDialog::confirm(final_message, final_buttonText, parent); + } + + // Refactored methods + std::vector > getOsmLocations(const std::tuple &customLocation = defaultLocation) const { + return locationsFetcher.getOsmLocations(customLocation); + } + + std::vector > getUsStatesLocations(const std::tuple &customLocation = defaultLocation) const { + return locationsFetcher.getUsStatesLocations(customLocation); + } + + static QString formatTime(const long timeInSeconds) { + const long minutes = timeInSeconds / 60; + const long seconds = timeInSeconds % 60; + + QString formattedTime; + if (minutes > 0) { + formattedTime = QString::number(minutes) + tr("m "); + } + formattedTime += QString::number(seconds) + tr("s"); + return formattedTime; + } + + static QString calculateElapsedTime(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) { + using namespace std::chrono; + if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files")) + return tr("Calculating..."); + + const int totalFiles = jsonData["total_files"].toInt(); + const int downloadedFiles = jsonData["downloaded_files"].toInt(); + + if (downloadedFiles >= totalFiles || totalFiles <= 0) return tr("Downloaded"); + + const long elapsed = duration_cast(system_clock::now() - startTime).count(); + + if (elapsed == 0 || downloadedFiles == 0) return tr("Calculating..."); + + return formatTime(elapsed); + } + + static QString calculateETA(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) { + using namespace std::chrono; + static steady_clock::time_point lastUpdateTime = steady_clock::now(); + static std::deque rateHistory; + + constexpr int minDataPoints = 3; + constexpr int historySize = 10; + + static QString lastETA = tr("Calculating ETA..."); + + if (duration_cast(steady_clock::now() - lastUpdateTime).count() < 1) { + return lastETA; + } + + if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files")) + return lastETA; + + const int totalFiles = jsonData["total_files"].toInt(); + const int downloadedFiles = jsonData["downloaded_files"].toInt(); + + if (totalFiles <= 0 || downloadedFiles >= totalFiles) { + return totalFiles <= 0 ? tr("Ready") : tr("Downloaded"); + } + + const long elapsed = duration_cast(system_clock::now() - startTime).count(); + if (elapsed == 0 || downloadedFiles == 0) return lastETA; + + const double rate = downloadedFiles / static_cast(elapsed); + if (rateHistory.size() >= historySize) rateHistory.pop_front(); + rateHistory.push_back(rate); + + if (rateHistory.size() < minDataPoints) return lastETA; + + double weightedSum = 0; + for (int i = 0, weight = 1; i < rateHistory.size(); ++i, ++weight) { + weightedSum += rateHistory[i] * weight; + } + const double avgRate = 2 * weightedSum / (rateHistory.size() * (rateHistory.size() + 1)); + + const long remainingTime = static_cast((totalFiles - downloadedFiles) / avgRate); + if (remainingTime <= 0) return lastETA; + + lastETA = tr("Time remaining: ") + formatTime(remainingTime); + lastUpdateTime = steady_clock::now(); + return lastETA; + } + + static QString formatDownloadStatus(const QJsonObject &json) { + if (!json.contains("total_files") || !json.contains("downloaded_files")) + return ""; + + const int total_files = json["total_files"].toInt(); + const int downloaded_files = json["downloaded_files"].toInt(); + + if (total_files <= 0) return tr("Ready"); + if (downloaded_files >= total_files) return tr("Downloaded"); + + const int percentage = static_cast(100.0 * downloaded_files / total_files); + return QString::asprintf("%d/%d (%d%%)", downloaded_files, total_files, percentage); + } + + QString formatSize(quint64 size) const { + if (size == 0 && (!mapSizeFuture.has_value() || mapSizeFuture.value().isRunning())) { + return tr("Calculating..."); + } + + constexpr qint64 kb = 1024; + constexpr qint64 mb = 1024 * kb; + constexpr qint64 gb = 1024 * mb; + + if (size < gb) { + const double sizeMB = size / static_cast(mb); + return QString::number(sizeMB, 'f', 2) + " MB"; + } else { + const double sizeGB = size / static_cast(gb); + return QString::number(sizeGB, 'f', 2) + " GB"; + } + } + + static quint64 getDirSize(QString dirPath) { + quint64 size = 0; + const QString actualDirPath = dirPath.startsWith("~") ? dirPath.replace(0, 1, QDir::homePath()) : dirPath; + QDirIterator it(actualDirPath, QDir::Files | QDir::Dirs | QDir::NoDotAndDotDot | QDir::NoSymLinks, QDirIterator::Subdirectories); + while (it.hasNext()) { + it.next(); + if (it.fileInfo().isFile()) { + size += it.fileInfo().size(); + } + } + return size; + } +}; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc index e91de4c903..12d7bd74f7 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc @@ -18,6 +18,7 @@ #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h" +#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h" #include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h" @@ -85,6 +86,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) { 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("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"), + PanelInfo(" " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"), PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"), PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"), PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"), diff --git a/sunnypilot/mapd/__init__.py b/sunnypilot/mapd/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/sunnypilot/mapd/live_map_data/__init__.py new file mode 100644 index 0000000000..557ad06515 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/__init__.py @@ -0,0 +1,22 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from openpilot.common.swaglog import cloudlog + +LOOK_AHEAD_HORIZON_TIME = 15. # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg. +_DEBUG = False +_CLOUDLOG_DEBUG = False +ROAD_NAME_TIMEOUT = 30 # secs +R = 6373000.0 # approximate radius of earth in mts +QUERY_RADIUS = 3000 # mts. Radius to use on OSM data queries. +QUERY_RADIUS_OFFLINE = 2250 # mts. Radius to use on offline OSM data queries. + + +def get_debug(msg, log_to_cloud=True): + if _CLOUDLOG_DEBUG and log_to_cloud: + cloudlog.debug(msg) + if _DEBUG: + print(msg) diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py new file mode 100644 index 0000000000..536d7720b7 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/base_map_data.py @@ -0,0 +1,76 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import time +from abc import abstractmethod, ABC + +from cereal import messaging +from openpilot.common.gps import get_gps_location_service +from openpilot.common.params import Params +from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param + + +class BaseMapData(ABC): + def __init__(self): + self.params = Params() + + self.gps_location_service = get_gps_location_service(self.params) + self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service]) + self.pm = messaging.PubMaster(['liveMapDataSP']) + + self.last_position = coordinate_from_param("LastGPSPosition", self.params) + self.last_altitude = None + + @abstractmethod + def update_location(self) -> None: + pass + + @abstractmethod + def get_current_speed_limit(self) -> float: + pass + + @abstractmethod + def get_next_speed_limit_and_distance(self) -> tuple[float, float]: + pass + + @abstractmethod + def get_current_road_name(self) -> str: + pass + + def get_current_location(self) -> None: + gps = self.sm[self.gps_location_service] + + # ignore the message if the fix is invalid + gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0 + if not gps_ok and self.sm['livePose'].inputsOK: + return None + + # livePose has these data, but aren't on cereal + self.last_position = Coordinate(gps.latitude, gps.longitude) + self.last_altitude = gps.altitude + + def publish(self) -> None: + speed_limit = self.get_current_speed_limit() + next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance() + + mapd_sp_send = messaging.new_message('liveMapDataSP') + mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose']) + live_map_data = mapd_sp_send.liveMapDataSP + + live_map_data.speedLimitValid = bool(speed_limit > 0) + live_map_data.speedLimit = speed_limit + live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0) + live_map_data.speedLimitAhead = next_speed_limit + live_map_data.speedLimitAheadDistance = next_speed_limit_distance + live_map_data.roadName = self.get_current_road_name() + + self.pm.send('liveMapDataSP', mapd_sp_send) + + def tick(self) -> None: + self.sm.update() + self.get_current_location() + self.update_location() + self.publish() diff --git a/sunnypilot/mapd/live_map_data/debug.py b/sunnypilot/mapd/live_map_data/debug.py new file mode 100644 index 0000000000..da9f4d7771 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/debug.py @@ -0,0 +1,57 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +# DISCLAIMER: This code is intended principally for development and debugging purposes. +# Although it provides a standalone entry point to the program, users should refer +# to the actual implementations for consumption. Usage outside of development scenarios +# is not advised and could lead to unpredictable results. + +import threading +import traceback + +from cereal import messaging +from openpilot.common.gps import get_gps_location_service +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver +from openpilot.sunnypilot.mapd.live_map_data import get_debug + + +def excepthook(args): + get_debug(f'MapD: Threading exception:\n{args}') + traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback) + + +def live_map_data_sp_thread(): + config_realtime_process([0, 1, 2, 3], 5) + + params = Params() + gps_location_service = get_gps_location_service(params) + + while True: + live_map_data_sp_thread_debug(gps_location_service) + + +def live_map_data_sp_thread_debug(gps_location_service): + _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service]) + _sub_master.update() + + v_ego = _sub_master['carState'].vEgo + long_spl = _sub_master['longitudinalPlanSP'].speedLimit + _policy = Policy.car_state_priority + _resolver = SpeedLimitResolver(_policy) + _speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master) + print(_speed_limit, _distance, _source, " <-> ", long_spl) + + +def main(): + threading.excepthook = excepthook + live_map_data_sp_thread() + + +if __name__ == "__main__": + main() diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py new file mode 100644 index 0000000000..5f74a5d011 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/osm_map_data.py @@ -0,0 +1,51 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json +import platform + +from openpilot.common.params import Params +from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData +from openpilot.sunnypilot.navd.helpers import Coordinate + + +class OsmMapData(BaseMapData): + def __init__(self): + super().__init__() + self.params = Params() + self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params + + def update_location(self) -> None: + if self.last_position is None or self.last_altitude is None: + return + + params = { + "latitude": self.last_position.latitude, + "longitude": self.last_position.longitude, + "altitude": self.last_altitude, + } + + self.mem_params.put("LastGPSPosition", json.dumps(params)) + + def get_current_speed_limit(self) -> float: + return float(self.mem_params.get("MapSpeedLimit", encoding='utf8') or 0.0) + + def get_current_road_name(self) -> str: + return self.mem_params.get("RoadName", encoding='utf8') or "" + + def get_next_speed_limit_and_distance(self) -> tuple[float, float]: + next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit", encoding='utf8') + next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {} + next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0) + next_speed_limit_latitude = next_speed_limit_section.get('latitude') + next_speed_limit_longitude = next_speed_limit_section.get('longitude') + next_speed_limit_distance = 0.0 + + if next_speed_limit_latitude and next_speed_limit_longitude: + next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude) + next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates) + + return next_speed_limit, next_speed_limit_distance diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/sunnypilot/mapd/live_map_data/standalone.py new file mode 100644 index 0000000000..f73ecc7724 --- /dev/null +++ b/sunnypilot/mapd/live_map_data/standalone.py @@ -0,0 +1,42 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +# DISCLAIMER: This code is intended principally for development and debugging purposes. +# Although it provides a standalone entry point to the program, users should refer +# to the actual implementations for consumption. Usage outside of development scenarios +# is not advised and could lead to unpredictable results. + +import threading +import traceback + +from openpilot.common.realtime import Ratekeeper, config_realtime_process +from openpilot.sunnypilot.mapd.live_map_data import get_debug +from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData + + +def excepthook(args): + get_debug(f'MapD: Threading exception:\n{args}') + traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback) + + +def live_map_data_sp_thread(): + config_realtime_process([0, 1, 2, 3], 5) + + live_map_sp = OsmMapData() + rk = Ratekeeper(1, print_delay_threshold=None) + + while True: + live_map_sp.tick() + rk.keep_time() + + +def main(): + threading.excepthook = excepthook + live_map_data_sp_thread() + + +if __name__ == "__main__": + main() diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py new file mode 100755 index 0000000000..ef7a3389e3 --- /dev/null +++ b/sunnypilot/mapd/mapd_installer.py @@ -0,0 +1,152 @@ +""" +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. +""" +#!/usr/bin/env python3 +import logging +import os +import stat +import time +import traceback +import requests +from pathlib import Path +from urllib.request import urlopen + +from cereal import messaging +from openpilot.common.params import Params +from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR +from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.spinner import Spinner +from openpilot.system.version import is_prebuilt +import openpilot.system.sentry as sentry + +VERSION = 'v1.9.0' +URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd" + + +class MapdInstallManager: + def __init__(self, spinner_ref: Spinner): + self._spinner = spinner_ref + + def download(self) -> None: + self.ensure_directories_exist() + self._download_file() + self.update_installed_version(VERSION) + + def check_and_download(self) -> None: + if self.download_needed(): + self.download() + + @staticmethod + def download_needed() -> bool: + return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION + + @staticmethod + def ensure_directories_exist() -> None: + if not os.path.exists(Paths.mapd_root()): + os.makedirs(Paths.mapd_root()) + if not os.path.exists(MAPD_BIN_DIR): + os.makedirs(MAPD_BIN_DIR) + + @staticmethod + def _safe_write_and_set_executable(file_path: Path, content: bytes) -> None: + with open(file_path, 'wb') as output: + output.write(content) + output.flush() + os.fsync(output.fileno()) + current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode) + os.chmod(file_path, current_permissions | stat.S_IEXEC) + + def _download_file(self, num_retries=5) -> None: + temp_file = Path(MAPD_PATH + ".tmp") + download_timeout = 60 + for cnt in range(num_retries): + try: + response = requests.get(URL, stream=True, timeout=download_timeout) + response.raise_for_status() + self._safe_write_and_set_executable(temp_file, response.content) + # No exceptions encountered. Safe to replace original file. + temp_file.replace(MAPD_PATH) + return + except requests.exceptions.ReadTimeout: + self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]") + time.sleep(0.5) + except requests.exceptions.RequestException as e: + self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]") + time.sleep(0.5) + + # Delete temp file if the process was not successful. + if temp_file.exists(): + temp_file.unlink() + logging.error("Failed to download file after all retries") + + @staticmethod + def update_installed_version(version: str) -> None: + Params().put("MapdVersion", version) + + @staticmethod + def get_installed_version() -> str: + return Params().get("MapdVersion", encoding="utf-8") or "" + + def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool: + max_retries = 10 + for retries in range(max_retries + 1): + self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]") + time.sleep(2) + try: + _ = urlopen('https://sentry.io', timeout=10) + return True + except Exception as e: + print(f'Wait for internet failed: {e}') + if return_on_failure and retries == max_retries: + return False + + return False + + def non_prebuilt_install(self) -> None: + sm = messaging.SubMaster(['deviceState']) + metered = sm['deviceState'].networkMetered + + if metered: + self._spinner.update("Can't proceed with mapd install since network is metered!") + time.sleep(5) + return + + try: + self.ensure_directories_exist() + if not self.download_needed(): + self._spinner.update("Mapd is good!") + time.sleep(0.1) + return + + if self.wait_for_internet_connection(return_on_failure=True): + self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].") + time.sleep(0.1) + self.check_and_download() + self._spinner.close() + + except Exception: + for i in range(6): + self._spinner.update("Failed to download OSM maps won't work until properly downloaded!" + + "Try again manually rebooting. " + + f"Boot will continue in {5 - i}s...") + time.sleep(1) + + sentry.init(sentry.SentryProject.SELFDRIVE) + traceback.print_exc() + sentry.capture_exception() + + +if __name__ == "__main__": + spinner = Spinner() + install_manager = MapdInstallManager(spinner) + install_manager.ensure_directories_exist() + if is_prebuilt(): + debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]" + spinner.update(debug_msg) + install_manager.update_installed_version(VERSION) + else: + spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]") + install_manager.non_prebuilt_install() diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py new file mode 100644 index 0000000000..e5f43f5d4b --- /dev/null +++ b/sunnypilot/mapd/mapd_manager.py @@ -0,0 +1,146 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import json +import time +import platform +import os +import glob +import shutil + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper, config_realtime_process +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert +from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData +from openpilot.system.hardware.hw import Paths + +# PFEIFER - MAPD {{ +params = Params() +mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params +# }} PFEIFER - MAPD + +MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj') +MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd') + + +def get_files_for_cleanup() -> list[str]: + paths = [ + f"{Paths.mapd_root()}/db", + f"{Paths.mapd_root()}/v*" + ] + files_to_remove = [] + for path in paths: + if os.path.exists(path): + files = glob.glob(path + '/**', recursive=True) + files_to_remove.extend(files) + # check for version and mapd files + if not os.path.isfile(MAPD_PATH): + files_to_remove.append(MAPD_PATH) + return files_to_remove + + +def cleanup_old_osm_data(files_to_remove: list[str]) -> None: + for file in files_to_remove: + # Remove trailing slash if path is file + if file.endswith('/') and os.path.isfile(file[:-1]): + file = file[:-1] + # Try to remove as file or symbolic link first + if os.path.islink(file) or os.path.isfile(file): + os.remove(file) + elif os.path.isdir(file): # If it's a directory + shutil.rmtree(file, ignore_errors=False) + + +def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None: + params.put("OsmDownloadedDate", str(time.time())) + params.put_bool("OsmDbUpdatesCheck", False) + + osm_download_locations = json.dumps({ + "nations": nations, + "states": states or [] + }) + + print(f"Downloading maps for {osm_download_locations}") + mem_params.put("OSMDownloadLocations", osm_download_locations) + + +def filter_nations_and_states(nations: list[str], states: list[str] = None) -> tuple[list[str], list[str]]: + """Filters and prepares nation and state data for OSM map download. + + If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list. + If the nation is 'US' and the state is 'All', the 'All' is removed from the list. + The idea behind these filters is that if a specific state in the US is provided, + there's no need to download map data for the entire US. Conversely, + if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US, + and 'All' isn't a valid state name, so it's removed. + + Parameters: + nations (list): A list of nations for which the map data is to be downloaded. + states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None. + + Returns: + tuple: Two lists. The first list is filtered nations and the second list is filtered states. + """ + + if "US" in nations and states and not any(x.lower() == "all" for x in states): + # If a specific state in the US is provided, remove 'US' from nations + nations.remove("US") + elif "US" in nations and states and any(x.lower() == "all" for x in states): + # If 'All' is provided as a state (case invariant), remove those instances from states + states = [x for x in states if x.lower() != "all"] + elif "US" not in nations and states and any(x.lower() == "all" for x in states): + states.remove("All") + return nations, states or [] + + +def update_osm_db() -> None: + # last_downloaded_date = float(params.get('OsmDownloadedDate', encoding='utf-8') or 0.0) + # if params.get_bool("OsmDbUpdatesCheck") or time.time() - last_downloaded_date >= 604800: # 7 days * 24 hours/day * 60 + if params.get_bool("OsmDbUpdatesCheck"): + cleanup_old_osm_data(get_files_for_cleanup()) + country = params.get('OsmLocationName', encoding='utf-8') + state = params.get('OsmStateName', encoding='utf-8') or "All" + filtered_nations, filtered_states = filter_nations_and_states([country], [state]) + request_refresh_osm_location_data(filtered_nations, filtered_states) + + if not mem_params.get("OSMDownloadBounds"): + mem_params.put("OSMDownloadBounds", "") + + if not mem_params.get("LastGPSPosition"): + mem_params.put("LastGPSPosition", "{}") + + +def main_thread(): + config_realtime_process([0, 1, 2, 3], 5) + + rk = Ratekeeper(1, print_delay_threshold=None) + live_map_sp = OsmMapData() + + # Create folder needed for OSM + try: + os.mkdir(Paths.mapd_root()) + except FileExistsError: + pass + except PermissionError: + cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}") + + while True: + show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal") + set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.") + + update_osm_db() + live_map_sp.tick() + rk.keep_time() + + +def main(): + main_thread() + + +if __name__ == "__main__": + main() diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py new file mode 100644 index 0000000000..85894fb2ab --- /dev/null +++ b/sunnypilot/navd/helpers.py @@ -0,0 +1,189 @@ +from __future__ import annotations + +import json +import math +import numpy as np +from typing import Any, cast + +from openpilot.common.conversions import Conversions +from openpilot.common.params import Params + +DIRECTIONS = ('left', 'right', 'straight') +MODIFIABLE_DIRECTIONS = ('left', 'right') + +EARTH_MEAN_RADIUS = 6371007.2 +SPEED_CONVERSIONS = { + 'km/h': Conversions.KPH_TO_MS, + 'mph': Conversions.MPH_TO_MS, +} + + +class Coordinate: + def __init__(self, latitude: float, longitude: float) -> None: + self.latitude = latitude + self.longitude = longitude + self.annotations: dict[str, float] = {} + + @classmethod + def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate: + return cls(t[1], t[0]) + + def as_dict(self) -> dict[str, float]: + return {'latitude': self.latitude, 'longitude': self.longitude} + + def __str__(self) -> str: + return f'Coordinate({self.latitude}, {self.longitude})' + + def __repr__(self) -> str: + return self.__str__() + + def __eq__(self, other) -> bool: + if not isinstance(other, Coordinate): + return False + return (self.latitude == other.latitude) and (self.longitude == other.longitude) + + def __sub__(self, other: Coordinate) -> Coordinate: + return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude) + + def __add__(self, other: Coordinate) -> Coordinate: + return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude) + + def __mul__(self, c: float) -> Coordinate: + return Coordinate(self.latitude * c, self.longitude * c) + + def dot(self, other: Coordinate) -> float: + return self.latitude * other.latitude + self.longitude * other.longitude + + def distance_to(self, other: Coordinate) -> float: + # Haversine formula + dlat = math.radians(other.latitude - self.latitude) + dlon = math.radians(other.longitude - self.longitude) + + haversine_dlat = math.sin(dlat / 2.0) + haversine_dlat *= haversine_dlat + haversine_dlon = math.sin(dlon / 2.0) + haversine_dlon *= haversine_dlon + + y = haversine_dlat \ + + math.cos(math.radians(self.latitude)) \ + * math.cos(math.radians(other.latitude)) \ + * haversine_dlon + x = 2 * math.asin(math.sqrt(y)) + return x * EARTH_MEAN_RADIUS + + +def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate): + if a.distance_to(b) < 0.01: + return a.distance_to(p) + + ap = p - a + ab = b - a + t = np.clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0) + projection = a + ab * t + return projection.distance_to(p) + + +def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float: + if len(geometry) <= 2: + return geometry[0].distance_to(pos) + + # 1. Find segment that is closest to current position + # 2. Total distance is sum of distance to start of closest segment + # + all previous segments + total_distance = 0.0 + total_distance_closest = 0.0 + closest_distance = 1e9 + + for i in range(len(geometry) - 1): + d = minimum_distance(geometry[i], geometry[i + 1], pos) + + if d < closest_distance: + closest_distance = d + total_distance_closest = total_distance + geometry[i].distance_to(pos) + + total_distance += geometry[i].distance_to(geometry[i + 1]) + + return total_distance_closest + + +def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None: + if params is None: + params = Params() + + json_str = params.get(param) + if json_str is None: + return None + + pos = json.loads(json_str) + if 'latitude' not in pos or 'longitude' not in pos: + return None + + return Coordinate(pos['latitude'], pos['longitude']) + + +def string_to_direction(direction: str) -> str: + for d in DIRECTIONS: + if d in direction: + if 'slight' in direction and d in MODIFIABLE_DIRECTIONS: + return 'slight' + d.capitalize() + return d + return 'none' + + +def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float: + unit = cast(str, maxspeed['unit']) + speed = cast(float, maxspeed['speed']) + return SPEED_CONVERSIONS[unit] * speed + + +def field_valid(dat: dict, field: str) -> bool: + return field in dat and dat[field] is not None + + +def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None: + if not len(banners): + return None + + instruction = {} + + # A segment can contain multiple banners, find one that we need to show now + current_banner = banners[0] + for banner in banners: + if distance_to_maneuver < banner['distanceAlongGeometry']: + current_banner = banner + + # Only show banner when close enough to maneuver + instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry'] + + # Primary + p = current_banner['primary'] + if field_valid(p, 'text'): + instruction['maneuverPrimaryText'] = p['text'] + if field_valid(p, 'type'): + instruction['maneuverType'] = p['type'] + if field_valid(p, 'modifier'): + instruction['maneuverModifier'] = p['modifier'] + + # Secondary + if field_valid(current_banner, 'secondary'): + instruction['maneuverSecondaryText'] = current_banner['secondary']['text'] + + # Lane lines + if field_valid(current_banner, 'sub'): + lanes = [] + for component in current_banner['sub']['components']: + if component['type'] != 'lane': + continue + + lane = { + 'active': component['active'], + 'directions': [string_to_direction(d) for d in component['directions']], + } + + if field_valid(component, 'active_direction'): + lane['activeDirection'] = string_to_direction(component['active_direction']) + + lanes.append(lane) + instruction['lanes'] = lanes + + return instruction diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/sunnypilot/selfdrive/assets/offroad/icon_map.png new file mode 100644 index 0000000000..82c0236a48 --- /dev/null +++ b/sunnypilot/selfdrive/assets/offroad/icon_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f +size 28235 diff --git a/system/hardware/hw.py b/system/hardware/hw.py index 9722e35e30..f582def482 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -77,3 +77,11 @@ class Paths: return str(Path(Paths.comma_home()) / "community" / "crashes") else: return "/data/community/crashes" + + + @staticmethod + def mapd_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "media" / "0" / "osm") + else: + return "/data/media/0/osm" diff --git a/system/manager/manager.py b/system/manager/manager.py index 9afe1a4f26..cdad098d2d 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -18,6 +18,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version from openpilot.system.hardware.hw import Paths +from openpilot.sunnypilot.mapd.mapd_installer import VERSION + def manager_init() -> None: save_bootlog() @@ -54,6 +56,7 @@ def manager_init() -> None: ("MadsMainCruiseAllowed", "1"), ("MadsSteeringMode", "0"), ("MadsUnifiedEngagementMode", "1"), + ("MapdVersion", f"{VERSION}"), ("MaxTimeOffroad", "1800"), ("Brightness", "0"), ("ModelManager_LastSyncTime", "0"), diff --git a/system/manager/process_config.py b/system/manager/process_config.py index af150e47df..2e3f754a76 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -6,6 +6,9 @@ from cereal import car, custom from openpilot.common.params import Params from openpilot.system.hardware import PC, TICI from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.system.hardware.hw import Paths + +from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH from sunnypilot.models.helpers import get_active_model_runner from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader @@ -157,6 +160,10 @@ procs += [ # Backup PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)), + + # mapd + NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run), + PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run), ] if os.path.exists("./github_runner.sh"): diff --git a/third_party/mapd_pfeiferj/README.md b/third_party/mapd_pfeiferj/README.md new file mode 100644 index 0000000000..a814f11260 --- /dev/null +++ b/third_party/mapd_pfeiferj/README.md @@ -0,0 +1,2 @@ +# MAPD implementation by pfeiferj +https://github.com/pfeiferj/openpilot-mapd/releases/ diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd new file mode 100755 index 0000000000000000000000000000000000000000..d24d9b757fb67bc6f297eadddb8844452f844647 GIT binary patch literal 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