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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
af7bf5dc64 |
+15
-15
@@ -150,91 +150,91 @@
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"output": "/data/openpilot/openpilot/cereal/messaging/socketmaster.o"
|
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},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
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"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
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||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
|
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"output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/rsa.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7rsa.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/sha.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7sha.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/bootstub.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/main.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/rsa.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7rsa.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/sha.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7sha.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/bootstub.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/panda_jungle_h7bootstub.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/jungle/main.c",
|
||||
"output": "/data/openpilot/panda/board/jungle/board/obj/panda_jungle_h7main.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/rsa.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/body_h7rsa.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/sha.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/body_h7sha.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/bootstub.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/body/main.c",
|
||||
"output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
|
||||
|
||||
+1
-1
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="19.6"
|
||||
export AGNOS_VERSION="19.7"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
@@ -130,7 +130,6 @@ class CarHarness(EnumBase):
|
||||
hyundai_p = BaseCarHarness("Hyundai P connector")
|
||||
hyundai_q = BaseCarHarness("Hyundai Q connector")
|
||||
hyundai_r = BaseCarHarness("Hyundai R connector")
|
||||
hyundai_s = BaseCarHarness("Hyundai S connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
|
||||
|
||||
@@ -200,7 +200,6 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
|
||||
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG
|
||||
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
|
||||
ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
|
||||
|
||||
# steering control
|
||||
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))
|
||||
@@ -212,12 +211,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
|
||||
# LFA and HDA icons
|
||||
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
|
||||
if ccnc_non_hda2:
|
||||
can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP.openpilotLongitudinalControl, CC.enabled, CC.hudControl, CC.leftBlinker,
|
||||
CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5, CS.is_metric, CS.out, CS.main_cruise_enabled,
|
||||
self.lfa_icon))
|
||||
else:
|
||||
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
|
||||
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
|
||||
|
||||
# blinkers
|
||||
if lka_steering and self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
|
||||
@@ -226,12 +220,11 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if lka_steering:
|
||||
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
|
||||
elif not ccnc_non_hda2:
|
||||
else:
|
||||
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
|
||||
set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning,
|
||||
CS.cruise_info if ccnc_non_hda2 else None))
|
||||
set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning))
|
||||
self.accel_last = accel
|
||||
else:
|
||||
# button presses
|
||||
|
||||
@@ -64,7 +64,6 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
|
||||
self.buttons_counter = 0
|
||||
|
||||
self.cruise_info = {}
|
||||
self.msg_161, self.msg_162, self.msg_1b5 = {}, {}, {}
|
||||
|
||||
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
|
||||
self.cluster_speed = 0
|
||||
@@ -259,11 +258,8 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
|
||||
|
||||
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
|
||||
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
|
||||
if self.CP.flags & HyundaiFlags.CCNC:
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
|
||||
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
|
||||
if not self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
|
||||
self.msg_161, self.msg_162, self.msg_1b5 = map(copy.copy, (cp_cam.vl["CCNC_0x161"], cp_cam.vl["CCNC_0x162"], cp_cam.vl["FR_CMR_03_50ms"]))
|
||||
self.cruise_info = copy.copy((cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp).vl["SCC_CONTROL"])
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
|
||||
cp.vl["BLINKERS"][right_blinker_sig])
|
||||
if self.CP.enableBsm:
|
||||
|
||||
@@ -220,16 +220,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_2024: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.01 99211-L1800 230512',
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L1800 230512',
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.02 99211-L1800 250613',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DN8_ RDR ----- 1.00 1.00 99110-L1800 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_LF: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ',
|
||||
@@ -580,16 +570,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_KONA_2ND_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SX2 MFC AT USA LHD 1.00 1.03 99211-BE000 230517',
|
||||
b'\xf1\x00SX2 MFC AT USA LHD 1.00 1.07 99211-BE000 240611',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE000 ',
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_CEED: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CD__ SCC F-CUP 1.00 1.00 99110-J7500 ',
|
||||
@@ -625,17 +605,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K4_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00CL4 MFC AT CAN LHD 1.00 1.02 99210-GG000 240708',
|
||||
b'\xf1\x00CL4 MFC AT USA LHD 1.00 1.02 99210-GG000 240708',
|
||||
b'\xf1\x00CL4 MFC AT USA LHD 1.00 1.04 99210-GG100 251205',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CL4_ RDR ----- 1.00 1.01 99110-GG000 ',
|
||||
b'\xf1\x00CL4_ RDR ----- 1.00 1.01 99110-GG100 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_2021: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
|
||||
@@ -668,14 +637,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L2500 240117',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DL3_ RDR ----- 1.00 1.01 99110-L2500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_HEV_2020: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ',
|
||||
@@ -762,7 +723,6 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410',
|
||||
b'\xf1\x00SX2EMFC AT USA LHD 1.00 1.02 99211-BF000 230823',
|
||||
],
|
||||
},
|
||||
CAR.KIA_NIRO_EV: {
|
||||
@@ -1021,18 +981,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SX2HMFC AT AUS RHD 1.00 1.00 99211-BE001 241015',
|
||||
b'\xf1\x00SX2HMFC AT AUS RHD 1.00 1.01 99211-BE001 250117',
|
||||
b'\xf1\x00SX2HMFC AT EUR LHD 1.00 1.01 99211-BE001 250117',
|
||||
b'\xf1\x00SX2HMFC AT EUR RHD 1.00 1.04 99211-BE000 231010',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE000 ',
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE500 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_HYBRID: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
|
||||
@@ -1054,15 +1002,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_HEV_2024: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.01 99211-L1800 230512',
|
||||
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.01 99211-L1800 230512',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DN8_ RDR ----- 1.00 1.00 99110-L1800 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
|
||||
@@ -1130,16 +1069,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_IONIQ_5_N: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NE1N RDR ----- 1.00 1.00 99110-NI000 ',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NE1NMFC AT KOR LHD 1.00 1.04 99211-NI000 231219',
|
||||
b'\xf1\x00NE1NMFC AT KOR LHD 1.00 1.00 99211-NI010 240712',
|
||||
b'\xf1\x00NE1NMFC AT USA LHD 1.00 1.04 99211-NI000 231219',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_IONIQ_6: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ',
|
||||
@@ -1178,38 +1107,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4__ 1.01 1.02 99110-N9000 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_TUCSON_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7030 C55',
|
||||
b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7035 C5C',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7000 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.03 99110N7100 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_TUCSON_HEV_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7035 C5C',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7060 C5B',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7000 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7100 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.03 99110N7100 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_TUCSON_PHEV_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7100 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
|
||||
@@ -1221,14 +1118,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SANTA_CRUZ_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.00 99110K5500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
|
||||
@@ -1301,16 +1190,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO_2024: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4 MFC AT AUS RHD 1.01 1.04 99210-P2550 231127',
|
||||
b'\xf1\x00MQ4 MFC AT USA LHD 1.01 1.04 99210-R5500 231127',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00MQ4_ RDR ----- 1.00 1.01 99110-P2500 ',
|
||||
b'\xf1\x00MQ4_ RDR ----- 1.00 1.01 99110-R5500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330',
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import numpy as np
|
||||
from opendbc.car import CanBusBase
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.crc import CRC16_XMODEM
|
||||
from opendbc.car.hyundai.values import HyundaiFlags
|
||||
from opendbc.sunnypilot.car.hyundai.lead_data_ext import CanFdLeadData
|
||||
@@ -126,106 +125,8 @@ def create_lfahda_cluster(packer, CAN, enabled, lfa_icon):
|
||||
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
|
||||
|
||||
|
||||
def create_ccnc(packer, CAN, openpilot_longitudinal_control, enabled, hud, left_blinker, right_blinker, msg_161, msg_162, msg_1b5,
|
||||
is_metric, out, main_cruise_enabled, lfa_icon):
|
||||
for f in {"FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"}:
|
||||
msg_162[f] = 0
|
||||
if msg_161["ALERTS_2"] == 5:
|
||||
msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
|
||||
if msg_161["ALERTS_3"] == 17:
|
||||
msg_161["ALERTS_3"] = 0
|
||||
if msg_161["ALERTS_5"] in (2, 5):
|
||||
msg_161["ALERTS_5"] = 0
|
||||
if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (0, 3):
|
||||
msg_161["SOUNDS_4"] = 0
|
||||
|
||||
LANE_CHANGE_SPEED_MIN = 8.9408 # 20 mph
|
||||
any_blinker = left_blinker or right_blinker
|
||||
curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
|
||||
|
||||
msg_161.update({
|
||||
"DAW_ICON": 0,
|
||||
"LKA_ICON": 0,
|
||||
"LFA_ICON": 2 if lfa_icon else 0,
|
||||
"CENTERLINE": 1 if lfa_icon else 0,
|
||||
"LANELINE_CURVATURE": curvature[max(-15, min(int(out.steeringAngleDeg / 4.5), 15))] if lfa_icon and not any_blinker else 15,
|
||||
"LANELINE_LEFT": (0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if any_blinker else 2),
|
||||
"LANELINE_RIGHT": (0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if any_blinker else 2),
|
||||
"LCA_LEFT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.leftBlindspot else 2 if any_blinker else 4),
|
||||
"LCA_RIGHT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.rightBlindspot else 2 if any_blinker else 4),
|
||||
"LCA_LEFT_ARROW": 2 if left_blinker else 0,
|
||||
"LCA_RIGHT_ARROW": 2 if right_blinker else 0,
|
||||
})
|
||||
|
||||
if lfa_icon and any_blinker:
|
||||
left_lane_raw, right_lane_raw = msg_1b5["Info_LftLnPosVal"], msg_1b5["Info_RtLnPosVal"]
|
||||
|
||||
scale_per_m = 15 / 1.7
|
||||
left_lane = abs(int(round(15 + (left_lane_raw - 1.7) * scale_per_m)))
|
||||
right_lane = abs(int(round(15 + (right_lane_raw - 1.7) * scale_per_m)))
|
||||
|
||||
if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
|
||||
left_lane = 0
|
||||
if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
|
||||
right_lane = 0
|
||||
|
||||
if left_lane_raw == -2.0248375:
|
||||
left_lane = 30 - right_lane
|
||||
if right_lane_raw == 2.0248375:
|
||||
right_lane = 30 - left_lane
|
||||
|
||||
if left_lane_raw == right_lane_raw == 0:
|
||||
left_lane = right_lane = 15
|
||||
elif left_lane_raw == 0:
|
||||
left_lane = 30 - right_lane
|
||||
elif right_lane_raw == 0:
|
||||
right_lane = 30 - left_lane
|
||||
|
||||
total = left_lane + right_lane
|
||||
if total == 0:
|
||||
left_lane = right_lane = 15
|
||||
else:
|
||||
left_lane = round((left_lane / total) * 30)
|
||||
right_lane = 30 - left_lane
|
||||
|
||||
msg_161["LANELINE_LEFT_POSITION"] = left_lane
|
||||
msg_161["LANELINE_RIGHT_POSITION"] = right_lane
|
||||
|
||||
if hud.leftLaneDepart or hud.rightLaneDepart:
|
||||
msg_162["VIBRATE"] = 1
|
||||
|
||||
if openpilot_longitudinal_control:
|
||||
if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
|
||||
msg_161["ALERTS_3"] = 0
|
||||
if msg_161["ALERTS_5"] == 4:
|
||||
msg_161["ALERTS_5"] = 0
|
||||
if msg_161["SOUNDS_3"] == 5:
|
||||
msg_161["SOUNDS_3"] = 0
|
||||
|
||||
msg_161.update({
|
||||
"SETSPEED": 3 if enabled else 1,
|
||||
"SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
|
||||
"SETSPEED_SPEED": (
|
||||
255 if not main_cruise_enabled else
|
||||
(40 if is_metric else 25) if (s := round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))) > (145 if is_metric else 90) else s
|
||||
),
|
||||
"DISTANCE": hud.leadDistanceBars,
|
||||
"DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
|
||||
"DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
|
||||
"DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
|
||||
"SLA_ICON": 0,
|
||||
"NAV_ICON": 0,
|
||||
"TARGET": 0,
|
||||
})
|
||||
|
||||
msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
|
||||
msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
|
||||
|
||||
return [packer.make_can_msg(msg, CAN.ECAN, data) for msg, data in [("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162)]]
|
||||
|
||||
|
||||
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
|
||||
lead_data: CanFdLeadData, main_cruise_enabled, tuning, cruise_info=None):
|
||||
lead_data: CanFdLeadData, main_cruise_enabled, tuning):
|
||||
jerk = 5
|
||||
jn = jerk / 50
|
||||
if not enabled or gas_override:
|
||||
@@ -253,8 +154,6 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
|
||||
"SET_ME_TMP_64": 0x64,
|
||||
"DISTANCE_SETTING": hud_control.leadDistanceBars,
|
||||
}
|
||||
if cruise_info:
|
||||
values.update({s: cruise_info[s] for s in ["ACC_ObjDist", "ACC_ObjRelSpd"]})
|
||||
|
||||
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
|
||||
|
||||
|
||||
@@ -85,8 +85,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
|
||||
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
||||
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
|
||||
if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
|
||||
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
|
||||
|
||||
else:
|
||||
# Shared configuration for non CAN-FD cars
|
||||
|
||||
@@ -22,11 +22,7 @@ NO_DATES_PLATFORMS = {
|
||||
# CAN FD
|
||||
CAR.KIA_SPORTAGE_5TH_GEN,
|
||||
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
|
||||
CAR.HYUNDAI_SANTA_CRUZ_2025,
|
||||
CAR.HYUNDAI_TUCSON_4TH_GEN,
|
||||
CAR.HYUNDAI_TUCSON_2025,
|
||||
CAR.HYUNDAI_TUCSON_HEV_2025,
|
||||
CAR.HYUNDAI_TUCSON_PHEV_2025,
|
||||
# CAN
|
||||
CAR.HYUNDAI_ELANTRA,
|
||||
CAR.HYUNDAI_ELANTRA_GT_I30,
|
||||
|
||||
@@ -68,7 +68,6 @@ class HyundaiSafetyFlags(IntFlag):
|
||||
CANFD_LKA_STEER_MSG_ALT = 128
|
||||
FCEV_GAS = 256
|
||||
ALT_LIMITS_2 = 512
|
||||
CCNC = 1024
|
||||
|
||||
|
||||
# Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
|
||||
@@ -150,8 +149,6 @@ class HyundaiFlags(IntFlag):
|
||||
|
||||
ALT_LIMITS_2 = 2 ** 26
|
||||
|
||||
CCNC = 2 ** 27
|
||||
|
||||
|
||||
@dataclass
|
||||
class HyundaiCarDocs(CarDocs):
|
||||
@@ -288,16 +285,6 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
|
||||
)
|
||||
HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
|
||||
CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_l]))],
|
||||
CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_KONA_EV = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
|
||||
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
|
||||
@@ -309,13 +296,10 @@ class CAR(Platforms):
|
||||
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
|
||||
)
|
||||
HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
],
|
||||
[HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r]))],
|
||||
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
|
||||
)
|
||||
HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
|
||||
@@ -355,11 +339,6 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
|
||||
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
|
||||
)
|
||||
HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
|
||||
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
|
||||
@@ -395,11 +374,6 @@ class CAR(Platforms):
|
||||
HYUNDAI_SONATA.specs,
|
||||
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
|
||||
)
|
||||
HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
@@ -409,11 +383,6 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
|
||||
flags=HyundaiFlags.EV,
|
||||
)
|
||||
HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
|
||||
CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
@@ -431,31 +400,11 @@ class CAR(Platforms):
|
||||
],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
)
|
||||
HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
|
||||
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
|
||||
)
|
||||
HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
|
||||
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
|
||||
@@ -470,24 +419,11 @@ class CAR(Platforms):
|
||||
],
|
||||
CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
|
||||
)
|
||||
KIA_K4_2025 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Kia K4 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
],
|
||||
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
KIA_K5_2021 = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
|
||||
flags=HyundaiFlags.CHECKSUM_CRC8,
|
||||
)
|
||||
KIA_K5_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Kia K5 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_m]))],
|
||||
CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
KIA_K5_2021.specs,
|
||||
@@ -598,11 +534,6 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
|
||||
flags=HyundaiFlags.CANFD_RADAR_SCC,
|
||||
)
|
||||
KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
|
||||
@@ -29,9 +29,6 @@ non_tested_cars = [
|
||||
SUBARU.SUBARU_FORESTER_HYBRID,
|
||||
VOLKSWAGEN.PORSCHE_MACAN_MK1,
|
||||
HONDA.ACURA_TLX_2G,
|
||||
HYUNDAI.KIA_SORENTO_2024,
|
||||
HYUNDAI.HYUNDAI_IONIQ_5_N,
|
||||
HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
|
||||
|
||||
# These had their DSUs unplugged, need new routes
|
||||
# TOYOTA.LEXUS_ES # hybrid
|
||||
@@ -169,7 +166,6 @@ routes = [
|
||||
CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL), # LKA steering
|
||||
CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
|
||||
CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
|
||||
CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
|
||||
CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
|
||||
CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
|
||||
CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
|
||||
@@ -183,14 +179,11 @@ routes = [
|
||||
CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
|
||||
CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
|
||||
CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
|
||||
CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
|
||||
CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
|
||||
CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
|
||||
CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
|
||||
CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # 2023
|
||||
CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # hybrid
|
||||
CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
|
||||
CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
|
||||
CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
|
||||
CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
|
||||
CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
|
||||
@@ -208,8 +201,6 @@ routes = [
|
||||
CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
|
||||
CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
|
||||
CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
|
||||
CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
|
||||
CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
|
||||
CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
|
||||
CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled
|
||||
CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
|
||||
@@ -223,9 +214,7 @@ routes = [
|
||||
CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # LKA steering
|
||||
CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # LFA steering
|
||||
CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
|
||||
CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
|
||||
CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
|
||||
CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
|
||||
CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
|
||||
CarTestRoute("74fbff45aa20fe9e/00000010--6f173d5799", HYUNDAI.KIA_K7_2017),
|
||||
CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
|
||||
@@ -244,7 +233,6 @@ routes = [
|
||||
CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
|
||||
CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
|
||||
CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
|
||||
CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
|
||||
CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
|
||||
CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
|
||||
|
||||
|
||||
@@ -105,13 +105,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"JEEP_CHEROKEE_5TH_GEN" = [1.5, 1.5, 0.15]
|
||||
"ACURA_MDX_4G" = [1.4, 1.4, 0.17]
|
||||
"ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
|
||||
"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
|
||||
"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
|
||||
"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
|
||||
"KIA_K5_2025" = [2.5, 2.5, 0.1]
|
||||
"KIA_K4_2025" = [2.5, 2.5, 0.1]
|
||||
"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
|
||||
"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.005]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
"MOCK" = [10.0, 10, 0.0]
|
||||
|
||||
@@ -45,11 +45,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"GENESIS_G90" = "GENESIS_G70"
|
||||
"GENESIS_G80" = "GENESIS_G70"
|
||||
"GENESIS_G70_2020" = "HYUNDAI_SONATA"
|
||||
"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA"
|
||||
"HYUNDAI_SONATA_HEV_2024" = "HYUNDAI_SONATA_HYBRID"
|
||||
"HYUNDAI_TUCSON_2025" = "HYUNDAI_TUCSON_4TH_GEN"
|
||||
"HYUNDAI_TUCSON_HEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
|
||||
"HYUNDAI_TUCSON_PHEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
|
||||
|
||||
"HONDA_FREED" = "HONDA_ODYSSEY"
|
||||
"HONDA_CRV_EU" = "HONDA_CRV"
|
||||
|
||||
@@ -951,7 +951,7 @@ CM_ SG_ 1041 COUNTER_ALT "only increments on change";
|
||||
CM_ BO_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
|
||||
CM_ SG_ 1043 COUNTER_ALT "only increments on change";
|
||||
CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
|
||||
VAL_ 53 GEAR 0 "P" 4 "S" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
|
||||
|
||||
@@ -227,7 +227,6 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
|
||||
static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
|
||||
const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
|
||||
const uint16_t HYUNDAI_PARAM_CCNC = 1024;
|
||||
|
||||
static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
|
||||
HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
|
||||
@@ -272,21 +271,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
||||
{0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
|
||||
|
||||
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
|
||||
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
|
||||
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
|
||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
||||
{0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
|
||||
{0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
|
||||
{0x7C4, 2, 8, .check_relay = true}, /* 0x7C4 */ \
|
||||
{0xEA, 2, 24, .check_relay = true}, /* MDPS */ \
|
||||
|
||||
hyundai_common_init(param);
|
||||
|
||||
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
|
||||
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
|
||||
hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
|
||||
const bool hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
|
||||
|
||||
safety_config ret;
|
||||
if (hyundai_longitudinal) {
|
||||
@@ -311,10 +300,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
|
||||
};
|
||||
|
||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
|
||||
};
|
||||
|
||||
if (hyundai_canfd_alt_buttons) {
|
||||
SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
|
||||
} else {
|
||||
@@ -322,11 +307,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
}
|
||||
|
||||
if (hyundai_camera_scc) {
|
||||
if (hyundai_ccnc) {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
||||
} else {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
}
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
} else {
|
||||
SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
|
||||
}
|
||||
@@ -387,15 +368,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
|
||||
};
|
||||
|
||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
|
||||
};
|
||||
|
||||
if (hyundai_ccnc) {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
||||
} else {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
}
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
|
||||
if (hyundai_canfd_alt_buttons) {
|
||||
SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
|
||||
|
||||
@@ -148,6 +148,7 @@ inline void mads_heartbeat_engaged_check(void) {
|
||||
// Function Implementations
|
||||
// ===============================
|
||||
|
||||
// cppcheck-suppress misra-c2012-8.7; called from libsafety test harness
|
||||
inline void mads_set_alternative_experience(const int *mode) {
|
||||
const bool mads_enabled = (*mode & ALT_EXP_ENABLE_MADS) != 0;
|
||||
const bool disengage_lateral_on_brake = (*mode & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
|
||||
|
||||
@@ -1019,8 +1019,6 @@ class SafetyTest(SafetyTestBase):
|
||||
continue
|
||||
if attr.startswith('TestHyundaiCanfd') and current_test.startswith('TestHyundaiCanfd'):
|
||||
continue
|
||||
if attr == 'TestElm327' and current_test.startswith(('TestHyundaiCanfdLFASteeringCCNC', 'TestHyundaiCanfdLFASteeringLongCCNC')):
|
||||
tx = list(filter(lambda m: m[0] != 0x7C4, tx))
|
||||
if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong'}):
|
||||
continue
|
||||
base_tests = {'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong',
|
||||
|
||||
@@ -21,8 +21,6 @@ ALL_GAS_EV_HYBRID_COMBOS = [
|
||||
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
|
||||
]
|
||||
|
||||
CAMERA_SCC_COMBOS = ALL_GAS_EV_HYBRID_COMBOS[3:]
|
||||
|
||||
|
||||
class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
|
||||
|
||||
@@ -310,48 +308,5 @@ class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongB
|
||||
pass
|
||||
|
||||
|
||||
class HyundaiCanfdCCNCTest:
|
||||
|
||||
CCNC_SAFETY_PARAM = HyundaiSafetyFlags.CCNC
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
if cls.__name__ in (
|
||||
"TestHyundaiCanfdLFASteeringCCNC",
|
||||
"TestHyundaiCanfdLFASteeringLongCCNC",
|
||||
):
|
||||
cls.safety = None
|
||||
raise unittest.SkipTest
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("hyundai_canfd_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, self.CCNC_SAFETY_PARAM | self.SAFETY_PARAM)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_ccnc_tx_msgs(self):
|
||||
for msg, bus in (("CCNC_0x161", 0), ("CCNC_0x162", 0), ("MDPS", 2)):
|
||||
self.assertTrue(self._tx(self.packer.make_can_msg_safety(msg, bus, {})))
|
||||
self.assertTrue(self._tx(common.make_msg(2, 0x7C4)))
|
||||
|
||||
|
||||
@parameterized_class(CAMERA_SCC_COMBOS)
|
||||
class TestHyundaiCanfdLFASteeringCCNC(HyundaiCanfdCCNCTest, TestHyundaiCanfdLFASteeringBase):
|
||||
|
||||
TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2]]
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162), 2: (0x7C4, 0xEA)}
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162], 0: [0x7C4, 0xEA]}
|
||||
|
||||
|
||||
@parameterized_class(CAMERA_SCC_COMBOS)
|
||||
class TestHyundaiCanfdLFASteeringLongCCNC(HyundaiCanfdCCNCTest, TestHyundaiCanfdLFASteeringLongBase):
|
||||
|
||||
CCNC_SAFETY_PARAM = HyundaiSafetyFlags.CCNC | HyundaiSafetyFlags.LONG
|
||||
|
||||
TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2], [0x1A0, 0]]
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162, 0x1A0), 2: (0x7C4, 0xEA)}
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162, 0x1A0], 0: [0x7C4, 0xEA]}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -1620,16 +1620,6 @@
|
||||
],
|
||||
"package": "Highway Driving Assist"
|
||||
},
|
||||
"Hyundai Ioniq 5 N (with HDA II) 2024": {
|
||||
"platform": "HYUNDAI_IONIQ_5_N",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Ioniq 5 N (with HDA II)",
|
||||
"year": [
|
||||
"2024"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Ioniq 6 (with HDA II) 2023-24": {
|
||||
"platform": "HYUNDAI_IONIQ_6",
|
||||
"make": "Hyundai",
|
||||
@@ -1739,17 +1729,6 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona (without HDA II) 2024-25": {
|
||||
"platform": "HYUNDAI_KONA_2ND_GEN",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Kona (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Electric 2018-21": {
|
||||
"platform": "HYUNDAI_KONA_EV",
|
||||
"make": "Hyundai",
|
||||
@@ -1784,16 +1763,6 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Electric (without HDA II) 2024": {
|
||||
"platform": "HYUNDAI_KONA_EV_2ND_GEN",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Kona Electric (without HDA II)",
|
||||
"year": [
|
||||
"2024"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Electric Non-SCC 2019": {
|
||||
"platform": "HYUNDAI_KONA_EV_NON_SCC",
|
||||
"make": "Hyundai",
|
||||
@@ -1814,18 +1783,6 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Hybrid (without HDA II) 2024-26": {
|
||||
"platform": "HYUNDAI_KONA_HEV_2ND_GEN",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Kona Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Non-SCC 2019": {
|
||||
"platform": "HYUNDAI_KONA_NON_SCC",
|
||||
"make": "Hyundai",
|
||||
@@ -1870,16 +1827,6 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Santa Cruz (without HDA II) 2025": {
|
||||
"platform": "HYUNDAI_SANTA_CRUZ_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Santa Cruz (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Santa Fe 2019-20": {
|
||||
"platform": "HYUNDAI_SANTA_FE",
|
||||
"make": "Hyundai",
|
||||
@@ -1949,18 +1896,6 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Sonata (without HDA II) 2024-26": {
|
||||
"platform": "HYUNDAI_SONATA_2024",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Sonata (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Sonata Hybrid 2020-23": {
|
||||
"platform": "HYUNDAI_SONATA_HYBRID",
|
||||
"make": "Hyundai",
|
||||
@@ -1974,17 +1909,6 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Sonata Hybrid (without HDA II) 2024-25": {
|
||||
"platform": "HYUNDAI_SONATA_HEV_2024",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Sonata Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Staria 2023": {
|
||||
"platform": "HYUNDAI_STARIA_4TH_GEN",
|
||||
"make": "Hyundai",
|
||||
@@ -2026,17 +1950,6 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Tucson (without HDA II) 2025-26": {
|
||||
"platform": "HYUNDAI_TUCSON_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Tucson (without HDA II)",
|
||||
"year": [
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Tucson Diesel 2019": {
|
||||
"platform": "HYUNDAI_TUCSON",
|
||||
"make": "Hyundai",
|
||||
@@ -2059,17 +1972,6 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Tucson Hybrid (without HDA II) 2025-26": {
|
||||
"platform": "HYUNDAI_TUCSON_HEV_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Tucson Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Tucson Plug-in Hybrid 2024": {
|
||||
"platform": "HYUNDAI_TUCSON_4TH_GEN",
|
||||
"make": "Hyundai",
|
||||
@@ -2080,16 +1982,6 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Tucson Plug-in Hybrid (without HDA II) 2025": {
|
||||
"platform": "HYUNDAI_TUCSON_PHEV_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Tucson Plug-in Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Veloster 2019-20": {
|
||||
"platform": "HYUNDAI_VELOSTER",
|
||||
"make": "Hyundai",
|
||||
@@ -2238,27 +2130,6 @@
|
||||
],
|
||||
"package": "No Smart Cruise Control (Non-SCC)"
|
||||
},
|
||||
"Kia K4 (with HDA II) 2025": {
|
||||
"platform": "KIA_K4_2025",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "K4 (with HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K4 (without HDA II) 2025-26": {
|
||||
"platform": "KIA_K4_2025",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "K4 (without HDA II)",
|
||||
"year": [
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K5 2021-24": {
|
||||
"platform": "KIA_K5_2021",
|
||||
"make": "Kia",
|
||||
@@ -2272,16 +2143,6 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K5 (without HDA II) 2025": {
|
||||
"platform": "KIA_K5_2025",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "K5 (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K5 Hybrid 2020-22": {
|
||||
"platform": "KIA_K5_HEV_2020",
|
||||
"make": "Kia",
|
||||
@@ -2532,17 +2393,6 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia Sorento (without HDA II) 2024-25": {
|
||||
"platform": "KIA_SORENTO_2024",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "Sorento (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia Sorento Hybrid 2021-23": {
|
||||
"platform": "KIA_SORENTO_HEV_4TH_GEN",
|
||||
"make": "Kia",
|
||||
|
||||
@@ -131,6 +131,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
downloaded @2;
|
||||
cached @3;
|
||||
failed @4;
|
||||
verifying @5;
|
||||
}
|
||||
|
||||
struct DownloadProgress {
|
||||
@@ -352,6 +353,7 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
laneChangeRoadEdge @24;
|
||||
bigModelReady @25;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1114,7 +1114,7 @@ const ::capnp::_::RawSchema s_d8cbae8ae9dfe286 = {
|
||||
0, 2, i_d8cbae8ae9dfe286, nullptr, nullptr, { &s_d8cbae8ae9dfe286, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<43> b_da834d53e62048b9 = {
|
||||
static const ::capnp::_::AlignedData<48> b_da834d53e62048b9 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
185, 72, 32, 230, 83, 77, 131, 218,
|
||||
28, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -1124,7 +1124,7 @@ static const ::capnp::_::AlignedData<43> b_da834d53e62048b9 = {
|
||||
21, 0, 0, 0, 90, 1, 0, 0,
|
||||
41, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 0, 0, 0, 127, 0, 0, 0,
|
||||
37, 0, 0, 0, 151, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -1134,21 +1134,24 @@ static const ::capnp::_::AlignedData<43> b_da834d53e62048b9 = {
|
||||
108, 111, 97, 100, 83, 116, 97, 116,
|
||||
117, 115, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
20, 0, 0, 0, 1, 0, 2, 0,
|
||||
24, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 0, 0, 0, 122, 0, 0, 0,
|
||||
65, 0, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 0, 0, 0, 98, 0, 0, 0,
|
||||
61, 0, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 0, 0, 0, 90, 0, 0, 0,
|
||||
57, 0, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 58, 0, 0, 0,
|
||||
53, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 58, 0, 0, 0,
|
||||
45, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 0, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
110, 111, 116, 68, 111, 119, 110, 108,
|
||||
111, 97, 100, 105, 110, 103, 0, 0,
|
||||
@@ -1157,14 +1160,16 @@ static const ::capnp::_::AlignedData<43> b_da834d53e62048b9 = {
|
||||
100, 111, 119, 110, 108, 111, 97, 100,
|
||||
101, 100, 0, 0, 0, 0, 0, 0,
|
||||
99, 97, 99, 104, 101, 100, 0, 0,
|
||||
102, 97, 105, 108, 101, 100, 0, 0, }
|
||||
102, 97, 105, 108, 101, 100, 0, 0,
|
||||
118, 101, 114, 105, 102, 121, 105, 110,
|
||||
103, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_da834d53e62048b9 = b_da834d53e62048b9.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_da834d53e62048b9[] = {3, 2, 1, 4, 0};
|
||||
static const uint16_t m_da834d53e62048b9[] = {3, 2, 1, 4, 0, 5};
|
||||
const ::capnp::_::RawSchema s_da834d53e62048b9 = {
|
||||
0xda834d53e62048b9, b_da834d53e62048b9.words, 43, nullptr, m_da834d53e62048b9,
|
||||
0, 5, nullptr, nullptr, nullptr, { &s_da834d53e62048b9, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xda834d53e62048b9, b_da834d53e62048b9.words, 48, nullptr, m_da834d53e62048b9,
|
||||
0, 6, nullptr, nullptr, nullptr, { &s_da834d53e62048b9, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(DownloadStatus_da834d53e62048b9, da834d53e62048b9);
|
||||
@@ -3517,7 +3522,7 @@ const ::capnp::_::RawSchema s_f6e831752fcdf793 = {
|
||||
1, 11, i_f6e831752fcdf793, nullptr, nullptr, { &s_f6e831752fcdf793, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
static const ::capnp::_::AlignedData<169> b_b8007ed8a646b5e6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
230, 181, 70, 166, 216, 126, 0, 184,
|
||||
27, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -3527,7 +3532,7 @@ static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
21, 0, 0, 0, 42, 1, 0, 0,
|
||||
37, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 95, 2, 0, 0,
|
||||
33, 0, 0, 0, 119, 2, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -3536,81 +3541,84 @@ static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
83, 80, 46, 69, 118, 101, 110, 116,
|
||||
78, 97, 109, 101, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
100, 0, 0, 0, 1, 0, 2, 0,
|
||||
104, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 90, 0, 0, 0,
|
||||
49, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 98, 0, 0, 0,
|
||||
45, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 186, 0, 0, 0,
|
||||
41, 1, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 218, 0, 0, 0,
|
||||
41, 1, 0, 0, 218, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 138, 0, 0, 0,
|
||||
45, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
45, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 130, 0, 0, 0,
|
||||
45, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 130, 0, 0, 0,
|
||||
41, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 146, 0, 0, 0,
|
||||
37, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 122, 0, 0, 0,
|
||||
37, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 202, 0, 0, 0,
|
||||
33, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 130, 0, 0, 0,
|
||||
37, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 194, 0, 0, 0,
|
||||
33, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 226, 0, 0, 0,
|
||||
33, 1, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 202, 0, 0, 0,
|
||||
37, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
41, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
41, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 106, 0, 0, 0,
|
||||
41, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
18, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 114, 0, 0, 0,
|
||||
37, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
19, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 162, 0, 0, 0,
|
||||
33, 1, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 138, 0, 0, 0,
|
||||
33, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
22, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
23, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 74, 0, 0, 0,
|
||||
33, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 154, 0, 0, 0,
|
||||
29, 1, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 107, 97, 115, 69, 110, 97, 98,
|
||||
108, 101, 0, 0, 0, 0, 0, 0,
|
||||
@@ -3681,14 +3689,16 @@ static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 97, 110, 101, 67, 104, 97, 110,
|
||||
103, 101, 82, 111, 97, 100, 69, 100,
|
||||
103, 101, 0, 0, 0, 0, 0, 0, }
|
||||
103, 101, 0, 0, 0, 0, 0, 0,
|
||||
98, 105, 103, 77, 111, 100, 101, 108,
|
||||
82, 101, 97, 100, 121, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b8007ed8a646b5e6 = b_b8007ed8a646b5e6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {12, 23, 14, 13, 24, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {25, 12, 23, 14, 13, 24, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
const ::capnp::_::RawSchema s_b8007ed8a646b5e6 = {
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 164, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 25, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 169, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 26, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(EventName_b8007ed8a646b5e6, b8007ed8a646b5e6);
|
||||
|
||||
@@ -93,6 +93,7 @@ enum class DownloadStatus_da834d53e62048b9: uint16_t {
|
||||
DOWNLOADED,
|
||||
CACHED,
|
||||
FAILED,
|
||||
VERIFYING,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(DownloadStatus, da834d53e62048b9);
|
||||
CAPNP_DECLARE_SCHEMA(a677b25114d64c73);
|
||||
@@ -206,6 +207,7 @@ enum class EventName_b8007ed8a646b5e6: uint16_t {
|
||||
SPEED_LIMIT_PENDING,
|
||||
E2E_CHIME,
|
||||
LANE_CHANGE_ROAD_EDGE,
|
||||
BIG_MODEL_READY,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(EventName, b8007ed8a646b5e6);
|
||||
CAPNP_DECLARE_SCHEMA(80ae746ee2596b11);
|
||||
|
||||
@@ -7192,7 +7192,7 @@ const ::capnp::_::RawSchema s_a7053446d13dbfe4 = {
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(Usb3Lane_a7053446d13dbfe4, a7053446d13dbfe4);
|
||||
static const ::capnp::_::AlignedData<176> b_8fd70f1cb19dc3aa = {
|
||||
static const ::capnp::_::AlignedData<192> b_8fd70f1cb19dc3aa = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
170, 195, 157, 177, 28, 15, 215, 143,
|
||||
10, 0, 0, 0, 1, 0, 4, 0,
|
||||
@@ -7202,84 +7202,91 @@ static const ::capnp::_::AlignedData<176> b_8fd70f1cb19dc3aa = {
|
||||
21, 0, 0, 0, 194, 0, 0, 0,
|
||||
29, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 55, 2, 0, 0,
|
||||
25, 0, 0, 0, 111, 2, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 67, 104, 101, 115, 116, 110,
|
||||
117, 116, 83, 116, 97, 116, 101, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
40, 0, 0, 0, 3, 0, 4, 0,
|
||||
44, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 50, 0, 0, 0,
|
||||
37, 1, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 1, 0, 0, 3, 0, 1, 0,
|
||||
16, 1, 0, 0, 2, 0, 1, 0,
|
||||
32, 1, 0, 0, 3, 0, 1, 0,
|
||||
44, 1, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 98, 0, 0, 0,
|
||||
41, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
40, 1, 0, 0, 3, 0, 1, 0,
|
||||
52, 1, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 90, 0, 0, 0,
|
||||
49, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 1, 0, 0, 3, 0, 1, 0,
|
||||
32, 1, 0, 0, 2, 0, 1, 0,
|
||||
48, 1, 0, 0, 3, 0, 1, 0,
|
||||
60, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 98, 0, 0, 0,
|
||||
57, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
28, 1, 0, 0, 3, 0, 1, 0,
|
||||
40, 1, 0, 0, 2, 0, 1, 0,
|
||||
56, 1, 0, 0, 3, 0, 1, 0,
|
||||
68, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 130, 0, 0, 0,
|
||||
65, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
36, 1, 0, 0, 3, 0, 1, 0,
|
||||
48, 1, 0, 0, 2, 0, 1, 0,
|
||||
64, 1, 0, 0, 3, 0, 1, 0,
|
||||
76, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 98, 0, 0, 0,
|
||||
73, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 1, 0, 0, 3, 0, 1, 0,
|
||||
56, 1, 0, 0, 2, 0, 1, 0,
|
||||
72, 1, 0, 0, 3, 0, 1, 0,
|
||||
84, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 1, 0, 0, 98, 0, 0, 0,
|
||||
81, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
52, 1, 0, 0, 3, 0, 1, 0,
|
||||
64, 1, 0, 0, 2, 0, 1, 0,
|
||||
80, 1, 0, 0, 3, 0, 1, 0,
|
||||
92, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
61, 1, 0, 0, 82, 0, 0, 0,
|
||||
89, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
60, 1, 0, 0, 3, 0, 1, 0,
|
||||
72, 1, 0, 0, 2, 0, 1, 0,
|
||||
88, 1, 0, 0, 3, 0, 1, 0,
|
||||
100, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 1, 0, 0, 114, 0, 0, 0,
|
||||
97, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 1, 0, 0, 3, 0, 1, 0,
|
||||
80, 1, 0, 0, 2, 0, 1, 0,
|
||||
96, 1, 0, 0, 3, 0, 1, 0,
|
||||
108, 1, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 1, 0, 0, 114, 0, 0, 0,
|
||||
105, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
76, 1, 0, 0, 3, 0, 1, 0,
|
||||
88, 1, 0, 0, 2, 0, 1, 0,
|
||||
104, 1, 0, 0, 3, 0, 1, 0,
|
||||
116, 1, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 208, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
113, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
112, 1, 0, 0, 3, 0, 1, 0,
|
||||
124, 1, 0, 0, 2, 0, 1, 0,
|
||||
116, 101, 109, 112, 67, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -7368,15 +7375,24 @@ static const ::capnp::_::AlignedData<176> b_8fd70f1cb19dc3aa = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 117, 112, 112, 108, 121, 70, 97,
|
||||
117, 108, 116, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_8fd70f1cb19dc3aa = b_8fd70f1cb19dc3aa.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_8fd70f1cb19dc3aa[] = {6, 5, 4, 1, 7, 2, 3, 9, 8, 0};
|
||||
static const uint16_t i_8fd70f1cb19dc3aa[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
|
||||
static const uint16_t m_8fd70f1cb19dc3aa[] = {6, 5, 4, 1, 7, 2, 3, 9, 10, 8, 0};
|
||||
static const uint16_t i_8fd70f1cb19dc3aa[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
|
||||
const ::capnp::_::RawSchema s_8fd70f1cb19dc3aa = {
|
||||
0x8fd70f1cb19dc3aa, b_8fd70f1cb19dc3aa.words, 176, nullptr, m_8fd70f1cb19dc3aa,
|
||||
0, 10, i_8fd70f1cb19dc3aa, nullptr, nullptr, { &s_8fd70f1cb19dc3aa, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0x8fd70f1cb19dc3aa, b_8fd70f1cb19dc3aa.words, 192, nullptr, m_8fd70f1cb19dc3aa,
|
||||
0, 11, i_8fd70f1cb19dc3aa, nullptr, nullptr, { &s_8fd70f1cb19dc3aa, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<92> b_9a185389d6fdd05f = {
|
||||
@@ -10943,17 +10959,17 @@ const ::capnp::_::RawSchema s_9187f23dbdc347c2 = {
|
||||
8, 7, i_9187f23dbdc347c2, nullptr, nullptr, { &s_9187f23dbdc347c2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<155> b_e8f9ba819993a776 = {
|
||||
static const ::capnp::_::AlignedData<170> b_e8f9ba819993a776 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
118, 167, 147, 153, 129, 186, 249, 232,
|
||||
10, 0, 0, 0, 1, 0, 2, 0,
|
||||
10, 0, 0, 0, 1, 0, 3, 0,
|
||||
91, 40, 164, 37, 126, 241, 177, 243,
|
||||
4, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 218, 0, 0, 0,
|
||||
33, 0, 0, 0, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 0, 0, 0, 199, 1, 0, 0,
|
||||
77, 0, 0, 0, 255, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
@@ -10973,63 +10989,70 @@ static const ::capnp::_::AlignedData<155> b_e8f9ba819993a776 = {
|
||||
77, 101, 116, 97, 0, 0, 0, 0,
|
||||
77, 101, 116, 97, 68, 97, 116, 97,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
36, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 0, 0, 0, 3, 0, 1, 0,
|
||||
224, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 0, 0, 0, 3, 0, 1, 0,
|
||||
236, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
233, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 42, 0, 0, 0,
|
||||
237, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 0, 0, 0, 114, 0, 0, 0,
|
||||
241, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 0, 0, 0, 154, 0, 0, 0,
|
||||
249, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
252, 0, 0, 0, 3, 0, 1, 0,
|
||||
8, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 1, 0, 0, 3, 0, 1, 0,
|
||||
16, 1, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 1, 0, 0, 3, 0, 1, 0,
|
||||
36, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 128, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
28, 1, 0, 0, 3, 0, 1, 0,
|
||||
40, 1, 0, 0, 2, 0, 1, 0,
|
||||
102, 114, 97, 109, 101, 73, 100, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -11097,6 +11120,14 @@ static const ::capnp::_::AlignedData<155> b_e8f9ba819993a776 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
98, 105, 103, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
@@ -11108,11 +11139,11 @@ static const ::capnp::_::RawSchema* const d_e8f9ba819993a776[] = {
|
||||
&s_a0cfcfa4ed19ac5d,
|
||||
&s_ca1e4710874d12b5,
|
||||
};
|
||||
static const uint16_t m_e8f9ba819993a776[] = {2, 6, 0, 1, 3, 4, 7, 5};
|
||||
static const uint16_t i_e8f9ba819993a776[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
static const uint16_t m_e8f9ba819993a776[] = {2, 8, 6, 0, 1, 3, 4, 7, 5};
|
||||
static const uint16_t i_e8f9ba819993a776[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
const ::capnp::_::RawSchema s_e8f9ba819993a776 = {
|
||||
0xe8f9ba819993a776, b_e8f9ba819993a776.words, 155, d_e8f9ba819993a776, m_e8f9ba819993a776,
|
||||
4, 8, i_e8f9ba819993a776, nullptr, nullptr, { &s_e8f9ba819993a776, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xe8f9ba819993a776, b_e8f9ba819993a776.words, 170, d_e8f9ba819993a776, m_e8f9ba819993a776,
|
||||
4, 9, i_e8f9ba819993a776, nullptr, nullptr, { &s_e8f9ba819993a776, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<79> b_ca1e4710874d12b5 = {
|
||||
|
||||
@@ -1513,7 +1513,7 @@ struct DrivingModelData {
|
||||
struct MetaData;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e8f9ba819993a776, 2, 4)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e8f9ba819993a776, 3, 4)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -7300,6 +7300,8 @@ public:
|
||||
|
||||
inline ::int16_t getSupplyCurrent() const;
|
||||
|
||||
inline bool getSupplyFault() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -7358,6 +7360,9 @@ public:
|
||||
inline ::int16_t getSupplyCurrent();
|
||||
inline void setSupplyCurrent( ::int16_t value);
|
||||
|
||||
inline bool getSupplyFault();
|
||||
inline void setSupplyFault(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -9594,6 +9599,8 @@ public:
|
||||
|
||||
inline float getModelExecutionTime() const;
|
||||
|
||||
inline bool getBig() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -9662,6 +9669,9 @@ public:
|
||||
inline float getModelExecutionTime();
|
||||
inline void setModelExecutionTime(float value);
|
||||
|
||||
inline bool getBig();
|
||||
inline void setBig(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -30413,6 +30423,20 @@ inline void ChestnutState::Builder::setSupplyCurrent( ::int16_t value) {
|
||||
::capnp::bounded<12>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ChestnutState::Reader::getSupplyFault() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<208>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ChestnutState::Builder::getSupplyFault() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<208>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ChestnutState::Builder::setSupplyFault(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<208>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline typename RadarState::Deprecated::Reader RadarState::Reader::getDeprecated() const {
|
||||
return typename RadarState::Deprecated::Reader(_reader);
|
||||
}
|
||||
@@ -33884,6 +33908,20 @@ inline void DrivingModelData::Builder::setModelExecutionTime(float value) {
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool DrivingModelData::Reader::getBig() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<128>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool DrivingModelData::Builder::getBig() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<128>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void DrivingModelData::Builder::setBig(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<128>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool DrivingModelData::PolyPath::Reader::hasXCoefficients() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
|
||||
@@ -725,6 +725,7 @@ struct ChestnutState {
|
||||
pcieLtssm @7 :UInt8;
|
||||
supplyVoltage @8 :UInt16; # mV
|
||||
supplyCurrent @9 :Int16; # mA
|
||||
supplyFault @10 :Bool;
|
||||
}
|
||||
|
||||
struct RadarState @0x9a185389d6fdd05f {
|
||||
@@ -1004,6 +1005,7 @@ struct DrivingModelData {
|
||||
frameIdExtra @1 :UInt32;
|
||||
frameDropPerc @6 :Float32;
|
||||
modelExecutionTime @7 :Float32;
|
||||
big @8 :Bool;
|
||||
|
||||
action @2 :ModelDataV2.Action;
|
||||
|
||||
|
||||
@@ -56,29 +56,29 @@
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
|
||||
"hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
|
||||
"hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
|
||||
"hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
|
||||
"hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
|
||||
"size": 46897152,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
|
||||
"ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
|
||||
"hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
|
||||
"hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
|
||||
"hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
|
||||
"hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
|
||||
"size": 4718592000,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
|
||||
"ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
|
||||
"alt": {
|
||||
"hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
|
||||
"hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
|
||||
"size": 4718592000
|
||||
}
|
||||
}
|
||||
]
|
||||
]
|
||||
@@ -5,6 +5,7 @@ import logging
|
||||
import os
|
||||
import select
|
||||
import signal
|
||||
import string
|
||||
import struct
|
||||
import subprocess
|
||||
import tempfile
|
||||
@@ -354,7 +355,7 @@ class Modem:
|
||||
imei = ""
|
||||
|
||||
iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
|
||||
if not iccid.isdigit():
|
||||
if not all(c in string.hexdigits for c in iccid):
|
||||
iccid = ""
|
||||
|
||||
imsi = first_line("AT+CIMI")
|
||||
|
||||
@@ -4,11 +4,17 @@ from pathlib import Path
|
||||
CHESTNUT_FW_VERSION = "ed4e39b7"
|
||||
CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
|
||||
CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
|
||||
CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
|
||||
USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
|
||||
TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
|
||||
PRIMARY_USB_CONTROLLER = "a600000.ssusb"
|
||||
|
||||
|
||||
def is_chestnut_usb_id(vendor_id: int, product_id: int, include_bootloader: bool = False) -> bool:
|
||||
ids = CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS if include_bootloader else CHESTNUT_USB_IDS
|
||||
return (vendor_id, product_id) in ids
|
||||
|
||||
|
||||
def get_usb_topology() -> set[str]:
|
||||
try:
|
||||
return set(os.listdir(USB_DEVICES_PATH))
|
||||
@@ -81,7 +87,7 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
|
||||
entry.linkErrorCount = device["linkErrorCount"]
|
||||
entry.usb3Lane = device.get("usb3Lane", "unknown")
|
||||
|
||||
if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
|
||||
if is_chestnut_usb_id(entry.vendorId, entry.productId):
|
||||
chestnut_present = True
|
||||
|
||||
device_state.chestnutPresent = chestnut_present
|
||||
|
||||
Binary file not shown.
@@ -92,6 +92,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
@@ -130,8 +136,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"UpdaterLastFetchTime", {PERSISTENT, TIME}},
|
||||
{"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
|
||||
// --- sunnypilot params --- //
|
||||
@@ -195,14 +202,16 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
|
||||
// Model Manager params
|
||||
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
|
||||
{"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"ModelManager_ActiveBundleUSBGPU", {PERSISTENT, JSON}}, //TODO-SP: kept for migration, remove on next sync?
|
||||
{"ModelManager_ActiveBundleChestnut", {PERSISTENT, JSON}},
|
||||
{"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"ModelManager_DownloadRef", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
|
||||
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_LastSyncTime_Chestnut", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
|
||||
{"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},
|
||||
{"ModelManager_ModelsCache_Chestnut", {PERSISTENT | BACKUP, JSON}},
|
||||
|
||||
// Neural Network Lateral Control
|
||||
{"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
@@ -245,6 +254,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
{"Mapd_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"MapdVersion", {PERSISTENT, STRING}},
|
||||
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
|
||||
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
|
||||
@@ -27,14 +27,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
|
||||
util::check_system(util::string_format("rm -rf %s", real_path.c_str()));
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
|
||||
util::check_system(util::string_format("rm -rf %s", Path::download_cache_root().c_str()));
|
||||
}
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
|
||||
util::check_system(util::string_format("rm -rf %s", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm -rf %s", msgq_path.c_str()));
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
|
||||
|
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|
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|
After Width: | Height: | Size: 13 KiB |
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|
Before Width: | Height: | Size: 2.0 KiB |
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|
Before Width: | Height: | Size: 7.1 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 11 KiB |
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|
After Width: | Height: | Size: 1.5 KiB |
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758) {
|
||||
out_5070392900769873758[0] = delta_x[0] + nom_x[0];
|
||||
out_5070392900769873758[1] = delta_x[1] + nom_x[1];
|
||||
out_5070392900769873758[2] = delta_x[2] + nom_x[2];
|
||||
out_5070392900769873758[3] = delta_x[3] + nom_x[3];
|
||||
out_5070392900769873758[4] = delta_x[4] + nom_x[4];
|
||||
out_5070392900769873758[5] = delta_x[5] + nom_x[5];
|
||||
out_5070392900769873758[6] = delta_x[6] + nom_x[6];
|
||||
out_5070392900769873758[7] = delta_x[7] + nom_x[7];
|
||||
out_5070392900769873758[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
|
||||
out_5744499419236567507[0] = delta_x[0] + nom_x[0];
|
||||
out_5744499419236567507[1] = delta_x[1] + nom_x[1];
|
||||
out_5744499419236567507[2] = delta_x[2] + nom_x[2];
|
||||
out_5744499419236567507[3] = delta_x[3] + nom_x[3];
|
||||
out_5744499419236567507[4] = delta_x[4] + nom_x[4];
|
||||
out_5744499419236567507[5] = delta_x[5] + nom_x[5];
|
||||
out_5744499419236567507[6] = delta_x[6] + nom_x[6];
|
||||
out_5744499419236567507[7] = delta_x[7] + nom_x[7];
|
||||
out_5744499419236567507[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051) {
|
||||
out_3742760733154016051[0] = -nom_x[0] + true_x[0];
|
||||
out_3742760733154016051[1] = -nom_x[1] + true_x[1];
|
||||
out_3742760733154016051[2] = -nom_x[2] + true_x[2];
|
||||
out_3742760733154016051[3] = -nom_x[3] + true_x[3];
|
||||
out_3742760733154016051[4] = -nom_x[4] + true_x[4];
|
||||
out_3742760733154016051[5] = -nom_x[5] + true_x[5];
|
||||
out_3742760733154016051[6] = -nom_x[6] + true_x[6];
|
||||
out_3742760733154016051[7] = -nom_x[7] + true_x[7];
|
||||
out_3742760733154016051[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
|
||||
out_1184805137205037163[0] = -nom_x[0] + true_x[0];
|
||||
out_1184805137205037163[1] = -nom_x[1] + true_x[1];
|
||||
out_1184805137205037163[2] = -nom_x[2] + true_x[2];
|
||||
out_1184805137205037163[3] = -nom_x[3] + true_x[3];
|
||||
out_1184805137205037163[4] = -nom_x[4] + true_x[4];
|
||||
out_1184805137205037163[5] = -nom_x[5] + true_x[5];
|
||||
out_1184805137205037163[6] = -nom_x[6] + true_x[6];
|
||||
out_1184805137205037163[7] = -nom_x[7] + true_x[7];
|
||||
out_1184805137205037163[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5758456641177717920) {
|
||||
out_5758456641177717920[0] = 1.0;
|
||||
out_5758456641177717920[1] = 0.0;
|
||||
out_5758456641177717920[2] = 0.0;
|
||||
out_5758456641177717920[3] = 0.0;
|
||||
out_5758456641177717920[4] = 0.0;
|
||||
out_5758456641177717920[5] = 0.0;
|
||||
out_5758456641177717920[6] = 0.0;
|
||||
out_5758456641177717920[7] = 0.0;
|
||||
out_5758456641177717920[8] = 0.0;
|
||||
out_5758456641177717920[9] = 0.0;
|
||||
out_5758456641177717920[10] = 1.0;
|
||||
out_5758456641177717920[11] = 0.0;
|
||||
out_5758456641177717920[12] = 0.0;
|
||||
out_5758456641177717920[13] = 0.0;
|
||||
out_5758456641177717920[14] = 0.0;
|
||||
out_5758456641177717920[15] = 0.0;
|
||||
out_5758456641177717920[16] = 0.0;
|
||||
out_5758456641177717920[17] = 0.0;
|
||||
out_5758456641177717920[18] = 0.0;
|
||||
out_5758456641177717920[19] = 0.0;
|
||||
out_5758456641177717920[20] = 1.0;
|
||||
out_5758456641177717920[21] = 0.0;
|
||||
out_5758456641177717920[22] = 0.0;
|
||||
out_5758456641177717920[23] = 0.0;
|
||||
out_5758456641177717920[24] = 0.0;
|
||||
out_5758456641177717920[25] = 0.0;
|
||||
out_5758456641177717920[26] = 0.0;
|
||||
out_5758456641177717920[27] = 0.0;
|
||||
out_5758456641177717920[28] = 0.0;
|
||||
out_5758456641177717920[29] = 0.0;
|
||||
out_5758456641177717920[30] = 1.0;
|
||||
out_5758456641177717920[31] = 0.0;
|
||||
out_5758456641177717920[32] = 0.0;
|
||||
out_5758456641177717920[33] = 0.0;
|
||||
out_5758456641177717920[34] = 0.0;
|
||||
out_5758456641177717920[35] = 0.0;
|
||||
out_5758456641177717920[36] = 0.0;
|
||||
out_5758456641177717920[37] = 0.0;
|
||||
out_5758456641177717920[38] = 0.0;
|
||||
out_5758456641177717920[39] = 0.0;
|
||||
out_5758456641177717920[40] = 1.0;
|
||||
out_5758456641177717920[41] = 0.0;
|
||||
out_5758456641177717920[42] = 0.0;
|
||||
out_5758456641177717920[43] = 0.0;
|
||||
out_5758456641177717920[44] = 0.0;
|
||||
out_5758456641177717920[45] = 0.0;
|
||||
out_5758456641177717920[46] = 0.0;
|
||||
out_5758456641177717920[47] = 0.0;
|
||||
out_5758456641177717920[48] = 0.0;
|
||||
out_5758456641177717920[49] = 0.0;
|
||||
out_5758456641177717920[50] = 1.0;
|
||||
out_5758456641177717920[51] = 0.0;
|
||||
out_5758456641177717920[52] = 0.0;
|
||||
out_5758456641177717920[53] = 0.0;
|
||||
out_5758456641177717920[54] = 0.0;
|
||||
out_5758456641177717920[55] = 0.0;
|
||||
out_5758456641177717920[56] = 0.0;
|
||||
out_5758456641177717920[57] = 0.0;
|
||||
out_5758456641177717920[58] = 0.0;
|
||||
out_5758456641177717920[59] = 0.0;
|
||||
out_5758456641177717920[60] = 1.0;
|
||||
out_5758456641177717920[61] = 0.0;
|
||||
out_5758456641177717920[62] = 0.0;
|
||||
out_5758456641177717920[63] = 0.0;
|
||||
out_5758456641177717920[64] = 0.0;
|
||||
out_5758456641177717920[65] = 0.0;
|
||||
out_5758456641177717920[66] = 0.0;
|
||||
out_5758456641177717920[67] = 0.0;
|
||||
out_5758456641177717920[68] = 0.0;
|
||||
out_5758456641177717920[69] = 0.0;
|
||||
out_5758456641177717920[70] = 1.0;
|
||||
out_5758456641177717920[71] = 0.0;
|
||||
out_5758456641177717920[72] = 0.0;
|
||||
out_5758456641177717920[73] = 0.0;
|
||||
out_5758456641177717920[74] = 0.0;
|
||||
out_5758456641177717920[75] = 0.0;
|
||||
out_5758456641177717920[76] = 0.0;
|
||||
out_5758456641177717920[77] = 0.0;
|
||||
out_5758456641177717920[78] = 0.0;
|
||||
out_5758456641177717920[79] = 0.0;
|
||||
out_5758456641177717920[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_2752971634021862652) {
|
||||
out_2752971634021862652[0] = 1.0;
|
||||
out_2752971634021862652[1] = 0.0;
|
||||
out_2752971634021862652[2] = 0.0;
|
||||
out_2752971634021862652[3] = 0.0;
|
||||
out_2752971634021862652[4] = 0.0;
|
||||
out_2752971634021862652[5] = 0.0;
|
||||
out_2752971634021862652[6] = 0.0;
|
||||
out_2752971634021862652[7] = 0.0;
|
||||
out_2752971634021862652[8] = 0.0;
|
||||
out_2752971634021862652[9] = 0.0;
|
||||
out_2752971634021862652[10] = 1.0;
|
||||
out_2752971634021862652[11] = 0.0;
|
||||
out_2752971634021862652[12] = 0.0;
|
||||
out_2752971634021862652[13] = 0.0;
|
||||
out_2752971634021862652[14] = 0.0;
|
||||
out_2752971634021862652[15] = 0.0;
|
||||
out_2752971634021862652[16] = 0.0;
|
||||
out_2752971634021862652[17] = 0.0;
|
||||
out_2752971634021862652[18] = 0.0;
|
||||
out_2752971634021862652[19] = 0.0;
|
||||
out_2752971634021862652[20] = 1.0;
|
||||
out_2752971634021862652[21] = 0.0;
|
||||
out_2752971634021862652[22] = 0.0;
|
||||
out_2752971634021862652[23] = 0.0;
|
||||
out_2752971634021862652[24] = 0.0;
|
||||
out_2752971634021862652[25] = 0.0;
|
||||
out_2752971634021862652[26] = 0.0;
|
||||
out_2752971634021862652[27] = 0.0;
|
||||
out_2752971634021862652[28] = 0.0;
|
||||
out_2752971634021862652[29] = 0.0;
|
||||
out_2752971634021862652[30] = 1.0;
|
||||
out_2752971634021862652[31] = 0.0;
|
||||
out_2752971634021862652[32] = 0.0;
|
||||
out_2752971634021862652[33] = 0.0;
|
||||
out_2752971634021862652[34] = 0.0;
|
||||
out_2752971634021862652[35] = 0.0;
|
||||
out_2752971634021862652[36] = 0.0;
|
||||
out_2752971634021862652[37] = 0.0;
|
||||
out_2752971634021862652[38] = 0.0;
|
||||
out_2752971634021862652[39] = 0.0;
|
||||
out_2752971634021862652[40] = 1.0;
|
||||
out_2752971634021862652[41] = 0.0;
|
||||
out_2752971634021862652[42] = 0.0;
|
||||
out_2752971634021862652[43] = 0.0;
|
||||
out_2752971634021862652[44] = 0.0;
|
||||
out_2752971634021862652[45] = 0.0;
|
||||
out_2752971634021862652[46] = 0.0;
|
||||
out_2752971634021862652[47] = 0.0;
|
||||
out_2752971634021862652[48] = 0.0;
|
||||
out_2752971634021862652[49] = 0.0;
|
||||
out_2752971634021862652[50] = 1.0;
|
||||
out_2752971634021862652[51] = 0.0;
|
||||
out_2752971634021862652[52] = 0.0;
|
||||
out_2752971634021862652[53] = 0.0;
|
||||
out_2752971634021862652[54] = 0.0;
|
||||
out_2752971634021862652[55] = 0.0;
|
||||
out_2752971634021862652[56] = 0.0;
|
||||
out_2752971634021862652[57] = 0.0;
|
||||
out_2752971634021862652[58] = 0.0;
|
||||
out_2752971634021862652[59] = 0.0;
|
||||
out_2752971634021862652[60] = 1.0;
|
||||
out_2752971634021862652[61] = 0.0;
|
||||
out_2752971634021862652[62] = 0.0;
|
||||
out_2752971634021862652[63] = 0.0;
|
||||
out_2752971634021862652[64] = 0.0;
|
||||
out_2752971634021862652[65] = 0.0;
|
||||
out_2752971634021862652[66] = 0.0;
|
||||
out_2752971634021862652[67] = 0.0;
|
||||
out_2752971634021862652[68] = 0.0;
|
||||
out_2752971634021862652[69] = 0.0;
|
||||
out_2752971634021862652[70] = 1.0;
|
||||
out_2752971634021862652[71] = 0.0;
|
||||
out_2752971634021862652[72] = 0.0;
|
||||
out_2752971634021862652[73] = 0.0;
|
||||
out_2752971634021862652[74] = 0.0;
|
||||
out_2752971634021862652[75] = 0.0;
|
||||
out_2752971634021862652[76] = 0.0;
|
||||
out_2752971634021862652[77] = 0.0;
|
||||
out_2752971634021862652[78] = 0.0;
|
||||
out_2752971634021862652[79] = 0.0;
|
||||
out_2752971634021862652[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_730595102125265078) {
|
||||
out_730595102125265078[0] = state[0];
|
||||
out_730595102125265078[1] = state[1];
|
||||
out_730595102125265078[2] = state[2];
|
||||
out_730595102125265078[3] = state[3];
|
||||
out_730595102125265078[4] = state[4];
|
||||
out_730595102125265078[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_730595102125265078[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_730595102125265078[7] = state[7];
|
||||
out_730595102125265078[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_7658700760911629364) {
|
||||
out_7658700760911629364[0] = state[0];
|
||||
out_7658700760911629364[1] = state[1];
|
||||
out_7658700760911629364[2] = state[2];
|
||||
out_7658700760911629364[3] = state[3];
|
||||
out_7658700760911629364[4] = state[4];
|
||||
out_7658700760911629364[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_7658700760911629364[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_7658700760911629364[7] = state[7];
|
||||
out_7658700760911629364[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_7198115545780111359) {
|
||||
out_7198115545780111359[0] = 1;
|
||||
out_7198115545780111359[1] = 0;
|
||||
out_7198115545780111359[2] = 0;
|
||||
out_7198115545780111359[3] = 0;
|
||||
out_7198115545780111359[4] = 0;
|
||||
out_7198115545780111359[5] = 0;
|
||||
out_7198115545780111359[6] = 0;
|
||||
out_7198115545780111359[7] = 0;
|
||||
out_7198115545780111359[8] = 0;
|
||||
out_7198115545780111359[9] = 0;
|
||||
out_7198115545780111359[10] = 1;
|
||||
out_7198115545780111359[11] = 0;
|
||||
out_7198115545780111359[12] = 0;
|
||||
out_7198115545780111359[13] = 0;
|
||||
out_7198115545780111359[14] = 0;
|
||||
out_7198115545780111359[15] = 0;
|
||||
out_7198115545780111359[16] = 0;
|
||||
out_7198115545780111359[17] = 0;
|
||||
out_7198115545780111359[18] = 0;
|
||||
out_7198115545780111359[19] = 0;
|
||||
out_7198115545780111359[20] = 1;
|
||||
out_7198115545780111359[21] = 0;
|
||||
out_7198115545780111359[22] = 0;
|
||||
out_7198115545780111359[23] = 0;
|
||||
out_7198115545780111359[24] = 0;
|
||||
out_7198115545780111359[25] = 0;
|
||||
out_7198115545780111359[26] = 0;
|
||||
out_7198115545780111359[27] = 0;
|
||||
out_7198115545780111359[28] = 0;
|
||||
out_7198115545780111359[29] = 0;
|
||||
out_7198115545780111359[30] = 1;
|
||||
out_7198115545780111359[31] = 0;
|
||||
out_7198115545780111359[32] = 0;
|
||||
out_7198115545780111359[33] = 0;
|
||||
out_7198115545780111359[34] = 0;
|
||||
out_7198115545780111359[35] = 0;
|
||||
out_7198115545780111359[36] = 0;
|
||||
out_7198115545780111359[37] = 0;
|
||||
out_7198115545780111359[38] = 0;
|
||||
out_7198115545780111359[39] = 0;
|
||||
out_7198115545780111359[40] = 1;
|
||||
out_7198115545780111359[41] = 0;
|
||||
out_7198115545780111359[42] = 0;
|
||||
out_7198115545780111359[43] = 0;
|
||||
out_7198115545780111359[44] = 0;
|
||||
out_7198115545780111359[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_7198115545780111359[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7198115545780111359[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7198115545780111359[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7198115545780111359[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_7198115545780111359[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7198115545780111359[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7198115545780111359[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7198115545780111359[53] = -9.8100000000000005*dt;
|
||||
out_7198115545780111359[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_7198115545780111359[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7198115545780111359[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7198115545780111359[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7198115545780111359[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_7198115545780111359[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7198115545780111359[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_7198115545780111359[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7198115545780111359[62] = 0;
|
||||
out_7198115545780111359[63] = 0;
|
||||
out_7198115545780111359[64] = 0;
|
||||
out_7198115545780111359[65] = 0;
|
||||
out_7198115545780111359[66] = 0;
|
||||
out_7198115545780111359[67] = 0;
|
||||
out_7198115545780111359[68] = 0;
|
||||
out_7198115545780111359[69] = 0;
|
||||
out_7198115545780111359[70] = 1;
|
||||
out_7198115545780111359[71] = 0;
|
||||
out_7198115545780111359[72] = 0;
|
||||
out_7198115545780111359[73] = 0;
|
||||
out_7198115545780111359[74] = 0;
|
||||
out_7198115545780111359[75] = 0;
|
||||
out_7198115545780111359[76] = 0;
|
||||
out_7198115545780111359[77] = 0;
|
||||
out_7198115545780111359[78] = 0;
|
||||
out_7198115545780111359[79] = 0;
|
||||
out_7198115545780111359[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_6351856658156694456) {
|
||||
out_6351856658156694456[0] = 1;
|
||||
out_6351856658156694456[1] = 0;
|
||||
out_6351856658156694456[2] = 0;
|
||||
out_6351856658156694456[3] = 0;
|
||||
out_6351856658156694456[4] = 0;
|
||||
out_6351856658156694456[5] = 0;
|
||||
out_6351856658156694456[6] = 0;
|
||||
out_6351856658156694456[7] = 0;
|
||||
out_6351856658156694456[8] = 0;
|
||||
out_6351856658156694456[9] = 0;
|
||||
out_6351856658156694456[10] = 1;
|
||||
out_6351856658156694456[11] = 0;
|
||||
out_6351856658156694456[12] = 0;
|
||||
out_6351856658156694456[13] = 0;
|
||||
out_6351856658156694456[14] = 0;
|
||||
out_6351856658156694456[15] = 0;
|
||||
out_6351856658156694456[16] = 0;
|
||||
out_6351856658156694456[17] = 0;
|
||||
out_6351856658156694456[18] = 0;
|
||||
out_6351856658156694456[19] = 0;
|
||||
out_6351856658156694456[20] = 1;
|
||||
out_6351856658156694456[21] = 0;
|
||||
out_6351856658156694456[22] = 0;
|
||||
out_6351856658156694456[23] = 0;
|
||||
out_6351856658156694456[24] = 0;
|
||||
out_6351856658156694456[25] = 0;
|
||||
out_6351856658156694456[26] = 0;
|
||||
out_6351856658156694456[27] = 0;
|
||||
out_6351856658156694456[28] = 0;
|
||||
out_6351856658156694456[29] = 0;
|
||||
out_6351856658156694456[30] = 1;
|
||||
out_6351856658156694456[31] = 0;
|
||||
out_6351856658156694456[32] = 0;
|
||||
out_6351856658156694456[33] = 0;
|
||||
out_6351856658156694456[34] = 0;
|
||||
out_6351856658156694456[35] = 0;
|
||||
out_6351856658156694456[36] = 0;
|
||||
out_6351856658156694456[37] = 0;
|
||||
out_6351856658156694456[38] = 0;
|
||||
out_6351856658156694456[39] = 0;
|
||||
out_6351856658156694456[40] = 1;
|
||||
out_6351856658156694456[41] = 0;
|
||||
out_6351856658156694456[42] = 0;
|
||||
out_6351856658156694456[43] = 0;
|
||||
out_6351856658156694456[44] = 0;
|
||||
out_6351856658156694456[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_6351856658156694456[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6351856658156694456[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6351856658156694456[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6351856658156694456[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_6351856658156694456[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6351856658156694456[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6351856658156694456[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6351856658156694456[53] = -9.8100000000000005*dt;
|
||||
out_6351856658156694456[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_6351856658156694456[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6351856658156694456[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6351856658156694456[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6351856658156694456[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_6351856658156694456[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6351856658156694456[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_6351856658156694456[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6351856658156694456[62] = 0;
|
||||
out_6351856658156694456[63] = 0;
|
||||
out_6351856658156694456[64] = 0;
|
||||
out_6351856658156694456[65] = 0;
|
||||
out_6351856658156694456[66] = 0;
|
||||
out_6351856658156694456[67] = 0;
|
||||
out_6351856658156694456[68] = 0;
|
||||
out_6351856658156694456[69] = 0;
|
||||
out_6351856658156694456[70] = 1;
|
||||
out_6351856658156694456[71] = 0;
|
||||
out_6351856658156694456[72] = 0;
|
||||
out_6351856658156694456[73] = 0;
|
||||
out_6351856658156694456[74] = 0;
|
||||
out_6351856658156694456[75] = 0;
|
||||
out_6351856658156694456[76] = 0;
|
||||
out_6351856658156694456[77] = 0;
|
||||
out_6351856658156694456[78] = 0;
|
||||
out_6351856658156694456[79] = 0;
|
||||
out_6351856658156694456[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5441109048213736058) {
|
||||
out_5441109048213736058[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_2115125997200973707) {
|
||||
out_2115125997200973707[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4766949399557973891) {
|
||||
out_4766949399557973891[0] = 0;
|
||||
out_4766949399557973891[1] = 0;
|
||||
out_4766949399557973891[2] = 0;
|
||||
out_4766949399557973891[3] = 0;
|
||||
out_4766949399557973891[4] = 0;
|
||||
out_4766949399557973891[5] = 0;
|
||||
out_4766949399557973891[6] = 1;
|
||||
out_4766949399557973891[7] = 0;
|
||||
out_4766949399557973891[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6275952284011354329) {
|
||||
out_6275952284011354329[0] = 0;
|
||||
out_6275952284011354329[1] = 0;
|
||||
out_6275952284011354329[2] = 0;
|
||||
out_6275952284011354329[3] = 0;
|
||||
out_6275952284011354329[4] = 0;
|
||||
out_6275952284011354329[5] = 0;
|
||||
out_6275952284011354329[6] = 1;
|
||||
out_6275952284011354329[7] = 0;
|
||||
out_6275952284011354329[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_2797667639827089179) {
|
||||
out_2797667639827089179[0] = state[4];
|
||||
out_2797667639827089179[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7937179482135297626) {
|
||||
out_7937179482135297626[0] = state[4];
|
||||
out_7937179482135297626[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4461115786511221334) {
|
||||
out_4461115786511221334[0] = 0;
|
||||
out_4461115786511221334[1] = 0;
|
||||
out_4461115786511221334[2] = 0;
|
||||
out_4461115786511221334[3] = 0;
|
||||
out_4461115786511221334[4] = 1;
|
||||
out_4461115786511221334[5] = 0;
|
||||
out_4461115786511221334[6] = 0;
|
||||
out_4461115786511221334[7] = 0;
|
||||
out_4461115786511221334[8] = 0;
|
||||
out_4461115786511221334[9] = 0;
|
||||
out_4461115786511221334[10] = 0;
|
||||
out_4461115786511221334[11] = 0;
|
||||
out_4461115786511221334[12] = 0;
|
||||
out_4461115786511221334[13] = 0;
|
||||
out_4461115786511221334[14] = 1;
|
||||
out_4461115786511221334[15] = 0;
|
||||
out_4461115786511221334[16] = 0;
|
||||
out_4461115786511221334[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_8612866190895874151) {
|
||||
out_8612866190895874151[0] = 0;
|
||||
out_8612866190895874151[1] = 0;
|
||||
out_8612866190895874151[2] = 0;
|
||||
out_8612866190895874151[3] = 0;
|
||||
out_8612866190895874151[4] = 1;
|
||||
out_8612866190895874151[5] = 0;
|
||||
out_8612866190895874151[6] = 0;
|
||||
out_8612866190895874151[7] = 0;
|
||||
out_8612866190895874151[8] = 0;
|
||||
out_8612866190895874151[9] = 0;
|
||||
out_8612866190895874151[10] = 0;
|
||||
out_8612866190895874151[11] = 0;
|
||||
out_8612866190895874151[12] = 0;
|
||||
out_8612866190895874151[13] = 0;
|
||||
out_8612866190895874151[14] = 1;
|
||||
out_8612866190895874151[15] = 0;
|
||||
out_8612866190895874151[16] = 0;
|
||||
out_8612866190895874151[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1188271489450022901) {
|
||||
out_1188271489450022901[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8646825364085210282) {
|
||||
out_8646825364085210282[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_9152098344023969527) {
|
||||
out_9152098344023969527[0] = 0;
|
||||
out_9152098344023969527[1] = 0;
|
||||
out_9152098344023969527[2] = 0;
|
||||
out_9152098344023969527[3] = 0;
|
||||
out_9152098344023969527[4] = 1;
|
||||
out_9152098344023969527[5] = 0;
|
||||
out_9152098344023969527[6] = 0;
|
||||
out_9152098344023969527[7] = 0;
|
||||
out_9152098344023969527[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6146613336868114259) {
|
||||
out_6146613336868114259[0] = 0;
|
||||
out_6146613336868114259[1] = 0;
|
||||
out_6146613336868114259[2] = 0;
|
||||
out_6146613336868114259[3] = 0;
|
||||
out_6146613336868114259[4] = 1;
|
||||
out_6146613336868114259[5] = 0;
|
||||
out_6146613336868114259[6] = 0;
|
||||
out_6146613336868114259[7] = 0;
|
||||
out_6146613336868114259[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6530138725336053464) {
|
||||
out_6530138725336053464[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7195513388815643683) {
|
||||
out_7195513388815643683[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8508452718432030115) {
|
||||
out_8508452718432030115[0] = 0;
|
||||
out_8508452718432030115[1] = 0;
|
||||
out_8508452718432030115[2] = 0;
|
||||
out_8508452718432030115[3] = 0;
|
||||
out_8508452718432030115[4] = 0;
|
||||
out_8508452718432030115[5] = 0;
|
||||
out_8508452718432030115[6] = 0;
|
||||
out_8508452718432030115[7] = 1;
|
||||
out_8508452718432030115[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_2534448965137298105) {
|
||||
out_2534448965137298105[0] = 0;
|
||||
out_2534448965137298105[1] = 0;
|
||||
out_2534448965137298105[2] = 0;
|
||||
out_2534448965137298105[3] = 0;
|
||||
out_2534448965137298105[4] = 0;
|
||||
out_2534448965137298105[5] = 0;
|
||||
out_2534448965137298105[6] = 0;
|
||||
out_2534448965137298105[7] = 1;
|
||||
out_2534448965137298105[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8003961757834969913) {
|
||||
out_8003961757834969913[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3029764065914673830) {
|
||||
out_3029764065914673830[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6977335032223544616) {
|
||||
out_6977335032223544616[0] = 0;
|
||||
out_6977335032223544616[1] = 0;
|
||||
out_6977335032223544616[2] = 0;
|
||||
out_6977335032223544616[3] = 1;
|
||||
out_6977335032223544616[4] = 0;
|
||||
out_6977335032223544616[5] = 0;
|
||||
out_6977335032223544616[6] = 0;
|
||||
out_6977335032223544616[7] = 0;
|
||||
out_6977335032223544616[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3971850025067689348) {
|
||||
out_3971850025067689348[0] = 0;
|
||||
out_3971850025067689348[1] = 0;
|
||||
out_3971850025067689348[2] = 0;
|
||||
out_3971850025067689348[3] = 1;
|
||||
out_3971850025067689348[4] = 0;
|
||||
out_3971850025067689348[5] = 0;
|
||||
out_3971850025067689348[6] = 0;
|
||||
out_3971850025067689348[7] = 0;
|
||||
out_3971850025067689348[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_1416133831358674750) {
|
||||
out_1416133831358674750[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4733501190905998611) {
|
||||
out_4733501190905998611[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_8784414385371189905) {
|
||||
out_8784414385371189905[0] = 0;
|
||||
out_8784414385371189905[1] = 1;
|
||||
out_8784414385371189905[2] = 0;
|
||||
out_8784414385371189905[3] = 0;
|
||||
out_8784414385371189905[4] = 0;
|
||||
out_8784414385371189905[5] = 0;
|
||||
out_8784414385371189905[6] = 0;
|
||||
out_8784414385371189905[7] = 0;
|
||||
out_8784414385371189905[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6656844681182506443) {
|
||||
out_6656844681182506443[0] = 0;
|
||||
out_6656844681182506443[1] = 1;
|
||||
out_6656844681182506443[2] = 0;
|
||||
out_6656844681182506443[3] = 0;
|
||||
out_6656844681182506443[4] = 0;
|
||||
out_6656844681182506443[5] = 0;
|
||||
out_6656844681182506443[6] = 0;
|
||||
out_6656844681182506443[7] = 0;
|
||||
out_6656844681182506443[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7400645873158492396) {
|
||||
out_7400645873158492396[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6095421901546968827) {
|
||||
out_6095421901546968827[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6820784113805863654) {
|
||||
out_6820784113805863654[0] = 1;
|
||||
out_6820784113805863654[1] = 0;
|
||||
out_6820784113805863654[2] = 0;
|
||||
out_6820784113805863654[3] = 0;
|
||||
out_6820784113805863654[4] = 0;
|
||||
out_6820784113805863654[5] = 0;
|
||||
out_6820784113805863654[6] = 0;
|
||||
out_6820784113805863654[7] = 0;
|
||||
out_6820784113805863654[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_2823911718871392259) {
|
||||
out_2823911718871392259[0] = 1;
|
||||
out_2823911718871392259[1] = 0;
|
||||
out_2823911718871392259[2] = 0;
|
||||
out_2823911718871392259[3] = 0;
|
||||
out_2823911718871392259[4] = 0;
|
||||
out_2823911718871392259[5] = 0;
|
||||
out_2823911718871392259[6] = 0;
|
||||
out_2823911718871392259[7] = 0;
|
||||
out_2823911718871392259[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_1803659519959713708) {
|
||||
out_1803659519959713708[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6524751479517568177) {
|
||||
out_6524751479517568177[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_9134660820665381591) {
|
||||
out_9134660820665381591[0] = 0;
|
||||
out_9134660820665381591[1] = 0;
|
||||
out_9134660820665381591[2] = 0;
|
||||
out_9134660820665381591[3] = 0;
|
||||
out_9134660820665381591[4] = 0;
|
||||
out_9134660820665381591[5] = 0;
|
||||
out_9134660820665381591[6] = 0;
|
||||
out_9134660820665381591[7] = 0;
|
||||
out_9134660820665381591[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6306598245888314757) {
|
||||
out_6306598245888314757[0] = 0;
|
||||
out_6306598245888314757[1] = 0;
|
||||
out_6306598245888314757[2] = 0;
|
||||
out_6306598245888314757[3] = 0;
|
||||
out_6306598245888314757[4] = 0;
|
||||
out_6306598245888314757[5] = 0;
|
||||
out_6306598245888314757[6] = 0;
|
||||
out_6306598245888314757[7] = 0;
|
||||
out_6306598245888314757[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758) {
|
||||
err_fun(nom_x, delta_x, out_5070392900769873758);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
|
||||
err_fun(nom_x, delta_x, out_5744499419236567507);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051) {
|
||||
inv_err_fun(nom_x, true_x, out_3742760733154016051);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
|
||||
inv_err_fun(nom_x, true_x, out_1184805137205037163);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5758456641177717920) {
|
||||
H_mod_fun(state, out_5758456641177717920);
|
||||
void car_H_mod_fun(double *state, double *out_2752971634021862652) {
|
||||
H_mod_fun(state, out_2752971634021862652);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_730595102125265078) {
|
||||
f_fun(state, dt, out_730595102125265078);
|
||||
void car_f_fun(double *state, double dt, double *out_7658700760911629364) {
|
||||
f_fun(state, dt, out_7658700760911629364);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_7198115545780111359) {
|
||||
F_fun(state, dt, out_7198115545780111359);
|
||||
void car_F_fun(double *state, double dt, double *out_6351856658156694456) {
|
||||
F_fun(state, dt, out_6351856658156694456);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5441109048213736058) {
|
||||
h_25(state, unused, out_5441109048213736058);
|
||||
void car_h_25(double *state, double *unused, double *out_2115125997200973707) {
|
||||
h_25(state, unused, out_2115125997200973707);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4766949399557973891) {
|
||||
H_25(state, unused, out_4766949399557973891);
|
||||
void car_H_25(double *state, double *unused, double *out_6275952284011354329) {
|
||||
H_25(state, unused, out_6275952284011354329);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_2797667639827089179) {
|
||||
h_24(state, unused, out_2797667639827089179);
|
||||
void car_h_24(double *state, double *unused, double *out_7937179482135297626) {
|
||||
h_24(state, unused, out_7937179482135297626);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4461115786511221334) {
|
||||
H_24(state, unused, out_4461115786511221334);
|
||||
void car_H_24(double *state, double *unused, double *out_8612866190895874151) {
|
||||
H_24(state, unused, out_8612866190895874151);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1188271489450022901) {
|
||||
h_30(state, unused, out_1188271489450022901);
|
||||
void car_h_30(double *state, double *unused, double *out_8646825364085210282) {
|
||||
h_30(state, unused, out_8646825364085210282);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_9152098344023969527) {
|
||||
H_30(state, unused, out_9152098344023969527);
|
||||
void car_H_30(double *state, double *unused, double *out_6146613336868114259) {
|
||||
H_30(state, unused, out_6146613336868114259);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6530138725336053464) {
|
||||
h_26(state, unused, out_6530138725336053464);
|
||||
void car_h_26(double *state, double *unused, double *out_7195513388815643683) {
|
||||
h_26(state, unused, out_7195513388815643683);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8508452718432030115) {
|
||||
H_26(state, unused, out_8508452718432030115);
|
||||
void car_H_26(double *state, double *unused, double *out_2534448965137298105) {
|
||||
H_26(state, unused, out_2534448965137298105);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8003961757834969913) {
|
||||
h_27(state, unused, out_8003961757834969913);
|
||||
void car_h_27(double *state, double *unused, double *out_3029764065914673830) {
|
||||
h_27(state, unused, out_3029764065914673830);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6977335032223544616) {
|
||||
H_27(state, unused, out_6977335032223544616);
|
||||
void car_H_27(double *state, double *unused, double *out_3971850025067689348) {
|
||||
H_27(state, unused, out_3971850025067689348);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_1416133831358674750) {
|
||||
h_29(state, unused, out_1416133831358674750);
|
||||
void car_h_29(double *state, double *unused, double *out_4733501190905998611) {
|
||||
h_29(state, unused, out_4733501190905998611);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_8784414385371189905) {
|
||||
H_29(state, unused, out_8784414385371189905);
|
||||
void car_H_29(double *state, double *unused, double *out_6656844681182506443) {
|
||||
H_29(state, unused, out_6656844681182506443);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7400645873158492396) {
|
||||
h_28(state, unused, out_7400645873158492396);
|
||||
void car_h_28(double *state, double *unused, double *out_6095421901546968827) {
|
||||
h_28(state, unused, out_6095421901546968827);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6820784113805863654) {
|
||||
H_28(state, unused, out_6820784113805863654);
|
||||
void car_H_28(double *state, double *unused, double *out_2823911718871392259) {
|
||||
H_28(state, unused, out_2823911718871392259);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_1803659519959713708) {
|
||||
h_31(state, unused, out_1803659519959713708);
|
||||
void car_h_31(double *state, double *unused, double *out_6524751479517568177) {
|
||||
h_31(state, unused, out_6524751479517568177);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_9134660820665381591) {
|
||||
H_31(state, unused, out_9134660820665381591);
|
||||
void car_H_31(double *state, double *unused, double *out_6306598245888314757) {
|
||||
H_31(state, unused, out_6306598245888314757);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051);
|
||||
void car_H_mod_fun(double *state, double *out_5758456641177717920);
|
||||
void car_f_fun(double *state, double dt, double *out_730595102125265078);
|
||||
void car_F_fun(double *state, double dt, double *out_7198115545780111359);
|
||||
void car_h_25(double *state, double *unused, double *out_5441109048213736058);
|
||||
void car_H_25(double *state, double *unused, double *out_4766949399557973891);
|
||||
void car_h_24(double *state, double *unused, double *out_2797667639827089179);
|
||||
void car_H_24(double *state, double *unused, double *out_4461115786511221334);
|
||||
void car_h_30(double *state, double *unused, double *out_1188271489450022901);
|
||||
void car_H_30(double *state, double *unused, double *out_9152098344023969527);
|
||||
void car_h_26(double *state, double *unused, double *out_6530138725336053464);
|
||||
void car_H_26(double *state, double *unused, double *out_8508452718432030115);
|
||||
void car_h_27(double *state, double *unused, double *out_8003961757834969913);
|
||||
void car_H_27(double *state, double *unused, double *out_6977335032223544616);
|
||||
void car_h_29(double *state, double *unused, double *out_1416133831358674750);
|
||||
void car_H_29(double *state, double *unused, double *out_8784414385371189905);
|
||||
void car_h_28(double *state, double *unused, double *out_7400645873158492396);
|
||||
void car_H_28(double *state, double *unused, double *out_6820784113805863654);
|
||||
void car_h_31(double *state, double *unused, double *out_1803659519959713708);
|
||||
void car_H_31(double *state, double *unused, double *out_9134660820665381591);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163);
|
||||
void car_H_mod_fun(double *state, double *out_2752971634021862652);
|
||||
void car_f_fun(double *state, double dt, double *out_7658700760911629364);
|
||||
void car_F_fun(double *state, double dt, double *out_6351856658156694456);
|
||||
void car_h_25(double *state, double *unused, double *out_2115125997200973707);
|
||||
void car_H_25(double *state, double *unused, double *out_6275952284011354329);
|
||||
void car_h_24(double *state, double *unused, double *out_7937179482135297626);
|
||||
void car_H_24(double *state, double *unused, double *out_8612866190895874151);
|
||||
void car_h_30(double *state, double *unused, double *out_8646825364085210282);
|
||||
void car_H_30(double *state, double *unused, double *out_6146613336868114259);
|
||||
void car_h_26(double *state, double *unused, double *out_7195513388815643683);
|
||||
void car_H_26(double *state, double *unused, double *out_2534448965137298105);
|
||||
void car_h_27(double *state, double *unused, double *out_3029764065914673830);
|
||||
void car_H_27(double *state, double *unused, double *out_3971850025067689348);
|
||||
void car_h_29(double *state, double *unused, double *out_4733501190905998611);
|
||||
void car_H_29(double *state, double *unused, double *out_6656844681182506443);
|
||||
void car_h_28(double *state, double *unused, double *out_6095421901546968827);
|
||||
void car_H_28(double *state, double *unused, double *out_2823911718871392259);
|
||||
void car_h_31(double *state, double *unused, double *out_6524751479517568177);
|
||||
void car_H_31(double *state, double *unused, double *out_6306598245888314757);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
Binary file not shown.
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Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8299703332077589328);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4608058237383429265);
|
||||
void pose_H_mod_fun(double *state, double *out_7885453398379249088);
|
||||
void pose_f_fun(double *state, double dt, double *out_1688144950946873165);
|
||||
void pose_F_fun(double *state, double dt, double *out_4851283621730691038);
|
||||
void pose_h_4(double *state, double *unused, double *out_2329133011647763937);
|
||||
void pose_H_4(double *state, double *unused, double *out_8639614400433961695);
|
||||
void pose_h_10(double *state, double *unused, double *out_3294648635274985008);
|
||||
void pose_H_10(double *state, double *unused, double *out_3780608178453222524);
|
||||
void pose_h_13(double *state, double *unused, double *out_8905113933939181200);
|
||||
void pose_H_13(double *state, double *unused, double *out_6594855847943257120);
|
||||
void pose_h_14(double *state, double *unused, double *out_8324071568749841126);
|
||||
void pose_H_14(double *state, double *unused, double *out_5843888816936105392);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7899872685628621531);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1215289726053279423);
|
||||
void pose_H_mod_fun(double *state, double *out_420741753375595218);
|
||||
void pose_f_fun(double *state, double dt, double *out_5996963235034927992);
|
||||
void pose_F_fun(double *state, double dt, double *out_78320000076568703);
|
||||
void pose_h_4(double *state, double *unused, double *out_2403402202974529453);
|
||||
void pose_H_4(double *state, double *unused, double *out_5573260138414675953);
|
||||
void pose_h_10(double *state, double *unused, double *out_1415940429779603810);
|
||||
void pose_H_10(double *state, double *unused, double *out_5540918162512642087);
|
||||
void pose_h_13(double *state, double *unused, double *out_8116494657900557165);
|
||||
void pose_H_13(double *state, double *unused, double *out_8785533963747008754);
|
||||
void pose_h_14(double *state, double *unused, double *out_2556692697037776409);
|
||||
void pose_H_14(double *state, double *unused, double *out_8910243078955391134);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
@@ -37,17 +37,12 @@ from tinygrad.engine.jit import TinyJit
|
||||
|
||||
|
||||
NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
|
||||
WARP_INPUTS = ['tfm', 'big_tfm']
|
||||
POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
WARP_DEV = os.getenv('WARP_DEV')
|
||||
MODELD_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
|
||||
|
||||
|
||||
def make_random_images(keys, shape, device=None):
|
||||
return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
|
||||
def nv12_copy_size(stride: int, y_height: int, uv_height: int) -> int:
|
||||
# Retain the padded Y and UV plane storage, but skip the trailing kernel/guard allocation.
|
||||
return stride * (y_height + uv_height)
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
|
||||
@@ -99,7 +94,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=Device.DEFAULT)
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
@@ -118,49 +113,43 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_warp_input_queues(vision_input_shapes, frame_skip, device):
|
||||
img = vision_input_shapes['img'] # (1, 12, 128, 256)
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
npy = {
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
|
||||
}
|
||||
return input_queues, npy
|
||||
|
||||
|
||||
def get_policy_npy_shapes(input_shapes):
|
||||
dp = input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
tc = input_shapes['traffic_convention'] # (1, 2)
|
||||
at = input_shapes['action_t'] # (1, 2)
|
||||
fb = input_shapes['features_buffer'] # (1, 24, 512)
|
||||
fb = input_shapes['features_buffer'] # (1, T-1, ...) e.g. (1, 24, 32, 512) with spatial features
|
||||
feat_dim = math.prod(fb[2:])
|
||||
# TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
|
||||
shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], fb[2])}
|
||||
shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], feat_dim)}
|
||||
return shapes, [math.prod(s) for s in shapes.values()]
|
||||
|
||||
|
||||
def make_input_queues(input_shapes, frame_skip, device):
|
||||
input_queues, npy = make_warp_input_queues(input_shapes, frame_skip, device)
|
||||
|
||||
fb = input_shapes['features_buffer'] # (1, 24, 512), past features only; the model appends the current frame's feature
|
||||
def make_input_queues(input_shapes, frame_skip, device, frame_copy_size):
|
||||
img = input_shapes['img'] # (1, 12, 128, 256)
|
||||
fb = input_shapes['features_buffer'] # (1, T-1, ...), past features only; the model appends the current frame's feature
|
||||
feat_dim = math.prod(fb[2:])
|
||||
dp = input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
shapes, sizes = get_policy_npy_shapes(input_shapes)
|
||||
packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
|
||||
policy_shapes, _ = get_policy_npy_shapes(input_shapes)
|
||||
shapes = {'tfm': (3, 3), 'big_tfm': (3, 3)} | policy_shapes
|
||||
sizes = [math.prod(s) for s in shapes.values()]
|
||||
packed_npy_size = sum(sizes) * np.dtype(np.float32).itemsize
|
||||
packed_input = np.zeros(packed_npy_size + 2 * frame_copy_size, dtype=np.uint8)
|
||||
packed_npy_inputs = packed_input[:packed_npy_size].view(np.float32)
|
||||
frames = packed_input[packed_npy_size:]
|
||||
frame_views = {'img': frames[:frame_copy_size], 'big_img': frames[frame_copy_size:]}
|
||||
# views into the packed inputs, to be refilled at runtime
|
||||
npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
|
||||
input_queues.update({
|
||||
'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
npy = {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)}
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], feat_dim), dtype=np.float32), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
|
||||
})
|
||||
return input_queues, npy
|
||||
'packed_npy_inputs': Tensor(packed_input, device='NPY').realize(),
|
||||
}
|
||||
return input_queues, npy, frame_views
|
||||
|
||||
|
||||
def shift_and_sample(buf, new_val, sample_fn):
|
||||
@@ -176,13 +165,15 @@ def sample_desire(buf, frame_skip):
|
||||
return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
|
||||
|
||||
|
||||
def make_warp(nv12, model_w, model_h, frame_skip):
|
||||
def make_warp(nv12, model_w, model_h):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
|
||||
def warp(tfm, big_tfm, frame, big_frame):
|
||||
tfm = tfm.to(WARP_DEV)
|
||||
big_tfm = big_tfm.to(WARP_DEV)
|
||||
Tensor.realize(tfm, big_tfm)
|
||||
tfm = tfm.to(Device.DEFAULT)
|
||||
big_tfm = big_tfm.to(Device.DEFAULT)
|
||||
frame = frame.to(Device.DEFAULT)
|
||||
big_frame = big_frame.to(Device.DEFAULT)
|
||||
Tensor.realize(tfm, big_tfm, frame, big_frame)
|
||||
|
||||
warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
|
||||
warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
|
||||
@@ -195,10 +186,10 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
|
||||
model_input_dtypes = {name: spec.dtype for name, spec in model_runner.graph_inputs.items()}
|
||||
|
||||
def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
|
||||
packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
|
||||
warped = warped.to(Device.DEFAULT)
|
||||
Tensor.realize(packed_npy_inputs, warped)
|
||||
|
||||
img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
|
||||
@@ -211,33 +202,50 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
|
||||
inputs = {
|
||||
'img': img,
|
||||
'big_img': big_img,
|
||||
'features_buffer': feat_buf,
|
||||
'features_buffer': feat_buf.reshape(model_metadata['input_shapes']['features_buffer']),
|
||||
'desire_pulse': desire_buf,
|
||||
'traffic_convention': traffic_convention,
|
||||
'action_t': action_t,
|
||||
}
|
||||
inputs = {name: value.cast(model_input_dtypes[name]) for name, value in inputs.items()}
|
||||
out = next(iter(model_runner(inputs).values())).cast('float32')
|
||||
return out,
|
||||
return run_policy
|
||||
|
||||
|
||||
def compile_jit(jit, make_random_inputs, input_keys, make_queues):
|
||||
SEED = 42
|
||||
def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_queues(Device.DEFAULT)
|
||||
rng = np.random.default_rng(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
def make_run_model(warp, run_policy, model_metadata, frame_copy_size):
|
||||
_, policy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
|
||||
packed_npy_size = (18 + sum(policy_sizes)) * np.dtype(np.float32).itemsize
|
||||
|
||||
testing = test_val is not None or test_buffers is not None
|
||||
n_runs = 1 if testing else 3
|
||||
def run_model(img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
|
||||
packed_input = packed_npy_inputs.to(Device.DEFAULT)
|
||||
Tensor.realize(packed_input)
|
||||
packed_npy_inputs = packed_input[:packed_npy_size].bitcast('float32')
|
||||
frame = packed_input[packed_npy_size:packed_npy_size + frame_copy_size]
|
||||
big_frame = packed_input[packed_npy_size + frame_copy_size:]
|
||||
tfm, big_tfm, policy_inputs = packed_npy_inputs.split([9, 9, sum(policy_sizes)])
|
||||
warped = warp(tfm.reshape(3, 3), big_tfm.reshape(3, 3), frame, big_frame)
|
||||
return run_policy(warped, img_q, big_img_q, feat_q, desire_q, policy_inputs)
|
||||
return run_model
|
||||
|
||||
|
||||
def compile_jit(jit, input_keys, make_queues, benchmark_runs):
|
||||
if benchmark_runs < 1:
|
||||
raise ValueError("benchmark_runs must be at least 1")
|
||||
|
||||
SEED = 42
|
||||
def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy, frame_views = make_queues(Device.DEFAULT)
|
||||
rng = np.random.default_rng(seed)
|
||||
|
||||
for i in range(n_runs):
|
||||
for v in npy.values():
|
||||
v[:] = rng.standard_normal(v.shape).astype(v.dtype)
|
||||
for v in frame_views.values():
|
||||
v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
|
||||
Device.default.synchronize()
|
||||
random_inputs = make_random_inputs()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
|
||||
outs = fn(**{k: input_queues[k] for k in input_keys})
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
@@ -256,14 +264,15 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
|
||||
return val, buffers
|
||||
|
||||
print('capture + replay')
|
||||
test_val, test_buffers = random_inputs_run(jit, SEED)
|
||||
print('pickle round trip')
|
||||
test_val, test_buffers = random_inputs_run(jit, SEED, 3)
|
||||
print(f'pickle round trip ({benchmark_runs} runs per seed)')
|
||||
with tempfile.TemporaryFile(dir=".") as f:
|
||||
dump_oob(jit, f)
|
||||
f.seek(0)
|
||||
jit = load_oob(f)
|
||||
random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
|
||||
loaded_jit = load_oob(f)
|
||||
random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
|
||||
# Keep the original so per-resolution JITs share model weight buffers in the final pickle.
|
||||
return jit
|
||||
|
||||
|
||||
@@ -292,27 +301,31 @@ if __name__ == "__main__":
|
||||
p.add_argument('--onnx', required=True)
|
||||
p.add_argument('--output', required=True)
|
||||
p.add_argument('--frame-skip', type=int, required=True)
|
||||
p.add_argument('--benchmark-runs', type=int, default=1,
|
||||
help='timed loaded-JIT runs for each correctness seed')
|
||||
args = p.parse_args()
|
||||
|
||||
model_path = read_file_chunked_to_disk(args.onnx)
|
||||
model_w, model_h = args.model_size
|
||||
|
||||
model_runner = OnnxRunner(model_path)
|
||||
out = {'metadata': make_metadata_dict(model_path)}
|
||||
out = {
|
||||
'metadata': make_metadata_dict(model_path),
|
||||
'input_devices': {'model': Device.DEFAULT},
|
||||
'run_model': {},
|
||||
}
|
||||
|
||||
run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
|
||||
|
||||
make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
|
||||
make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]), device=WARP_DEV)
|
||||
out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
|
||||
make_policy_queues)
|
||||
run_policy = make_run_policy(model_runner, out['metadata'], args.frame_skip)
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
|
||||
warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
|
||||
make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
|
||||
out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
|
||||
frame_copy_size = nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
|
||||
make_model_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip,
|
||||
frame_copy_size=frame_copy_size)
|
||||
warp = make_warp(nv12, model_w, model_h)
|
||||
run_model_jit = TinyJit(make_run_model(warp, run_policy, out['metadata'], frame_copy_size), prune=True)
|
||||
out['run_model'][(cam_w,cam_h)] = compile_jit(run_model_jit, MODELD_INPUTS, make_model_queues,
|
||||
args.benchmark_runs)
|
||||
|
||||
with open(args.output, "wb") as f:
|
||||
dump_oob(out, f)
|
||||
|
||||
@@ -29,7 +29,7 @@ class ModelState:
|
||||
output: np.ndarray
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
|
||||
self.DEV = get_tg_input_devices(PROCESS_NAME, chestnut=False)['DEV']
|
||||
with open(METADATA_PATH, 'rb') as f:
|
||||
model_metadata = pickle.load(f)
|
||||
self.input_shapes = model_metadata['input_shapes']
|
||||
|
||||
@@ -64,6 +64,7 @@ def fill_driving_model_data(msg: capnp._DynamicStructBuilder, modelv2_send: capn
|
||||
driving_model_data.frameIdExtra = modelV2.frameIdExtra
|
||||
driving_model_data.frameDropPerc = modelV2.frameDropPerc
|
||||
driving_model_data.modelExecutionTime = modelV2.modelExecutionTime
|
||||
driving_model_data.big = modelV2.big
|
||||
driving_model_data.action = modelV2.action
|
||||
driving_model_data.meta.laneChangeState = modelV2.meta.laneChangeState
|
||||
driving_model_data.meta.laneChangeDirection = modelV2.meta.laneChangeDirection
|
||||
|
||||
@@ -7,18 +7,20 @@ import tempfile
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.common.file_chunker import get_manifest_path
|
||||
from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_IDS, USB_DEVICES_PATH
|
||||
from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
|
||||
|
||||
MODELS_DIR = Path(__file__).resolve().parent / 'models'
|
||||
TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
|
||||
CHESTNUT_POWERED_VOLTAGE = 5000
|
||||
CHESTNUT_PCIE_READY = 0x78
|
||||
|
||||
|
||||
def get_tg_input_devices(process_name: str, usbgpu: bool):
|
||||
def get_tg_input_devices(process_name: str, chestnut: bool):
|
||||
with open(TG_INPUT_DEVICES_PATH) as f:
|
||||
return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
|
||||
return json.load(f)[process_name]['default' if not chestnut else 'chestnut']
|
||||
|
||||
def modeld_pkl_path(usbgpu: bool):
|
||||
prefix = 'big_' if usbgpu else ''
|
||||
def modeld_pkl_path(chestnut: bool):
|
||||
prefix = 'big_' if chestnut else ''
|
||||
return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
|
||||
|
||||
def dump_oob(obj, f):
|
||||
@@ -45,16 +47,20 @@ def load_oob(f):
|
||||
yield pb
|
||||
return pickle.load(io.BytesIO(opcodes), buffers=buffers())
|
||||
|
||||
def usbgpu_present() -> bool:
|
||||
def chestnut_present() -> bool:
|
||||
for d in USB_DEVICES_PATH.glob("*"):
|
||||
try:
|
||||
usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
|
||||
product = (d / "product").read_text().strip()
|
||||
if usb_id in CHESTNUT_USB_IDS and product == f"custom {CHESTNUT_FW_VERSION}-CLEAN":
|
||||
if is_chestnut_usb_id(*usb_id) and product == CHESTNUT_USB_PRODUCT:
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
def usbgpu_compiled() -> bool:
|
||||
return Path(get_manifest_path(modeld_pkl_path(usbgpu=True))).is_file()
|
||||
def chestnut_compiled() -> bool:
|
||||
return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
|
||||
|
||||
|
||||
def chestnut_ready(state) -> bool:
|
||||
return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections.abc import Callable
|
||||
import ctypes
|
||||
from functools import cached_property
|
||||
import os
|
||||
os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
|
||||
from tinygrad.tensor import Tensor
|
||||
os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
|
||||
from tinygrad.device import Device
|
||||
import usb1
|
||||
import struct
|
||||
import threading
|
||||
import time
|
||||
@@ -26,17 +28,17 @@ from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, nv12_copy_size, MODELD_INPUTS
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.common.hardware.usb import CHESTNUT_USB_IDS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, chestnut_ready, modeld_pkl_path, load_oob
|
||||
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
@@ -81,6 +83,37 @@ class ChestnutState:
|
||||
self.valid = True
|
||||
self.sends = 0
|
||||
self.metrics = {}
|
||||
self._asm_usb = None
|
||||
|
||||
def _close_asm_usb(self) -> None:
|
||||
if self._asm_usb is not None:
|
||||
self._asm_usb.close()
|
||||
self._asm_usb = None
|
||||
|
||||
def _open_asm_usb(self):
|
||||
context = usb1.USBContext()
|
||||
for vendor_id, product_id in CHESTNUT_USB_IDS:
|
||||
if (handle := context.openByVendorIDAndProductID(vendor_id, product_id, skip_on_error=True)) is not None:
|
||||
return handle
|
||||
context.close()
|
||||
|
||||
def _read_ina(self) -> tuple[int, int, bool]:
|
||||
if "AMD" in Device._opened_devices and self._asm_usb is None:
|
||||
try:
|
||||
raw = Device["AMD"].iface.pci_dev.usb.usb.control_read(0xC0, 5)
|
||||
return struct.unpack('<Hh?', bytes(raw))
|
||||
except Exception:
|
||||
pass
|
||||
if self._asm_usb is None:
|
||||
self._asm_usb = self._open_asm_usb()
|
||||
if self._asm_usb is None:
|
||||
raise usb1.USBErrorNoDevice
|
||||
try:
|
||||
raw = self._asm_usb.controlRead(0xC0, 0xC0, 0, 0, 5, timeout=100)
|
||||
except usb1.USBError:
|
||||
self._close_asm_usb()
|
||||
raise
|
||||
return struct.unpack('<Hh?', bytes(raw))
|
||||
|
||||
@cached_property
|
||||
def power_limit(self) -> int:
|
||||
@@ -94,8 +127,10 @@ class ChestnutState:
|
||||
if self.big and "AMD" in Device._opened_devices and self.sends % 100 == 1:
|
||||
try:
|
||||
smu = Device["AMD"].iface.dev_impl.smu
|
||||
metrics_t = smu.smu_mod.SmuMetricsExternal_t
|
||||
smu._send_msg(smu.smu_mod.PPSMC_MSG_TransferTableSmu2Dram, smu.smu_mod.TABLE_SMU_METRICS, timeout=100)
|
||||
metrics = smu.read_table(smu.smu_mod.SmuMetricsExternal_t, smu.smu_mod.TABLE_SMU_METRICS).SmuMetrics
|
||||
metrics_buf = bytearray(smu.adev.vram.view(smu.driver_table_paddr, ctypes.sizeof(metrics_t))[:])
|
||||
metrics = metrics_t.from_buffer(metrics_buf).SmuMetrics
|
||||
self.metrics = {'tempC': metrics.AvgTemperature[smu.smu_mod.TEMP_HOTSPOT],
|
||||
'memoryTempC': metrics.AvgTemperature[smu.smu_mod.TEMP_MEM],
|
||||
'powerDrawW': metrics.AverageSocketPower,
|
||||
@@ -114,13 +149,15 @@ class ChestnutState:
|
||||
setattr(state, k, v)
|
||||
|
||||
asm_valid = False
|
||||
try:
|
||||
# ASM runs on USB-C power, these still read without a gpu
|
||||
state.supplyVoltage, state.supplyCurrent, state.supplyFault = self._read_ina()
|
||||
asm_valid = True
|
||||
except Exception:
|
||||
pass
|
||||
if "AMD" in Device._opened_devices:
|
||||
try:
|
||||
# ASM runs on USB-C power, these still read without a gpu
|
||||
asm = Device["AMD"].iface.pci_dev.usb
|
||||
state.pcieLtssm = asm.read(0xB450, 1)[0]
|
||||
state.supplyVoltage, state.supplyCurrent = struct.unpack('<Hh', bytes(asm.usb.control_read(0xC0, 5))[:4])
|
||||
asm_valid = True
|
||||
state.pcieLtssm = Device["AMD"].iface.pci_dev.usb.read(0xB450, 1)[0]
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
@@ -141,42 +178,34 @@ class FrameMeta:
|
||||
class ModelState(ModelStateBase):
|
||||
prev_desire: np.ndarray # for tracking the rising edge of the pulse
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
|
||||
def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
|
||||
ModelStateBase.__init__(self)
|
||||
input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
|
||||
self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
|
||||
jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
|
||||
jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
|
||||
input_devices = jits['input_devices']
|
||||
self.model_device = input_devices['model']
|
||||
metadata = jits['metadata']
|
||||
self.input_shapes = metadata['input_shapes']
|
||||
self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
|
||||
self.output_slices = metadata['output_slices']
|
||||
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
self.usbgpu = usbgpu
|
||||
self.chestnut = chestnut
|
||||
|
||||
self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
|
||||
self.full_frames: dict[str, Tensor] = {}
|
||||
self._blob_cache: dict[tuple[str, int], Tensor] = {}
|
||||
self.frame_copy_size = nv12_copy_size(*get_nv12_info(cam_w, cam_h)[:3])
|
||||
self.input_queues, self.npy, self.frame_views = make_input_queues(
|
||||
self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
|
||||
self.parser = Parser()
|
||||
self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
|
||||
self.run_policy = jits['run_policy']
|
||||
self.warp = jits[(cam_w,cam_h)]
|
||||
self.run_model = jits['run_model'][(cam_w,cam_h)]
|
||||
|
||||
def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
|
||||
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
|
||||
return parsed_model_outputs
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray] | None:
|
||||
for key in bufs.keys():
|
||||
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
|
||||
yuv_size = self.frame_buf_params[key][3]
|
||||
# There is a ringbuffer of imgs, just cache tensors pointing to all of them
|
||||
cache_key = (key, ptr)
|
||||
if cache_key not in self._blob_cache:
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
|
||||
self.full_frames[key] = self._blob_cache[cache_key]
|
||||
inputs: dict[str, np.ndarray], after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray]:
|
||||
for key, buf in bufs.items():
|
||||
np.copyto(self.frame_views[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_copy_size))
|
||||
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
@@ -187,16 +216,12 @@ class ModelState(ModelStateBase):
|
||||
self.npy['tfm'][:,:] = transforms['img'][:,:]
|
||||
self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
|
||||
|
||||
warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
|
||||
|
||||
outs, = self.run_policy(
|
||||
**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
|
||||
)
|
||||
outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
|
||||
if after_enqueue is not None:
|
||||
after_enqueue()
|
||||
model_output = outs.numpy()[0]
|
||||
if self.usbgpu and not np.all(np.isfinite(model_output)):
|
||||
# TODO remove with prev_feat
|
||||
cloudlog.error("model output not finite, dropping frame")
|
||||
return None
|
||||
if self.chestnut and not np.all(np.isfinite(model_output)):
|
||||
raise RuntimeError("model output not finite")
|
||||
outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
|
||||
self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]
|
||||
|
||||
@@ -205,25 +230,37 @@ class ModelState(ModelStateBase):
|
||||
return outputs_dict
|
||||
|
||||
def warmup(self) -> None:
|
||||
dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self.vision_input_names}
|
||||
dummy_frames = {k: np.zeros(self.frame_copy_size, dtype=np.uint8) for k in self.vision_input_names}
|
||||
eye = np.eye(3, dtype=np.float32)
|
||||
dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
|
||||
self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
|
||||
self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
|
||||
self.input_queues, self.npy, self.frame_views = make_input_queues(
|
||||
self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
|
||||
self.prev_desire[:] = 0
|
||||
self.full_frames.clear()
|
||||
self._blob_cache.clear()
|
||||
|
||||
|
||||
def main(demo=False):
|
||||
cloudlog.warning("modeld init")
|
||||
|
||||
USBGPU = usbgpu_present() and usbgpu_compiled()
|
||||
if USBGPU:
|
||||
chestnut_available = chestnut_present() and chestnut_compiled()
|
||||
CHESTNUT = False
|
||||
if chestnut_available:
|
||||
poller = messaging.Poller()
|
||||
sock = messaging.sub_sock("chestnutState", poller=poller, conflate=True)
|
||||
deadline = time.monotonic() + 4. / SERVICE_LIST['deviceState'].frequency
|
||||
while not CHESTNUT and (remaining := deadline - time.monotonic()) > 0.:
|
||||
if not poller.poll(round(remaining * 1000)):
|
||||
break
|
||||
msg = messaging.recv_one_or_none(sock)
|
||||
CHESTNUT = msg is not None and msg.valid and chestnut_ready(msg.chestnutState)
|
||||
if CHESTNUT:
|
||||
os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
|
||||
params = Params()
|
||||
params.put_bool("UsbGpuLoading", USBGPU)
|
||||
params.remove("UsbGpuActive")
|
||||
params.put_bool("ChestnutLoading", CHESTNUT)
|
||||
if chestnut_available and not CHESTNUT:
|
||||
params.put_bool("ChestnutActive", False)
|
||||
else:
|
||||
params.remove("ChestnutActive")
|
||||
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
@@ -253,7 +290,7 @@ def main(demo=False):
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("loading model")
|
||||
model = None
|
||||
if USBGPU:
|
||||
if CHESTNUT:
|
||||
big_model = None
|
||||
def load_big():
|
||||
nonlocal big_model
|
||||
@@ -267,23 +304,27 @@ def main(demo=False):
|
||||
loader.start()
|
||||
loader.join(BIG_MODEL_TIMEOUT)
|
||||
model = big_model
|
||||
params.put_bool("UsbGpuActive", model is not None)
|
||||
if model is None:
|
||||
params.put_bool("ChestnutModelError", True)
|
||||
params.put_bool("ChestnutActive", model is not None)
|
||||
if model is not None:
|
||||
params.remove("ChestnutModelError")
|
||||
|
||||
small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or USBGPU else None
|
||||
small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
|
||||
if model is None:
|
||||
model = small_model
|
||||
params.put_bool("UsbGpuLoading", False)
|
||||
params.put_bool("ChestnutLoading", False)
|
||||
assert model is not None
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# messaging
|
||||
pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
|
||||
pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if CHESTNUT else [])
|
||||
pm = PubMaster(pub_socks)
|
||||
sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
|
||||
|
||||
publish_state = PublishState()
|
||||
params = Params()
|
||||
chestnut_state = ChestnutState(pm, model.usbgpu) if USBGPU else None
|
||||
chestnut_state = ChestnutState(pm, model.chestnut) if CHESTNUT else None
|
||||
|
||||
# setup filter to track dropped frames
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
|
||||
@@ -393,13 +434,16 @@ def main(demo=False):
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
try:
|
||||
model_output = model.run(bufs, transforms, inputs)
|
||||
send_chestnut = (chestnut_state is not None and
|
||||
run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0)
|
||||
model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
|
||||
except Exception:
|
||||
if not params.get_bool("UsbGpuActive"):
|
||||
if not params.get_bool("ChestnutActive"):
|
||||
raise
|
||||
# fallback to small model
|
||||
cloudlog.exception("big model failed, fall back to small")
|
||||
params.put_bool("UsbGpuActive", False)
|
||||
params.put_bool("ChestnutModelError", True)
|
||||
params.put_bool("ChestnutActive", False)
|
||||
assert small_model is not None
|
||||
model = small_model
|
||||
if chestnut_state is not None:
|
||||
@@ -419,18 +463,17 @@ def main(demo=False):
|
||||
fill_model_msg(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, extrinsics_calibration_seen)
|
||||
modelv2_send.modelV2.big = model.usbgpu
|
||||
modelv2_send.modelV2.big = model.chestnut
|
||||
|
||||
desire_state = modelv2_send.modelV2.meta.desireState
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
fill_driving_model_data(drivingdata_send, modelv2_send)
|
||||
@@ -441,10 +484,6 @@ def main(demo=False):
|
||||
pm.send('modelDataV2SP', mdv2sp_send)
|
||||
last_vipc_frame_id = meta_main.frame_id
|
||||
|
||||
if chestnut_state is not None and run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
|
||||
chestnut_state.send()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
import argparse
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
1
|
||||
1
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
2
|
||||
2
|
||||
|
||||
@@ -1 +1 @@
|
||||
{"openpilot.selfdrive.modeld.modeld": {"default": {"WARP_DEV": "QCOM", "QUEUE_DEV": "QCOM"}, "usbgpu": {"WARP_DEV": "QCOM", "QUEUE_DEV": "AMD"}}, "openpilot.selfdrive.modeld.dmonitoringmodeld": {"default": {"DEV": "QCOM"}}}
|
||||
{"openpilot.selfdrive.modeld.dmonitoringmodeld": {"default": {"DEV": "QCOM"}}}
|
||||
|
||||
Binary file not shown.
@@ -123,22 +123,22 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
|
||||
ps.setUptime(health.uptime_pkt);
|
||||
ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
|
||||
ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
|
||||
ps.setIgnitionLine(health.ignition_line_pkt);
|
||||
ps.setIgnitionCan(health.ignition_can_pkt);
|
||||
ps.setControlsAllowed(health.controls_allowed_pkt);
|
||||
ps.setIgnitionLine((health.flags_pkt & HEALTH_FLAG_IGNITION_LINE) != 0U);
|
||||
ps.setIgnitionCan((health.flags_pkt & HEALTH_FLAG_IGNITION_CAN) != 0U);
|
||||
ps.setControlsAllowed((health.flags_pkt & HEALTH_FLAG_CONTROLS_ALLOWED) != 0U);
|
||||
ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
|
||||
ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
|
||||
ps.setPandaType(hw_type);
|
||||
ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
|
||||
ps.setSafetyParam(health.safety_param_pkt);
|
||||
ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
|
||||
ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
|
||||
ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
|
||||
ps.setPowerSaveEnabled((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U);
|
||||
ps.setHeartbeatLost((health.flags_pkt & HEALTH_FLAG_HEARTBEAT_LOST) != 0U);
|
||||
ps.setAlternativeExperience(health.alternative_experience_pkt);
|
||||
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt);
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
|
||||
ps.setFanPower(health.fan_power);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
|
||||
ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
|
||||
ps.setSpiErrorCount(health.spi_error_count_pkt);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
|
||||
@@ -198,10 +198,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
|
||||
}
|
||||
|
||||
if (spoofing_started) {
|
||||
health.ignition_line_pkt = 1;
|
||||
health.flags_pkt |= HEALTH_FLAG_IGNITION_LINE;
|
||||
}
|
||||
|
||||
bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
|
||||
bool ignition_local = ((health.flags_pkt & (HEALTH_FLAG_IGNITION_LINE | HEALTH_FLAG_IGNITION_CAN)) != 0U) && !always_offroad;
|
||||
|
||||
// Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
|
||||
if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
|
||||
@@ -209,7 +209,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
|
||||
}
|
||||
|
||||
bool power_save_desired = !ignition_local;
|
||||
if (health.power_save_enabled_pkt != power_save_desired) {
|
||||
if (((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U) != power_save_desired) {
|
||||
panda->set_power_saving(power_save_desired);
|
||||
}
|
||||
|
||||
|
||||
@@ -19,6 +19,30 @@
|
||||
},
|
||||
"Offroad_ChestnutBranch": {
|
||||
"text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
|
||||
"severity": -1
|
||||
},
|
||||
"Offroad_ChestnutNotDetected": {
|
||||
"text": "Chestnut not detected. Check USB and 12V connections.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutOverheated": {
|
||||
"text": "Chestnut overheated. Ensure good airflow. Current GPU temperature is %1.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutPcieUnavailable": {
|
||||
"text": "%1",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUncompiled": {
|
||||
"text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUpdateFailed": {
|
||||
"text": "Chestnut update failed. Check the USB cable.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUsbSlow": {
|
||||
"text": "Chestnut USB link is slow. Check the USB cable. The current speed is %1.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_UnregisteredHardware": {
|
||||
|
||||
@@ -195,17 +195,18 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events.add(EventName.joystickDebug)
|
||||
self.startup_event = None
|
||||
|
||||
loading = self.params.get_bool("UsbGpuLoading")
|
||||
loading = self.params.get_bool("ChestnutLoading")
|
||||
if self.big_model_loading and not loading:
|
||||
self.big_model_ready_t = time.monotonic()
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.bigModelReady)
|
||||
self.big_model_loading = loading
|
||||
if self.big_model_loading:
|
||||
self.events.add(EventName.bigModelLoading)
|
||||
|
||||
big_active = self.params.get("UsbGpuActive")
|
||||
usbgpu_present = self.sm['deviceState'].chestnutPresent
|
||||
big_active = self.params.get("ChestnutActive")
|
||||
chestnut_present = self.sm['deviceState'].chestnutPresent
|
||||
model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
|
||||
big_failed = big_active is False or model_unavailable or (self.big_model_active and not usbgpu_present)
|
||||
big_failed = big_active is False or model_unavailable or (self.big_model_active and not chestnut_present)
|
||||
if big_failed and not self.big_model_failed:
|
||||
self.events.add(EventName.bigModelFailed)
|
||||
self.big_model_failed = big_failed
|
||||
|
||||
@@ -152,7 +152,7 @@ def migrate_drivingModelData(msgs):
|
||||
add_ops = []
|
||||
for _, msg in msgs:
|
||||
dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
|
||||
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
|
||||
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "big", "action"]:
|
||||
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
|
||||
for meta_field in ["laneChangeState", "laneChangeState"]:
|
||||
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
|
||||
|
||||
@@ -33,9 +33,9 @@ MODEL_REPLAY_BUCKET="model_replay_master"
|
||||
GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
|
||||
|
||||
EXEC_TIMINGS = [
|
||||
# model, instant max, average max
|
||||
("modelV2", 0.05, 0.028),
|
||||
("driverStateV2", 0.05, 0.018),
|
||||
# model, instant max, average max, chestnut average max
|
||||
("modelV2", 0.05, 0.03, 0.05),
|
||||
("driverStateV2", 0.05, 0.018, 0.018),
|
||||
]
|
||||
|
||||
def get_log_fn(test_route, ref="master"):
|
||||
@@ -169,11 +169,13 @@ def model_replay(lr, frs):
|
||||
dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
|
||||
|
||||
msgs = modeld_msgs + dmonitoringmodeld_msgs
|
||||
chestnut = any(m.modelV2.big for m in modeld_msgs if m.which() == "modelV2")
|
||||
|
||||
header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
|
||||
rows = []
|
||||
timings_ok = True
|
||||
for (s, instant_max, avg_max) in EXEC_TIMINGS:
|
||||
for (s, instant_max, avg_max, chestnut_avg_max) in EXEC_TIMINGS:
|
||||
avg_max = chestnut_avg_max if chestnut else avg_max
|
||||
ts = [getattr(m, s).modelExecutionTime for m in msgs if m.which() == s]
|
||||
# TODO some init can happen in first iteration
|
||||
ts = ts[1:]
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import time
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
@@ -26,8 +26,8 @@ class BodyLayout(Widget):
|
||||
self._last_input_time = time.monotonic()
|
||||
self._was_active = False
|
||||
self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
|
||||
def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
|
||||
spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButto
|
||||
from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
|
||||
from openpilot.selfdrive.ui.widgets.setup import SetupWidget
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment
|
||||
from openpilot.system.ui.lib.multilang import tr, trn
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -178,7 +178,7 @@ class HomeLayout(Widget):
|
||||
|
||||
version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
|
||||
version_text_width, self.header_rect.height)
|
||||
gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=TextAlignment.RIGHT)
|
||||
|
||||
def _render_home_content(self):
|
||||
self._render_left_column()
|
||||
|
||||
@@ -5,7 +5,7 @@ from enum import IntEnum
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.application import FontWeight, TextAlignment, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import Button, ButtonStyle
|
||||
@@ -115,9 +115,9 @@ class TermsPage(Widget):
|
||||
self._on_accept = on_accept
|
||||
self._on_decline = on_decline
|
||||
|
||||
self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
|
||||
self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.LEFT)
|
||||
self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
|
||||
|
||||
self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
|
||||
self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
|
||||
@@ -150,7 +150,7 @@ class DeclinePage(Widget):
|
||||
def __init__(self, back_callback=None):
|
||||
super().__init__()
|
||||
self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
|
||||
self._back_btn = Button(tr("Back"), click_callback=back_callback)
|
||||
self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
|
||||
click_callback=self._on_uninstall_clicked)
|
||||
|
||||
@@ -199,6 +199,9 @@ class SoftwareLayout(Widget):
|
||||
selection = self._branch_dialog.selection
|
||||
ui_state.params.put("UpdaterTargetBranch", selection, block=True)
|
||||
self._branch_btn.action_item.set_value(selection)
|
||||
self._download_btn.action_item.set_enabled(False)
|
||||
self._waiting_for_updater = True
|
||||
self._waiting_start_ts = time.monotonic()
|
||||
subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
|
||||
self._branch_dialog = None
|
||||
|
||||
|
||||
@@ -168,9 +168,16 @@ class Sidebar(Widget, SidebarSP):
|
||||
# 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
|
||||
button_pos = rl.Vector2(HOME_BTN.x, HOME_BTN.y)
|
||||
icon_opacity = 1.0
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
button_img, button_pos, icon_opacity = SidebarSP._get_home_icon(self, button_img)
|
||||
|
||||
tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
|
||||
rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)
|
||||
if icon_opacity < 1.0:
|
||||
tint = rl.Color(tint[0], tint[1], tint[2], int(255 * icon_opacity))
|
||||
rl.draw_texture_ex(button_img, button_pos, 0.0, 1.0, tint)
|
||||
|
||||
# Microphone button
|
||||
if self._recording_audio:
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import datetime
|
||||
import math
|
||||
import time
|
||||
|
||||
from openpilot.cereal import log
|
||||
@@ -8,8 +9,8 @@ from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.layouts import HBoxLayout
|
||||
from openpilot.system.ui.widgets.icon_widget import IconWidget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
|
||||
from openpilot.common.version import RELEASE_BRANCHES
|
||||
|
||||
HEAD_BUTTON_FONT_SIZE = 40
|
||||
@@ -69,8 +70,8 @@ class AlertsPill(Widget):
|
||||
|
||||
count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
|
||||
gui_label(count_rect, str(alert_count), font_size=36,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
|
||||
|
||||
class NetworkIcon(Widget):
|
||||
@@ -139,8 +140,10 @@ class MiciHomeLayout(Widget):
|
||||
self._version_text = self._get_version_text()
|
||||
|
||||
self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
|
||||
self._egpu_icon = IconWidget("icons_mici/egpu_green.png", (50, 37))
|
||||
self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
|
||||
self._usb_icon = IconWidget("icons_mici/usb.png", (62, 40))
|
||||
self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (68, 40))
|
||||
self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
|
||||
self._chestnut_failed_icon = IconWidget("icons_mici/chestnut_orange.png", (68, 40))
|
||||
self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
|
||||
self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
|
||||
|
||||
@@ -150,13 +153,15 @@ class MiciHomeLayout(Widget):
|
||||
IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
|
||||
NetworkIcon(),
|
||||
self._experimental_icon,
|
||||
self._egpu_icon,
|
||||
self._egpu_icon_gray,
|
||||
self._usb_icon,
|
||||
self._chestnut_icon,
|
||||
self._chestnut_loading_icon,
|
||||
self._chestnut_failed_icon,
|
||||
self._body_icon,
|
||||
self._mic_icon,
|
||||
], spacing=18)
|
||||
|
||||
self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
|
||||
self._openpilot_label = UnifiedLabel("openpilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
|
||||
self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
|
||||
self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
|
||||
self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
|
||||
@@ -247,9 +252,20 @@ class MiciHomeLayout(Widget):
|
||||
self._version_commit_label.render()
|
||||
|
||||
# ***** Center-aligned bottom section icons *****
|
||||
usb_connected = ui_state.usb_connected
|
||||
usb_unknown = ui_state.usb_unknown
|
||||
chestnut_state = ui_state.chestnut_state
|
||||
self._experimental_icon.set_visible(ui_state.experimental_mode)
|
||||
self._egpu_icon.set_visible(ui_state.sm["deviceState"].chestnutPresent and ui_state.usbgpu_compiled)
|
||||
self._egpu_icon_gray.set_visible(ui_state.sm["deviceState"].chestnutPresent and not ui_state.usbgpu_compiled)
|
||||
if gui_app.sunnypilot_ui():
|
||||
self._set_chestnut_visibility()
|
||||
else:
|
||||
self._usb_icon.set_visible(usb_connected and usb_unknown)
|
||||
self._chestnut_icon.set_visible(not usb_unknown and chestnut_state not in
|
||||
(ChestnutState.LOADING, ChestnutState.UNCOMPILED, ChestnutState.FAILED) and
|
||||
(usb_connected or chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE)))
|
||||
self._chestnut_loading_icon.set_visible(not usb_unknown and chestnut_state == ChestnutState.LOADING)
|
||||
self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
|
||||
self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
|
||||
self._mic_icon.set_visible(ui_state.recording_audio)
|
||||
self._body_icon.set_visible(bool(ui_state.is_body))
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.common.hardware import HARDWARE
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
|
||||
REFRESH_INTERVAL = 5.0 # seconds
|
||||
@@ -62,12 +62,12 @@ class AlertItem(Widget):
|
||||
self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", self.ICON_SIZE, self.ICON_SIZE)
|
||||
|
||||
self._title_label = UnifiedLabel(text="", font_size=32, font_weight=FontWeight.SEMI_BOLD, text_color=self.TEXT_COLOR,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, line_height=0.95)
|
||||
alignment=TextAlignment.LEFT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP, line_height=0.95)
|
||||
|
||||
self._body_label = UnifiedLabel(text="", font_size=28, font_weight=FontWeight.ROMAN, text_color=self.TEXT_COLOR,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.95)
|
||||
alignment=TextAlignment.LEFT,
|
||||
alignment_vertical=TextAlignmentVertical.BOTTOM, line_height=0.95)
|
||||
|
||||
self._title_text = ""
|
||||
self._body_text = ""
|
||||
@@ -200,8 +200,8 @@ class MiciOffroadAlerts(Scroller):
|
||||
|
||||
# Create empty state label
|
||||
self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
|
||||
# Build initial alert list
|
||||
self._build_alerts()
|
||||
|
||||
@@ -4,7 +4,7 @@ import pyray as rl
|
||||
from collections.abc import Callable
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.qrcode import make_texture
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, TextAlignment
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import SmallCircleIconButton
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
|
||||
@@ -35,7 +35,7 @@ class DriverCameraSetupDialog(BaseCabinCameraDialog):
|
||||
|
||||
if not self._camera_view.frame:
|
||||
gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
|
||||
alignment=TextAlignment.CENTER)
|
||||
rl.end_scissor_mode()
|
||||
return
|
||||
|
||||
|
||||
@@ -74,6 +74,10 @@ class SoftwareInfoLayoutMici(Widget):
|
||||
|
||||
|
||||
class CheckUpdateButton(BigButton):
|
||||
UPDATER_PROC = "openpilot.system.updated.updated"
|
||||
CHECK_FOR_UPDATE = "SIGUSR1"
|
||||
DOWNLOAD_UPDATE = "SIGHUP"
|
||||
|
||||
def __init__(self):
|
||||
self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
|
||||
self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
|
||||
@@ -97,15 +101,20 @@ class CheckUpdateButton(BigButton):
|
||||
gui_app.push_widget(dlg)
|
||||
return
|
||||
|
||||
self._signal_updater(self.DOWNLOAD_UPDATE if self.get_value() == "download update" else self.CHECK_FOR_UPDATE)
|
||||
|
||||
def check_for_update(self):
|
||||
self._signal_updater(self.CHECK_FOR_UPDATE)
|
||||
|
||||
def _signal_updater(self, sig: str):
|
||||
self.set_enabled(False)
|
||||
self._state = UpdaterState.WAITING_FOR_UPDATER
|
||||
self._hide_value_t = None
|
||||
self.set_value("")
|
||||
self.set_icon(self._txt_update_icon)
|
||||
|
||||
def run():
|
||||
if self.get_value() == "download update":
|
||||
subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
|
||||
else:
|
||||
subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
|
||||
subprocess.run(f"pkill -{sig} -f {self.UPDATER_PROC}", shell=True)
|
||||
|
||||
threading.Thread(target=run, daemon=True).start()
|
||||
|
||||
@@ -184,7 +193,7 @@ class CheckUpdateButton(BigButton):
|
||||
|
||||
class InstallUpdateButton(BigButton):
|
||||
def __init__(self):
|
||||
super().__init__("install update", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
|
||||
super().__init__("install now", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
|
||||
self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable"))
|
||||
|
||||
def _update_state(self):
|
||||
@@ -232,8 +241,9 @@ class BranchSelectPage(NavScroller):
|
||||
|
||||
|
||||
class TargetBranchButton(BigButton):
|
||||
def __init__(self):
|
||||
def __init__(self, check_update_btn: CheckUpdateButton):
|
||||
super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "")
|
||||
self._check_update_btn = check_update_btn
|
||||
self.set_click_callback(self._on_click)
|
||||
self.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
|
||||
self.set_enabled(lambda: ui_state.is_offroad())
|
||||
@@ -246,12 +256,15 @@ class TargetBranchButton(BigButton):
|
||||
self.set_value(target)
|
||||
|
||||
def _on_click(self):
|
||||
if not ui_state.params.get("UpdaterAvailableBranches"):
|
||||
gui_app.push_widget(BigDialog("", tr("Failed to get available branches. Ensure you're connected to the internet and try again.")))
|
||||
return
|
||||
gui_app.push_widget(BranchSelectPage(self._on_select))
|
||||
|
||||
def _on_select(self, branch: str):
|
||||
ui_state.params.put("UpdaterTargetBranch", branch, block=True)
|
||||
self.set_value(branch)
|
||||
subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
|
||||
self._check_update_btn.check_for_update()
|
||||
|
||||
|
||||
class SoftwareLayoutMici(NavScroller):
|
||||
@@ -265,10 +278,11 @@ class SoftwareLayoutMici(NavScroller):
|
||||
gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
|
||||
uninstall_openpilot_callback, exit_on_confirm=False)
|
||||
|
||||
check_update_btn = CheckUpdateButton()
|
||||
self._scroller.add_widgets([
|
||||
SoftwareInfoLayoutMici(),
|
||||
CheckUpdateButton(),
|
||||
check_update_btn,
|
||||
InstallUpdateButton(),
|
||||
TargetBranchButton(),
|
||||
TargetBranchButton(check_update_btn),
|
||||
uninstall_openpilot_btn,
|
||||
])
|
||||
|
||||
@@ -10,7 +10,7 @@ from opendbc.car.structs import car
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
@@ -333,7 +333,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self._alert_text1_label.set_text(alert_text1)
|
||||
self._alert_text1_label.set_text_color(color)
|
||||
self._alert_text1_label.set_font_size(font_size)
|
||||
self._alert_text1_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
self._alert_text1_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
|
||||
self._alert_text1_label.render(text_rect1)
|
||||
|
||||
alert_text2 = alert.text2.lower()
|
||||
@@ -365,5 +365,5 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self._alert_text2_label.set_text(alert_text2)
|
||||
self._alert_text2_label.set_text_color(color)
|
||||
self._alert_text2_label.set_font_size(small_font_size)
|
||||
self._alert_text2_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
self._alert_text2_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
|
||||
self._alert_text2_label.render(text_rect2)
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
|
||||
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.common.filter_simple import BounceFilter
|
||||
@@ -158,8 +158,8 @@ class AugmentedRoadView(CameraView):
|
||||
self._confidence_ball = ConfidenceBall()
|
||||
self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
|
||||
text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
|
||||
self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
|
||||
from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.nav_widget import NavWidget
|
||||
@@ -76,7 +76,7 @@ class BaseCabinCameraDialog(Widget):
|
||||
|
||||
if not self._camera_view.frame:
|
||||
gui_label(rect, tr("camera starting"), font_size=54, font_weight=FontWeight.BOLD,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
|
||||
alignment=TextAlignment.CENTER)
|
||||
rl.end_scissor_mode()
|
||||
self._publish_alert_sound(None)
|
||||
return
|
||||
@@ -124,12 +124,12 @@ class BaseCabinCameraDialog(Widget):
|
||||
awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
|
||||
gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
|
||||
f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
alignment=TextAlignment.RIGHT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
color=rl.Color(0, 0, 0, 180))
|
||||
gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
alignment=TextAlignment.RIGHT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
|
||||
if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
|
||||
@@ -137,16 +137,16 @@ class BaseCabinCameraDialog(Widget):
|
||||
|
||||
# Show alert level
|
||||
alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
|
||||
alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
|
||||
alignment = TextAlignment.RIGHT if self.driver_state_renderer.is_rhd else TextAlignment.LEFT
|
||||
|
||||
shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
|
||||
gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
alignment=alignment,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
|
||||
alignment_vertical=TextAlignmentVertical.BOTTOM,
|
||||
color=rl.Color(0, 0, 0, 180))
|
||||
gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
alignment=alignment,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
|
||||
alignment_vertical=TextAlignmentVertical.BOTTOM,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
|
||||
def _load_eye_textures(self):
|
||||
|
||||
@@ -3,7 +3,7 @@ import pyray as rl
|
||||
from dataclasses import dataclass
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, ChestnutState
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
@@ -107,8 +107,7 @@ class HudRenderer(Widget):
|
||||
self.speed: float = 0.0
|
||||
self.v_ego_cluster_seen: bool = False
|
||||
self._engaged: bool = False
|
||||
self._small_model_engaged: bool = False
|
||||
self._egpu_fade_time: float = 0
|
||||
self._chestnut_fade_time: float = 0
|
||||
|
||||
self._can_draw_top_icons = True
|
||||
self._show_wheel_critical = False
|
||||
@@ -124,17 +123,15 @@ class HudRenderer(Widget):
|
||||
self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
|
||||
self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
|
||||
self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
|
||||
self._txt_egpu: rl.Texture = gui_app.texture('icons_mici/egpu.png', 60, 44)
|
||||
self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44)
|
||||
self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44)
|
||||
self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52)
|
||||
self._egpu_icon: rl.Texture | None = None
|
||||
|
||||
self._txt_chestnut: rl.Texture = gui_app.texture('icons_mici/chestnut.png', 60, 44)
|
||||
self._txt_chestnut_green: rl.Texture = gui_app.texture('icons_mici/chestnut_green.png', 60, 44)
|
||||
self._txt_chestnut_orange: rl.Texture = gui_app.texture('icons_mici/chestnut_orange.png', 75, 44)
|
||||
self._chestnut_icon: rl.Texture | None = None
|
||||
self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
|
||||
self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
self._chestnut_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
def set_wheel_critical_icon(self, critical: bool):
|
||||
"""Set the wheel icon to critical or normal state."""
|
||||
@@ -165,13 +162,10 @@ class HudRenderer(Widget):
|
||||
controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
)
|
||||
engaged = sm['selfdriveState'].enabled
|
||||
if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
|
||||
ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
|
||||
self._small_model_engaged = True
|
||||
if engaged != self._engaged:
|
||||
self._egpu_fade_time = rl.get_time() if engaged else 0
|
||||
if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
|
||||
self._set_speed_changed_time = rl.get_time()
|
||||
if engaged != self._engaged:
|
||||
self._chestnut_fade_time = rl.get_time() if engaged else 0
|
||||
self._engaged = engaged
|
||||
self.set_speed = set_speed
|
||||
self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
|
||||
@@ -191,8 +185,7 @@ class HudRenderer(Widget):
|
||||
if self.is_cruise_set:
|
||||
self._draw_set_speed(rect)
|
||||
|
||||
if ui_state.usbgpu and ui_state.usbgpu_compiled:
|
||||
self._draw_model_source(rect)
|
||||
self._draw_model_source(rect)
|
||||
|
||||
self._draw_steering_wheel(rect)
|
||||
|
||||
@@ -200,30 +193,24 @@ class HudRenderer(Widget):
|
||||
if ui_state.sm.recv_frame['selfdriveState'] < ui_state.started_frame:
|
||||
return
|
||||
|
||||
big_failed = (ui_state.usbgpu_active is False or not ui_state.sm['deviceState'].chestnutPresent or
|
||||
(ui_state.usbgpu_active is True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame and
|
||||
not ui_state.sm.alive['modelV2']) or
|
||||
(ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
|
||||
self._small_model_engaged &= big_failed
|
||||
loading = ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed)
|
||||
loading = ui_state.chestnut_state == ChestnutState.LOADING
|
||||
if loading:
|
||||
pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
|
||||
icon = self._txt_egpu
|
||||
opacity = 0.35 + 0.65 * pulse
|
||||
elif self._small_model_engaged:
|
||||
icon = self._txt_egpu_crossed
|
||||
opacity = 0.65
|
||||
elif big_failed:
|
||||
icon = self._txt_egpu_orange
|
||||
icon = self._txt_chestnut
|
||||
opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
|
||||
elif ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED):
|
||||
icon = self._txt_chestnut_orange
|
||||
opacity = 1.0
|
||||
elif ui_state.chestnut_state == ChestnutState.ACTIVE:
|
||||
icon = self._txt_chestnut_green
|
||||
opacity = 1.0
|
||||
else:
|
||||
icon = self._txt_egpu_green
|
||||
opacity = 1.0
|
||||
return
|
||||
|
||||
if icon is not self._egpu_icon:
|
||||
self._egpu_fade_time = rl.get_time()
|
||||
self._egpu_icon = icon
|
||||
alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
|
||||
if icon is not self._chestnut_icon:
|
||||
self._chestnut_fade_time = rl.get_time()
|
||||
self._chestnut_icon = icon
|
||||
visible = loading or rl.get_time() - self._chestnut_fade_time < SET_SPEED_PERSISTENCE
|
||||
alpha = self._chestnut_alpha_filter.update(visible)
|
||||
if alpha < 1e-2:
|
||||
return
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ from collections.abc import Callable
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import DO_ZOOM
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignmentVertical
|
||||
from openpilot.common.filter_simple import BounceFilter
|
||||
|
||||
if TYPE_CHECKING:
|
||||
@@ -125,10 +125,10 @@ class BigButton(Widget):
|
||||
self._rotate_icon_t: float | None = None
|
||||
|
||||
self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
|
||||
text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
|
||||
text_color=LABEL_COLOR, alignment_vertical=TextAlignmentVertical.BOTTOM, scroll=scroll,
|
||||
line_height=0.9)
|
||||
self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
|
||||
text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
|
||||
text_color=COMPLICATION_GREY, alignment_vertical=TextAlignmentVertical.BOTTOM)
|
||||
self._update_label_layout()
|
||||
|
||||
self._load_images()
|
||||
@@ -167,9 +167,9 @@ class BigButton(Widget):
|
||||
def _update_label_layout(self):
|
||||
self._label.set_font_size(self._get_label_font_size())
|
||||
if self.value:
|
||||
self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
self._label.set_alignment_vertical(TextAlignmentVertical.TOP)
|
||||
else:
|
||||
self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
|
||||
self._label.set_alignment_vertical(TextAlignmentVertical.BOTTOM)
|
||||
|
||||
def set_text(self, text: str):
|
||||
self.text = text
|
||||
@@ -356,8 +356,8 @@ class GreyBigButton(BigButton):
|
||||
self._sub_label.set_font_size(36)
|
||||
self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
|
||||
self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
|
||||
rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
|
||||
self._sub_label.set_alignment_vertical(TextAlignmentVertical.MIDDLE if not self._label.text else
|
||||
TextAlignmentVertical.BOTTOM)
|
||||
self._sub_label.set_line_height(0.95)
|
||||
|
||||
@property
|
||||
|
||||
@@ -4,7 +4,7 @@ from dataclasses import dataclass
|
||||
from openpilot.cereal import messaging, log
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -76,10 +76,10 @@ class AlertRenderer(Widget):
|
||||
self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
|
||||
# font size is set dynamically
|
||||
self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.CENTER,
|
||||
text_alignment_vertical=TextAlignmentVertical.TOP)
|
||||
self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=TextAlignment.CENTER,
|
||||
text_alignment_vertical=TextAlignmentVertical.TOP)
|
||||
|
||||
def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
|
||||
"""Generate the current alert based on selfdrive state."""
|
||||
|
||||
@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.onroad.cameraview import CameraView
|
||||
from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
|
||||
@@ -38,7 +38,7 @@ class CabinCameraDialog(CameraView):
|
||||
tr("camera starting"),
|
||||
font_size=100,
|
||||
font_weight=FontWeight.BOLD,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment=TextAlignment.CENTER,
|
||||
)
|
||||
return -1
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.multilang import tr, trn
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
@@ -59,7 +59,7 @@ class HomeLayoutSP(HomeLayout):
|
||||
desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
|
||||
desc_width = desc_size.x
|
||||
desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
|
||||
gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=TextAlignment.RIGHT)
|
||||
|
||||
brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
|
||||
spacing = BRAND_DESC_SPACING if description else 0
|
||||
|
||||
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import FontWeight
|
||||
from openpilot.system.ui.lib.application import FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import Button, ButtonStyle
|
||||
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
|
||||
self._done_callback = done_callback
|
||||
self._step = 0
|
||||
|
||||
self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
|
||||
self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=TextAlignment.LEFT))
|
||||
|
||||
self._content = [
|
||||
{
|
||||
@@ -43,7 +43,7 @@ class SunnylinkConsentPage(Widget):
|
||||
self._primary_btn = self._child(Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")))
|
||||
self._secondary_btn = self._child(Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")))
|
||||
self._danger_btn = self._child(Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")))
|
||||
self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
|
||||
self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT))
|
||||
|
||||
def _handle_choice(self, choice):
|
||||
if choice == "enable":
|
||||
|
||||
@@ -10,9 +10,10 @@ import time
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.cereal import custom
|
||||
from openpilot.sunnypilot.models.default_model import get_default_model
|
||||
from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected_bundle, resolve_bundle_by_ref
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.selfdrive.ui.sunnypilot.model_info import big_model_state, bundles_for_source, carrying_model, default_model_name, queued_name
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import DialogResult, Widget
|
||||
@@ -36,7 +37,10 @@ class ModelsLayout(Widget):
|
||||
super().__init__()
|
||||
self.model_manager = None
|
||||
self.model_dialog = None
|
||||
self._selection_source = None
|
||||
self._downloading = False
|
||||
self._verifying = False
|
||||
self._last_note = None
|
||||
self.last_cache_calc_time = 0
|
||||
|
||||
self._initialize_items()
|
||||
@@ -48,17 +52,24 @@ class ModelsLayout(Widget):
|
||||
self._scroller = Scroller(self.items, line_separator=True, spacing=0)
|
||||
|
||||
def _initialize_items(self):
|
||||
self.current_model_item = ListItemSP(
|
||||
title=tr("Current Model"),
|
||||
self.small_model_item = ListItemSP(
|
||||
title=tr("Small Model"),
|
||||
description="",
|
||||
action_item=ScrollingButtonAction(tr("SELECT")),
|
||||
callback=self._handle_current_model_clicked
|
||||
callback=lambda: self._open_source_dialog("qcom")
|
||||
)
|
||||
|
||||
self.big_model_item = ListItemSP(
|
||||
title=tr("Big Model"),
|
||||
action_item=ScrollingButtonAction(tr("SELECT")),
|
||||
callback=lambda: self._open_source_dialog("chestnut")
|
||||
)
|
||||
|
||||
self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))
|
||||
|
||||
self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
|
||||
lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
|
||||
ui_state.params.put("ModelManager_LastSyncTime_Chestnut", 0),
|
||||
gui_app.push_widget(alert_dialog(tr("Fetching Latest Models")))))
|
||||
|
||||
self.clear_cache_item = ListItemSP(
|
||||
@@ -68,7 +79,9 @@ class ModelsLayout(Widget):
|
||||
callback=self._clear_cache
|
||||
)
|
||||
|
||||
self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
|
||||
self.cancel_download_item = button_item(lambda: tr("Cancel Verification") if self._verifying else tr("Cancel Download"),
|
||||
tr("Cancel"), "",
|
||||
lambda: ui_state.params.remove("ModelManager_DownloadRef"))
|
||||
|
||||
self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
|
||||
tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
|
||||
@@ -93,7 +106,7 @@ class ModelsLayout(Widget):
|
||||
1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
|
||||
lambda v: f"{v / 100:.2f} m")
|
||||
|
||||
self.items = [self.current_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
|
||||
self.items = [self.small_model_item, self.big_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
|
||||
self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
|
||||
|
||||
def _update_lagd_description(self, lagd_toggle: bool):
|
||||
@@ -107,16 +120,16 @@ class ModelsLayout(Widget):
|
||||
desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
|
||||
self.lagd_toggle.set_description(desc)
|
||||
|
||||
def _is_downloading(self):
|
||||
return (self.model_manager and self.model_manager.selectedBundle and
|
||||
self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
|
||||
|
||||
@staticmethod
|
||||
def calculate_cache_size():
|
||||
cache_size = 0.0
|
||||
if os.path.exists(CUSTOM_MODEL_PATH):
|
||||
cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
|
||||
return cache_size
|
||||
for file in os.listdir(CUSTOM_MODEL_PATH):
|
||||
try:
|
||||
cache_size += os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file))
|
||||
except OSError:
|
||||
continue
|
||||
return cache_size / (1024**2)
|
||||
|
||||
def _clear_cache(self):
|
||||
def _callback(response):
|
||||
@@ -129,36 +142,90 @@ class ModelsLayout(Widget):
|
||||
gui_app.push_widget(dialog)
|
||||
|
||||
def _handle_bundle_download_progress(self):
|
||||
self.download_item.set_visible(False)
|
||||
self.cancel_download_item.set_visible(False)
|
||||
self._downloading = False
|
||||
|
||||
if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
|
||||
return
|
||||
|
||||
bundle = self.model_manager.selectedBundle if self._is_downloading() or (
|
||||
self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
|
||||
) else self.model_manager.activeBundle
|
||||
if not bundle:
|
||||
return
|
||||
|
||||
self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and ui_state.params.get("ModelManager_DownloadIndex") is not None)
|
||||
self._verifying = False
|
||||
self.download_item.set_visible(True)
|
||||
|
||||
if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
|
||||
self.last_cache_calc_time = current_time
|
||||
self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
|
||||
|
||||
bundle = self.model_manager.selectedBundle if self.model_manager else None
|
||||
progresses = [model.artifact.downloadProgress for model in bundle.models if model.artifact.fileName] if bundle else []
|
||||
if not progresses or bundle.status not in (custom.ModelManagerSP.DownloadStatus.downloading,
|
||||
custom.ModelManagerSP.DownloadStatus.failed):
|
||||
self.download_item.action_item.update(name="", segments=self._slot_segments())
|
||||
return
|
||||
|
||||
self.cancel_download_item.set_visible(ui_state.params.get("ModelManager_DownloadRef") is not None)
|
||||
if bundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
device._reset_interactive_timeout()
|
||||
|
||||
# every bundle is a single chunked artifact now
|
||||
progresses = [model.artifact.downloadProgress for model in bundle.models if model.artifact.fileName]
|
||||
if not progresses:
|
||||
return
|
||||
|
||||
self.download_item.set_visible(True)
|
||||
self.download_item.action_item.update(**self._download_row_state(progresses, bundle.internalName))
|
||||
state = self._download_row_state(progresses, bundle.internalName)
|
||||
if queued := queued_name(bundle.ref):
|
||||
state["name"] += f" | {queued} {tr('queued')}"
|
||||
self.download_item.action_item.update(**state)
|
||||
self._downloading = self.download_item.action_item.downloading
|
||||
ds = custom.ModelManagerSP.DownloadStatus
|
||||
self._verifying = any(getattr(p.status, 'raw', p.status) == ds.verifying for p in progresses)
|
||||
|
||||
def _slot_segments(self):
|
||||
"""small and big slots side by side; green marks the slot whose pick is actually
|
||||
driving (runner-matched, so a failed Default big greens neither slot), an empty
|
||||
slot shows its default."""
|
||||
big_state = big_model_state()
|
||||
carry_source, carry_internal, _ = carrying_model()
|
||||
segments = []
|
||||
for source, label in (("qcom", tr("small")), ("chestnut", tr("big"))):
|
||||
if segments:
|
||||
segments.append(("|", rl.GRAY, None, None))
|
||||
bundle = get_selected_bundle(ui_state.params, source)
|
||||
name = bundle.internalName if bundle else default_model_name(source)
|
||||
color = ON_COLOR if (source == carry_source and name == carry_internal) else rl.LIGHTGRAY
|
||||
name = "● " + name
|
||||
if source == "chestnut":
|
||||
if big_state == 'failed':
|
||||
color = rl.RED
|
||||
elif big_state == 'loading':
|
||||
color = rl.GOLD
|
||||
segments.append((label, rl.GRAY, None, None))
|
||||
segments.append((name, color, None, None))
|
||||
return segments
|
||||
|
||||
@staticmethod
|
||||
def _set_item_note(item, text):
|
||||
# a description renders only while shown; hide before clearing or the
|
||||
# empty description keeps its visible state
|
||||
if text:
|
||||
item.set_description(text)
|
||||
item.show_description(True)
|
||||
else:
|
||||
item.show_description(False)
|
||||
item.set_description("")
|
||||
|
||||
def _status_note(self) -> str:
|
||||
"""The failover story for the Model Status row. One-way big -> small, and the
|
||||
fallback is runner-matched: a Default big can only fall back to the Default
|
||||
small (stock modeld), a custom big has no automatic fallback yet."""
|
||||
if not ui_state.chestnut_present:
|
||||
return ""
|
||||
big_bundle = get_selected_bundle(ui_state.params, "chestnut")
|
||||
big_name = big_bundle.internalName if big_bundle else default_model_name("chestnut")
|
||||
big_is_default = big_bundle is None
|
||||
fallback_name = default_model_name("qcom")
|
||||
state = big_model_state()
|
||||
if state == 'failed':
|
||||
if big_is_default:
|
||||
return tr("Big model unavailable, {} is driving until the next drive.").format(fallback_name)
|
||||
return tr("Big model unavailable until the next drive.")
|
||||
if state == 'loading':
|
||||
if big_is_default:
|
||||
return tr("{} drives until the big model is ready.").format(fallback_name)
|
||||
return tr("Getting the big model ready.")
|
||||
if big_is_default:
|
||||
return tr("{} will drive. If it fails during a drive, {} takes over until the next drive.").format(big_name, fallback_name)
|
||||
return tr("{} will drive when the chestnut is ready.").format(big_name)
|
||||
|
||||
@staticmethod
|
||||
def _download_row_state(progresses, name: str) -> dict:
|
||||
@@ -171,6 +238,8 @@ class ModelsLayout(Widget):
|
||||
if ds.failed in statuses:
|
||||
# close.png is authored black and a tint cannot lift it, hence close2
|
||||
return {"name": name, "status_text": tr("download failed"), "text_color": rl.RED, "icon": "icons/close2.png"}
|
||||
if ds.verifying in statuses:
|
||||
return {"name": name, "downloading": True, "progress": progress, "status_text": tr("verifying")}
|
||||
if ds.downloading in statuses:
|
||||
return {"name": name, "downloading": True, "progress": progress}
|
||||
if statuses <= {ds.downloaded, ds.cached}:
|
||||
@@ -180,50 +249,71 @@ class ModelsLayout(Widget):
|
||||
|
||||
def _on_model_selected(self, result):
|
||||
if result != DialogResult.CONFIRM:
|
||||
self.model_dialog = None
|
||||
return
|
||||
selected_ref = self.model_dialog.selection_ref
|
||||
if selected_ref == "Default":
|
||||
ui_state.params.remove("ModelManager_ActiveBundle")
|
||||
elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
|
||||
ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
|
||||
self.model_dialog = None
|
||||
if selected_ref == "Default":
|
||||
if self._selection_source in ACTIVE_BUNDLE_KEYS:
|
||||
ui_state.params.remove(ACTIVE_BUNDLE_KEYS[self._selection_source])
|
||||
return
|
||||
if selected_bundle := self._resolve_selected_bundle(selected_ref):
|
||||
ui_state.params.put("ModelManager_DownloadRef", selected_bundle.ref)
|
||||
|
||||
def _resolve_selected_bundle(self, ref):
|
||||
source_bundles = {source: bundles_for_source(source) for source in ("qcom", "chestnut")}
|
||||
resolved = resolve_bundle_by_ref(ref, source_bundles)
|
||||
return resolved[0] if resolved else None
|
||||
|
||||
@staticmethod
|
||||
def _bundle_to_node(bundle):
|
||||
return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
|
||||
|
||||
def _get_folders(self, favorites):
|
||||
bundles = self.model_manager.availableBundles
|
||||
def _get_folders(self, favorites, bundles):
|
||||
folders = {}
|
||||
for bundle in bundles:
|
||||
folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
|
||||
|
||||
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{get_default_model()} (Default)",
|
||||
'short_name': "Default"})])]
|
||||
folders_list = []
|
||||
for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
|
||||
folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
|
||||
name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
|
||||
folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
|
||||
|
||||
if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
|
||||
folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
|
||||
folders_list.insert(0, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
|
||||
return folders_list
|
||||
|
||||
def _handle_current_model_clicked(self):
|
||||
def _open_source_dialog(self, source):
|
||||
self._selection_source = source
|
||||
favs = ui_state.params.get("ModelManager_Favs")
|
||||
favorites = set(favs.split(';')) if favs else set()
|
||||
folders_list = self._get_folders(favorites)
|
||||
|
||||
active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
|
||||
self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
|
||||
get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
|
||||
folders_list = self._source_folders(favorites, source)
|
||||
if not folders_list:
|
||||
gui_app.push_widget(alert_dialog(tr("No models are available for this hardware yet. Connect to the internet and refresh the model list.")))
|
||||
return
|
||||
self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, self._slot_active_ref(source), "ModelManager_Favs",
|
||||
get_folders_fn=lambda favs: self._source_folders(favs, source), on_exit=self._on_model_selected)
|
||||
gui_app.push_widget(self.model_dialog)
|
||||
|
||||
def _source_folders(self, favorites, source):
|
||||
bundles = bundles_for_source(source)
|
||||
if not bundles:
|
||||
return []
|
||||
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': default_model_name(source)})])]
|
||||
folders_list.extend(self._get_folders(favorites, bundles))
|
||||
return folders_list
|
||||
|
||||
@staticmethod
|
||||
def _slot_active_ref(source: str) -> str:
|
||||
bundle = get_selected_bundle(ui_state.params, source)
|
||||
return bundle.ref if bundle else "Default"
|
||||
|
||||
def _update_state(self):
|
||||
advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
|
||||
turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
|
||||
live_delay: bool = ui_state.params.get_bool("LagdToggle")
|
||||
camera_offset: bool = ui_state.params.get("ModelManager_ActiveBundle") is not None
|
||||
camera_offset: bool = ui_state.active_bundle is not None
|
||||
|
||||
self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
|
||||
self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
|
||||
@@ -237,19 +327,27 @@ class ModelsLayout(Widget):
|
||||
self._update_lagd_description(live_delay)
|
||||
self.model_manager = ui_state.sm["modelManagerSP"]
|
||||
self._handle_bundle_download_progress()
|
||||
default_label = f"{get_default_model()} (Default)"
|
||||
active_name = self.model_manager.activeBundle.displayName if self.model_manager and self.model_manager.activeBundle.ref else default_label
|
||||
self.current_model_item.action_item.set_value(active_name)
|
||||
|
||||
if not ui_state.is_offroad():
|
||||
self.current_model_item.action_item.set_enabled(False)
|
||||
self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
|
||||
else:
|
||||
self.current_model_item.action_item.set_enabled(True)
|
||||
self.current_model_item.set_description("")
|
||||
carry_source, _, carry_display = carrying_model()
|
||||
for item, item_source in ((self.small_model_item, "qcom"), (self.big_model_item, "chestnut")):
|
||||
bundle = get_selected_bundle(ui_state.params, item_source)
|
||||
name = bundle.displayName if bundle else default_model_name(item_source)
|
||||
color = ON_COLOR if (item_source == carry_source and name == carry_display) else style.ITEM_TEXT_VALUE_COLOR
|
||||
item.action_item.set_value(name, color)
|
||||
|
||||
note = self._status_note()
|
||||
if note != self._last_note:
|
||||
self._last_note = note
|
||||
self._set_item_note(self.download_item, note)
|
||||
|
||||
offroad = ui_state.is_offroad()
|
||||
self.small_model_item.action_item.set_enabled(offroad)
|
||||
self.big_model_item.action_item.set_enabled(offroad)
|
||||
self.small_model_item.set_description("" if offroad else tr("Only available when vehicle is off, or always offroad mode is on"))
|
||||
|
||||
def _render(self, rect):
|
||||
self._scroller.render(rect)
|
||||
|
||||
def show_event(self):
|
||||
self._scroller.show_event()
|
||||
self._last_note = None # re-expand the failover note every time the page opens
|
||||
|
||||
@@ -8,7 +8,6 @@ import datetime
|
||||
import os
|
||||
import platform
|
||||
import requests
|
||||
import shutil
|
||||
import threading
|
||||
from pathlib import Path
|
||||
from time import monotonic
|
||||
@@ -75,22 +74,12 @@ class OSMLayout(Widget):
|
||||
def _update_map_size(self):
|
||||
threading.Thread(target=self.calculate_size, daemon=True).start()
|
||||
|
||||
def _do_delete_maps(self):
|
||||
if MAP_PATH.exists():
|
||||
shutil.rmtree(MAP_PATH)
|
||||
|
||||
for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
|
||||
ui_state.params.remove(param)
|
||||
|
||||
def _on_confirm_delete_maps(self):
|
||||
ui_state.params.put_bool("Mapd_ClearCache", True)
|
||||
self._delete_maps_btn.action_item.set_enabled(True)
|
||||
self._delete_maps_btn.action_item.set_text(tr("DELETE"))
|
||||
self._update_map_size()
|
||||
|
||||
def _on_confirm_delete_maps(self):
|
||||
self._delete_maps_btn.action_item.set_enabled(False)
|
||||
self._delete_maps_btn.action_item.set_text("DELETING...")
|
||||
threading.Thread(target=self._do_delete_maps).start()
|
||||
|
||||
def _delete_maps(self):
|
||||
self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
|
||||
tr("Yes, delete all maps"), self._on_confirm_delete_maps)
|
||||
|
||||
@@ -9,7 +9,7 @@ from openpilot.cereal import custom
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
@@ -32,8 +32,8 @@ class SunnylinkHeader(Widget):
|
||||
font_size=90,
|
||||
font_weight=FontWeight.AUDIOWIDE,
|
||||
text_color=rl.WHITE,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
wrap_text=False,
|
||||
elide=False
|
||||
)
|
||||
@@ -43,8 +43,8 @@ class SunnylinkHeader(Widget):
|
||||
font_size=40,
|
||||
font_weight=FontWeight.NORMAL,
|
||||
text_color=rl.Color(0, 255, 0, 255), # Green
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
wrap_text=True,
|
||||
elide=False
|
||||
)
|
||||
@@ -55,8 +55,8 @@ class SunnylinkHeader(Widget):
|
||||
font_size=35,
|
||||
font_weight=FontWeight.NORMAL,
|
||||
text_color=rl.Color(255, 165, 0, 255), # Orange
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
wrap_text=True,
|
||||
elide=False
|
||||
)
|
||||
@@ -109,8 +109,8 @@ class SunnylinkDescriptionItem(Widget):
|
||||
font_size=40,
|
||||
font_weight=FontWeight.NORMAL,
|
||||
text_color=rl.WHITE,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
alignment=TextAlignment.LEFT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
wrap_text=True,
|
||||
elide=False,
|
||||
)
|
||||
|
||||
@@ -4,11 +4,14 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import math
|
||||
|
||||
import pyray as rl
|
||||
import time
|
||||
from dataclasses import dataclass
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
|
||||
from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr_noop
|
||||
|
||||
|
||||
@@ -18,6 +21,9 @@ METRIC_MARGIN = 30
|
||||
METRIC_START_Y = 300
|
||||
HOME_BTN = rl.Rectangle(60, 860, 180, 180)
|
||||
|
||||
CHESTNUT_ICON_WIDTH = 180
|
||||
CHESTNUT_ICON_HEIGHT = 133
|
||||
|
||||
|
||||
# Color scheme
|
||||
class Colors:
|
||||
@@ -53,6 +59,9 @@ class MetricData:
|
||||
class SidebarSP:
|
||||
def __init__(self):
|
||||
self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING)
|
||||
self._chestnut_green_img = gui_app.texture("icons_mici/chestnut_green.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
|
||||
self._chestnut_default_img = gui_app.texture("icons_mici/chestnut.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
|
||||
self._chestnut_orange_img = gui_app.texture("icons_mici/chestnut_orange.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
|
||||
|
||||
def _update_sunnylink_status(self):
|
||||
if not ui_state.params.get_bool("SunnylinkEnabled"):
|
||||
@@ -78,6 +87,24 @@ class SidebarSP:
|
||||
|
||||
self._sunnylink_status.update(tr_noop("SUNNYLINK"), status, color)
|
||||
|
||||
def _get_home_icon(self, default_img: rl.Texture) -> tuple[rl.Texture, rl.Vector2, float]:
|
||||
default_pos = rl.Vector2(HOME_BTN.x, HOME_BTN.y)
|
||||
state = ui_state.chestnut_state
|
||||
if state == ChestnutState.DISCONNECTED:
|
||||
return default_img, default_pos, 1.0
|
||||
|
||||
if state == ChestnutState.LOADING:
|
||||
icon = self._chestnut_default_img
|
||||
opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
|
||||
elif state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED):
|
||||
icon, opacity = self._chestnut_orange_img, 1.0
|
||||
else:
|
||||
icon, opacity = self._chestnut_green_img, 1.0
|
||||
|
||||
x = HOME_BTN.x + (HOME_BTN.width - icon.width) / 2
|
||||
y = HOME_BTN.y + (HOME_BTN.height - icon.height) / 2
|
||||
return icon, rl.Vector2(x, y), opacity
|
||||
|
||||
def _draw_metrics_w_sunnylink(self, rect: rl.Rectangle, _temp, _panda, _connect):
|
||||
metrics = [_temp, _panda, _connect, self._sunnylink_status]
|
||||
start_y = int(rect.y) + METRIC_START_Y
|
||||
|
||||
@@ -4,7 +4,12 @@ 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.
|
||||
"""
|
||||
import math
|
||||
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
|
||||
from openpilot.system.ui.lib.application import FontWeight
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
@@ -13,3 +18,16 @@ class MiciHomeLayoutSP(MiciHomeLayout):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
|
||||
|
||||
def _set_chestnut_visibility(self):
|
||||
usb_connected = ui_state.usb_connected
|
||||
usb_unknown = ui_state.usb_unknown
|
||||
chestnut_state = ui_state.chestnut_state
|
||||
loading = chestnut_state == ChestnutState.LOADING
|
||||
|
||||
self._usb_icon.set_visible(usb_connected and usb_unknown)
|
||||
self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
|
||||
self._chestnut_loading_icon.set_visible(not usb_unknown and loading)
|
||||
self._chestnut_icon.set_visible(not usb_unknown and not loading and
|
||||
chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
|
||||
self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
|
||||
|
||||
@@ -7,16 +7,37 @@ See the LICENSE.md file in the root directory for more details.
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.cereal import custom
|
||||
from openpilot.sunnypilot.models.default_model import get_default_model
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
|
||||
from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected_bundle
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.selfdrive.ui.sunnypilot.model_info import (active_source, big_model_state, bundles_for_source, carrying_model,
|
||||
default_model_name, model_info, queued_name)
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
|
||||
def _model_info() -> tuple[str, str, str]:
|
||||
"""(active model, info header, info text) for the panel. Runner-matched: the
|
||||
active line names what actually drives, and a notable big-model state takes
|
||||
the info pair."""
|
||||
source, active_name, other_name = model_info()
|
||||
state = big_model_state()
|
||||
_, _, carry_display = carrying_model()
|
||||
if carry_display is None:
|
||||
big = get_selected_bundle(ui_state.params, "chestnut")
|
||||
carry_display = big.displayName if big else default_model_name("chestnut")
|
||||
active_text = (carry_display or active_name).lower()
|
||||
if state == 'failed':
|
||||
return active_text, tr("big model"), tr("unavailable")
|
||||
if state == 'loading':
|
||||
return active_text, tr("big model"), tr("getting ready")
|
||||
header = tr("small model") if source == "chestnut" else tr("big model")
|
||||
return active_text, header, other_name.lower()
|
||||
|
||||
|
||||
class CurrentModelInfo(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
@@ -26,12 +47,12 @@ class CurrentModelInfo(Widget):
|
||||
header_color = rl.Color(255, 255, 255, int(255 * 0.9))
|
||||
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
max_width = int(self._rect.width - 20)
|
||||
active_text, info_header, info_text = _model_info()
|
||||
self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
default_text = f"{get_default_model()} (Default)".lower()
|
||||
self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
self.current_model_text = UnifiedLabel(active_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
|
||||
self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
|
||||
self.info_header = UnifiedLabel(info_header, 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
|
||||
self.info_text = UnifiedLabel(info_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
|
||||
def _render(self, _):
|
||||
self.current_model_header.set_position(self._rect.x + 20, self._rect.y - 10)
|
||||
@@ -55,12 +76,13 @@ class ModelsLayoutMici(NavScroller):
|
||||
self._download_progress = "."
|
||||
self._download_frame = 0
|
||||
self._was_downloading = False
|
||||
self._selection_source: str | None = None
|
||||
|
||||
self.select_model_btn = BigButton(tr("select model"))
|
||||
self.select_model_btn.set_click_callback(self._show_folders)
|
||||
|
||||
self.cancel_download_btn = BigButton(tr("cancel download"))
|
||||
self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
|
||||
self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadRef"))
|
||||
|
||||
self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
|
||||
self._scroller.add_widgets(self.main_items)
|
||||
@@ -69,8 +91,7 @@ class ModelsLayoutMici(NavScroller):
|
||||
def model_manager(self):
|
||||
return ui_state.sm["modelManagerSP"]
|
||||
|
||||
def _get_grouped_bundles(self, favorites = None):
|
||||
bundles = self.model_manager.availableBundles
|
||||
def _get_grouped_bundles(self, bundles, favorites = None):
|
||||
folders = {}
|
||||
for bundle in bundles:
|
||||
folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
|
||||
@@ -90,47 +111,70 @@ class ModelsLayoutMici(NavScroller):
|
||||
def _show_folders(self):
|
||||
self.focused_widget = self.select_model_btn
|
||||
|
||||
hardware_btns = []
|
||||
active = active_source()
|
||||
for source, label in (("qcom", tr("small models")), ("chestnut", tr("big models"))):
|
||||
bundle = get_selected_bundle(ui_state.params, source)
|
||||
value = (bundle.internalName if bundle else default_model_name(source)).lower()
|
||||
if source == active:
|
||||
value += f" ({tr('active')})"
|
||||
btn = BigButton(label.lower(), value=value)
|
||||
btn.set_click_callback(lambda s=source: self._select_hardware(s))
|
||||
hardware_btns.append(btn)
|
||||
self._push_selection_view(hardware_btns)
|
||||
|
||||
def _select_hardware(self, source):
|
||||
self._selection_source = source
|
||||
|
||||
favs = ui_state.params.get("ModelManager_Favs")
|
||||
favorites = set(favs.split(';')) if favs else set()
|
||||
|
||||
folders = self._get_grouped_bundles(favorites)
|
||||
bundles = bundles_for_source(source)
|
||||
if not bundles:
|
||||
gui_app.push_widget(BigDialog(title=tr("No models available"),
|
||||
description=tr("No models are available for this hardware yet. Connect to the internet and refresh the model list.")))
|
||||
return
|
||||
folders = self._get_grouped_bundles(bundles, favorites)
|
||||
|
||||
folder_buttons = []
|
||||
default_btn = BigButton(f"{get_default_model()} (Default)".lower())
|
||||
default_btn.set_click_callback(self._select_default)
|
||||
default_btn = BigButton(default_model_name(source).lower())
|
||||
default_btn.set_click_callback(lambda s=source: self._select_default(s))
|
||||
folder_buttons.append(default_btn)
|
||||
|
||||
for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
|
||||
if folder.lower() in ["release models", "master models", "favorites"]:
|
||||
btn = BigButton(folder.lower())
|
||||
btn.set_click_callback(lambda f=folder: self._select_folder(f))
|
||||
if folder.lower() == "favorites":
|
||||
folder_buttons.insert(0, btn)
|
||||
else:
|
||||
folder_buttons.append(btn)
|
||||
btn = BigButton(folder.lower())
|
||||
btn.set_click_callback(lambda f=folder: self._select_folder(f))
|
||||
if folder.lower() == "favorites":
|
||||
folder_buttons.insert(0, btn)
|
||||
else:
|
||||
folder_buttons.append(btn)
|
||||
self._push_selection_view(folder_buttons)
|
||||
|
||||
def _pop_to_main(self):
|
||||
gui_app.pop_widgets_to(self)
|
||||
self._scroller.scroll_panel.set_offset(0.0)
|
||||
|
||||
def _select_model(self, bundle):
|
||||
ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
|
||||
ui_state.params.put("ModelManager_DownloadRef", bundle.ref)
|
||||
self._pop_to_main()
|
||||
|
||||
def _select_default(self):
|
||||
ui_state.params.remove("ModelManager_ActiveBundle")
|
||||
def _select_default(self, source):
|
||||
ui_state.params.remove(ACTIVE_BUNDLE_KEYS[source])
|
||||
self._pop_to_main()
|
||||
|
||||
def _select_folder(self, folder_name):
|
||||
source = self._selection_source
|
||||
if source is None: # folders are only reachable after picking a hardware
|
||||
return
|
||||
favs = ui_state.params.get("ModelManager_Favs")
|
||||
favorites = set(favs.split(';')) if favs else set()
|
||||
|
||||
folders = self._get_grouped_bundles(favorites)
|
||||
folders = self._get_grouped_bundles(bundles_for_source(source), favorites)
|
||||
bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
|
||||
|
||||
btns = []
|
||||
for bundle in bundles:
|
||||
txt = bundle.displayName.lower()
|
||||
btn = BigButton(txt)
|
||||
btn = BigButton(bundle.displayName.lower())
|
||||
btn.set_click_callback(lambda b=bundle: self._select_model(b))
|
||||
btns.append(btn)
|
||||
self._push_selection_view(btns)
|
||||
@@ -162,11 +206,10 @@ class ModelsLayoutMici(NavScroller):
|
||||
self._was_downloading = is_downloading
|
||||
|
||||
self.current_model_info.current_model_header.set_text(tr("active model"))
|
||||
default_model_text = f"{get_default_model()} (Default)".lower()
|
||||
model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.ref else default_model_text
|
||||
self.current_model_info.current_model_text.set_text(model_text)
|
||||
self.current_model_info.info_header.set_text(tr("cache size"))
|
||||
self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
|
||||
active_text, info_header, info_text = _model_info()
|
||||
self.current_model_info.current_model_text.set_text(active_text)
|
||||
self.current_model_info.info_header.set_text(info_header)
|
||||
self.current_model_info.info_text.set_text(info_text)
|
||||
|
||||
if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed:
|
||||
self.current_model_info.info_header.set_text(tr("error") + self._download_progress)
|
||||
@@ -177,18 +220,29 @@ class ModelsLayoutMici(NavScroller):
|
||||
device.set_override_interactive_timeout(5)
|
||||
progress = 0.0
|
||||
count = 0
|
||||
verifying = False
|
||||
for model in manager.selectedBundle.models:
|
||||
count += 1
|
||||
p = model.artifact.downloadProgress
|
||||
if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
if p.status in (custom.ModelManagerSP.DownloadStatus.downloading,
|
||||
custom.ModelManagerSP.DownloadStatus.verifying):
|
||||
progress += p.progress
|
||||
verifying = verifying or p.status == custom.ModelManagerSP.DownloadStatus.verifying
|
||||
elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
|
||||
custom.ModelManagerSP.DownloadStatus.cached):
|
||||
progress += 100.0
|
||||
|
||||
self.current_model_info.current_model_header.set_text(tr("downloading"))
|
||||
self.current_model_info.current_model_header.set_text(tr("verifying") if verifying else tr("downloading"))
|
||||
self.cancel_download_btn.set_text(tr("cancel verification") if verifying else tr("cancel download"))
|
||||
self.current_model_info.current_model_header._shimmer = True
|
||||
self.current_model_info.current_model_text.set_text(f"{manager.selectedBundle.internalName.lower()}")
|
||||
name_text = manager.selectedBundle.internalName.lower()
|
||||
if queued := queued_name(manager.selectedBundle.ref):
|
||||
name_text += f" | {queued.lower()} {tr('queued')}"
|
||||
self.current_model_info.current_model_text.set_text(name_text)
|
||||
self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
|
||||
self.current_model_info.info_header._shimmer = True
|
||||
self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
|
||||
|
||||
elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloaded:
|
||||
self.current_model_info.info_header.set_text(tr("downloaded"))
|
||||
self.current_model_info.info_text.set_text(tr("downloaded"))
|
||||
|
||||
@@ -12,13 +12,23 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, Bi
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
|
||||
ICON_SIZE = 70
|
||||
BIG_ICON_SIZE = 110
|
||||
|
||||
|
||||
class SunnylinkBigButton(SettingsBigButton):
|
||||
def __init__(self, *args, **kwargs):
|
||||
super().__init__(*args, **kwargs)
|
||||
self._label.set_font_weight(FontWeight.AUDIOWIDE)
|
||||
|
||||
def _get_label_font_size(self):
|
||||
# Audiowide runs wider than Inter: "sunnylink" wraps to two lines at 64
|
||||
return 56
|
||||
|
||||
|
||||
class SettingsLayoutSP(OP.SettingsLayout):
|
||||
def __init__(self):
|
||||
OP.SettingsLayout.__init__(self)
|
||||
@@ -33,7 +43,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
|
||||
|
||||
sunnylink_panel = SunnylinkLayoutMici()
|
||||
sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
|
||||
sunnylink_btn = SunnylinkBigButton(tr("sunnylink"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/sunnylink.png", 76, 44))
|
||||
sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
|
||||
|
||||
models_panel = ModelsLayoutMici()
|
||||
@@ -56,8 +66,8 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
|
||||
items = self._scroller._items.copy()
|
||||
|
||||
items.insert(1, sunnylink_btn)
|
||||
items.insert(2, models_btn)
|
||||
items.insert(1, models_btn)
|
||||
items.insert(5, sunnylink_btn)
|
||||
|
||||
# front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
|
||||
items.insert(0, self._enable_offroad_btn_onroad)
|
||||
|
||||
@@ -0,0 +1,85 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
|
||||
from openpilot.sunnypilot.models.fetcher import get_cached_bundles
|
||||
from openpilot.sunnypilot.models.helpers import get_active_source, get_selected_bundle, resolve_bundle_by_ref
|
||||
from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL, DEFAULT_MODEL
|
||||
|
||||
|
||||
def active_source() -> str:
|
||||
return get_active_source(chestnut=ui_state.chestnut_present,
|
||||
chestnut_active=ui_state.chestnut_active, chestnut_loading=ui_state.chestnut_loading,
|
||||
offroad=ui_state.is_offroad())
|
||||
|
||||
|
||||
def bundles_for_source(source: str):
|
||||
if source == active_source():
|
||||
return ui_state.sm["modelManagerSP"].availableBundles
|
||||
return get_cached_bundles(ui_state.params, source)
|
||||
|
||||
|
||||
def default_model(source: str) -> str:
|
||||
return DEFAULT_BIG_MODEL if source == 'chestnut' else DEFAULT_MODEL
|
||||
|
||||
|
||||
def default_model_name(source: str) -> str:
|
||||
return f"{default_model(source)} (Default)"
|
||||
|
||||
|
||||
def big_model_state() -> str | None:
|
||||
"""'failed' | 'loading' | None, from the same state the icons render."""
|
||||
return {ChestnutState.UNCOMPILED: 'failed',
|
||||
ChestnutState.FAILED: 'failed',
|
||||
ChestnutState.LOADING: 'loading'}.get(ui_state.chestnut_state)
|
||||
|
||||
|
||||
def carrying_model() -> tuple[str | None, str | None, str | None]:
|
||||
"""(source, internal name, display name) of what actually drives. Runner-matched:
|
||||
when a Default big cannot carry, stock modeld runs the Default small, never the
|
||||
small slot's pick; a custom big has no automatic fallback yet -> (None, None, None)."""
|
||||
source = active_source()
|
||||
if source == "chestnut":
|
||||
bundle = get_selected_bundle(ui_state.params, "chestnut")
|
||||
if bundle:
|
||||
return "chestnut", bundle.internalName, bundle.displayName
|
||||
name = default_model_name("chestnut")
|
||||
return "chestnut", name, name
|
||||
if ui_state.chestnut_present:
|
||||
if get_selected_bundle(ui_state.params, "chestnut") is None:
|
||||
name = default_model_name("qcom")
|
||||
return "qcom", name, name
|
||||
return None, None, None
|
||||
bundle = get_selected_bundle(ui_state.params, "qcom")
|
||||
if bundle:
|
||||
return "qcom", bundle.internalName, bundle.displayName
|
||||
name = default_model_name("qcom")
|
||||
return "qcom", name, name
|
||||
|
||||
|
||||
def queued_name(current_ref) -> str | None:
|
||||
ref = ui_state.params.get("ModelManager_DownloadRef")
|
||||
if ref and ref != current_ref:
|
||||
source_bundles = {source: bundles_for_source(source) for source in ("qcom", "chestnut")}
|
||||
if resolved := resolve_bundle_by_ref(ref, source_bundles):
|
||||
return resolved[0].internalName
|
||||
return None
|
||||
|
||||
|
||||
def model_info() -> tuple[str, str, str]:
|
||||
"""returns (active source, active model name, other model name)
|
||||
|
||||
Names come from the params slots, never modelManagerSP.activeBundle — the
|
||||
manager republishes a tick after a chestnut change, so the stale bundle
|
||||
would flash the wrong model."""
|
||||
source = active_source()
|
||||
other = "qcom" if source == "chestnut" else "chestnut"
|
||||
active_bundle = get_selected_bundle(ui_state.params, source)
|
||||
other_bundle = get_selected_bundle(ui_state.params, other)
|
||||
|
||||
active_name = active_bundle.displayName if active_bundle else default_model_name(source)
|
||||
other_name = other_bundle.displayName if other_bundle else default_model_name(other)
|
||||
return source, active_name, other_name
|
||||
@@ -10,6 +10,7 @@ from openpilot.cereal import messaging, log, custom
|
||||
from opendbc.car.structs import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
|
||||
from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_active_source
|
||||
from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.sunnypilot.widgets.screen_saver import ScreenSaverSP
|
||||
@@ -43,6 +44,7 @@ class UIStateSP:
|
||||
self.screensaver_enabled: bool = False
|
||||
|
||||
self.active_bundle = None
|
||||
self.model_runner_tinygrad: bool = False
|
||||
self.blindspot: bool = False
|
||||
self.chevron_metrics = None
|
||||
self.custom_interactive_timeout: int = 0
|
||||
@@ -150,7 +152,13 @@ class UIStateSP:
|
||||
self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
|
||||
|
||||
self._enforce_constraints()
|
||||
self.active_bundle = self.params.get("ModelManager_ActiveBundle")
|
||||
source = get_active_source(chestnut=self.chestnut_present, chestnut_active=self.chestnut_active,
|
||||
chestnut_loading=self.chestnut_loading, offroad=self.is_offroad())
|
||||
self.active_bundle = self.params.get(ACTIVE_BUNDLE_KEYS[source])
|
||||
self.model_runner_tinygrad = self.active_bundle is not None and self.active_bundle.get("runner") == "tinygrad"
|
||||
# stock only counts the default big model's compiled pkl. a downloaded big bundle runs on the
|
||||
# chestnut just the same, so ChestnutState has to see it as available too.
|
||||
self.chestnut_compiled = self.chestnut_compiled or self.model_runner_tinygrad
|
||||
self.blindspot = self.params.get_bool("BlindSpot")
|
||||
self.chevron_metrics = self.params.get("ChevronInfo")
|
||||
self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
|
||||
|
||||
@@ -12,7 +12,8 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.lib.prime_state import PrimeState
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.common.hardware import HARDWARE, PC
|
||||
from openpilot.selfdrive.modeld.helpers import usbgpu_compiled
|
||||
from openpilot.common.hardware.usb import TYPEC_CC_ORIENTATION_PATH, get_usb_state, is_chestnut_usb_id, read_int
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_compiled
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
|
||||
|
||||
@@ -28,6 +29,15 @@ class UIStatus(Enum):
|
||||
LONG_ONLY = "long_only"
|
||||
|
||||
|
||||
class ChestnutState(Enum):
|
||||
DISCONNECTED = "disconnected"
|
||||
UNCOMPILED = "uncompiled"
|
||||
READY = "ready"
|
||||
LOADING = "loading"
|
||||
ACTIVE = "active"
|
||||
FAILED = "failed"
|
||||
|
||||
|
||||
class UIState(UIStateSP):
|
||||
_instance: 'UIState | None' = None
|
||||
|
||||
@@ -82,10 +92,15 @@ class UIState(UIStateSP):
|
||||
self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
|
||||
self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
|
||||
self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
|
||||
self.usbgpu: bool = False
|
||||
self.usbgpu_compiled: bool = usbgpu_compiled()
|
||||
self.usbgpu_active: bool | None = self.params.get("UsbGpuActive")
|
||||
self.usbgpu_loading: bool = self.params.get_bool("UsbGpuLoading")
|
||||
self.chestnut_present: bool = False
|
||||
self.chestnut_compiled: bool = chestnut_compiled()
|
||||
self.chestnut_active: bool | None = None
|
||||
self.chestnut_loading: bool = False
|
||||
self.usb_connected: bool = False
|
||||
self.usb_connected_ts: float | None = None
|
||||
self.usb_disconnected_ts: float | None = None
|
||||
self.usb_unknown: bool = False
|
||||
self.chestnut_state = ChestnutState.DISCONNECTED
|
||||
self.started: bool = False
|
||||
self.ignition: bool = False
|
||||
self.recording_audio: bool = False
|
||||
@@ -131,6 +146,7 @@ class UIState(UIStateSP):
|
||||
self.sm.update(0)
|
||||
self._update_state()
|
||||
self._update_status()
|
||||
self._update_chestnut_state()
|
||||
device.update()
|
||||
UIStateSP.update(self)
|
||||
|
||||
@@ -194,12 +210,35 @@ class UIState(UIStateSP):
|
||||
self.status = UIStatus.DISENGAGED
|
||||
self.started_frame = self.sm.frame
|
||||
self.started_time = time.monotonic()
|
||||
self.chestnut_present = self.sm["deviceState"].chestnutPresent
|
||||
|
||||
for callback in self._offroad_transition_callbacks:
|
||||
callback()
|
||||
|
||||
self._started_prev = self.started
|
||||
|
||||
def _update_chestnut_state(self) -> None:
|
||||
detected = self.sm["deviceState"].chestnutPresent
|
||||
if not self.started:
|
||||
self.chestnut_present = detected
|
||||
self.chestnut_state = (ChestnutState.READY if detected and self.chestnut_compiled else
|
||||
ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
|
||||
return
|
||||
|
||||
model_seen = self.sm.recv_frame["modelV2"] > self.started_frame
|
||||
if not self.chestnut_present:
|
||||
self.chestnut_state = ChestnutState.DISCONNECTED
|
||||
elif not self.chestnut_compiled:
|
||||
self.chestnut_state = ChestnutState.UNCOMPILED
|
||||
elif self.chestnut_state == ChestnutState.FAILED or not detected or (model_seen and (not self.sm.alive["modelV2"] or not self.sm["modelV2"].big)):
|
||||
self.chestnut_state = ChestnutState.FAILED
|
||||
elif self.chestnut_loading or not model_seen:
|
||||
self.chestnut_state = ChestnutState.LOADING
|
||||
elif self.chestnut_active is False:
|
||||
self.chestnut_state = ChestnutState.FAILED
|
||||
else:
|
||||
self.chestnut_state = ChestnutState.ACTIVE
|
||||
|
||||
def update_params(self) -> None:
|
||||
# For slower operations
|
||||
# Update longitudinal control state
|
||||
@@ -216,12 +255,27 @@ class UIState(UIStateSP):
|
||||
self.always_on_dm = self.params.get_bool("AlwaysOnDM")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode")
|
||||
self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
|
||||
# keep usbgpu UI active until offroad transition when gpu disappears
|
||||
self.usbgpu = self.sm["deviceState"].chestnutPresent or (self.usbgpu and self.started)
|
||||
if not self.usbgpu_compiled:
|
||||
self.usbgpu_compiled = usbgpu_compiled()
|
||||
self.usbgpu_active = self.params.get("UsbGpuActive")
|
||||
self.usbgpu_loading = self.params.get_bool("UsbGpuLoading")
|
||||
if not self.chestnut_compiled:
|
||||
self.chestnut_compiled = chestnut_compiled()
|
||||
self.chestnut_active = self.params.get("ChestnutActive")
|
||||
self.chestnut_loading = self.params.get_bool("ChestnutLoading")
|
||||
now = time.monotonic()
|
||||
if read_int(TYPEC_CC_ORIENTATION_PATH) != 0:
|
||||
self.usb_disconnected_ts = None
|
||||
if not self.usb_connected:
|
||||
self.usb_connected = True
|
||||
self.usb_connected_ts = now
|
||||
self.usb_unknown = False
|
||||
elif self.usb_connected_ts is not None and now - self.usb_connected_ts > 10.:
|
||||
self.usb_unknown = not any(is_chestnut_usb_id(d["vendorId"], d["productId"], True) for d in get_usb_state())
|
||||
self.usb_connected_ts = None
|
||||
elif self.usb_connected:
|
||||
if self.usb_disconnected_ts is None:
|
||||
self.usb_disconnected_ts = now
|
||||
elif now - self.usb_disconnected_ts > PARAM_UPDATE_TIME:
|
||||
self.usb_connected = False
|
||||
self.usb_connected_ts = None
|
||||
self.usb_unknown = False
|
||||
|
||||
UIStateSP.update_params(self)
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define SUNNYPILOT_VERSION "2026.08.24-4743"
|
||||
#define SUNNYPILOT_VERSION "2026.09.03-4844"
|
||||
|
||||
@@ -55,6 +55,19 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
|
||||
shutil.rmtree(file, ignore_errors=False)
|
||||
|
||||
|
||||
def clear_downloaded_maps() -> None:
|
||||
"""Deletes downloaded OSM map data and resets params."""
|
||||
path = f"{Paths.mapd_root()}/offline"
|
||||
if os.path.exists(path):
|
||||
shutil.rmtree(path, ignore_errors=True)
|
||||
|
||||
for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle",
|
||||
"OsmStateName", "OsmStateTitle"):
|
||||
params.remove(param)
|
||||
|
||||
cloudlog.info("mapd: downloaded maps cleared")
|
||||
|
||||
|
||||
def request_refresh_osm_location_data(nations: list[str], states: list[str] | None = None) -> None:
|
||||
params.put("OsmDownloadedDate", str(datetime.now().timestamp()), block=True)
|
||||
params.put_bool("OsmDbUpdatesCheck", False, block=True)
|
||||
@@ -131,6 +144,10 @@ def main_thread():
|
||||
show_alert = bool(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.")
|
||||
|
||||
if params.get("Mapd_ClearCache"):
|
||||
clear_downloaded_maps()
|
||||
params.remove("Mapd_ClearCache")
|
||||
|
||||
update_osm_db()
|
||||
live_map_sp.tick()
|
||||
rk.keep_time()
|
||||
|
||||
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import math
|
||||
import os
|
||||
import tempfile
|
||||
import time
|
||||
@@ -66,14 +67,15 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
|
||||
if desire_key:
|
||||
shapes['desire'] = (input_shapes[desire_key][2],)
|
||||
|
||||
if is_supercombo and 'features_buffer' in input_shapes:
|
||||
fb = input_shapes['features_buffer']
|
||||
shapes['prev_feat'] = (fb[0], fb[2])
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
if key not in (desire_key, 'features_buffer') and 'img' not in key:
|
||||
shapes[key] = tuple(shape)
|
||||
|
||||
if is_supercombo and 'features_buffer' in input_shapes:
|
||||
fb = input_shapes['features_buffer']
|
||||
feat_dim = math.prod(fb[2:])
|
||||
shapes['prev_feat'] = (fb[0], feat_dim)
|
||||
|
||||
sizes = [int(np.prod(size)) for size in shapes.values()]
|
||||
return shapes, sizes
|
||||
|
||||
@@ -117,8 +119,9 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
|
||||
}
|
||||
|
||||
if features_buffer:
|
||||
feat_dim = math.prod(features_buffer[2:])
|
||||
feat_q_len = frame_skip * features_buffer[1] if is_supercombo else frame_skip * (features_buffer[1] - 1) + 1
|
||||
queues['feat_q'] = Tensor(np.zeros((feat_q_len, features_buffer[0], features_buffer[2]),
|
||||
queues['feat_q'] = Tensor(np.zeros((feat_q_len, features_buffer[0], feat_dim),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
|
||||
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
|
||||
@@ -183,14 +186,14 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
|
||||
warped_dev = warped.to(Device.DEFAULT)
|
||||
Tensor.realize(packed_npy_inputs_dev, warped_dev)
|
||||
|
||||
img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
|
||||
big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()
|
||||
img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn)
|
||||
|
||||
unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
|
||||
unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
|
||||
|
||||
desire_dev = unpacked_dict['desire']
|
||||
desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn).realize()
|
||||
desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
inputs = {desire_key: desire_buf}
|
||||
for key, tensor_val in unpacked_dict.items():
|
||||
@@ -199,7 +202,7 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
|
||||
|
||||
if 'prev_feat' in unpacked_dict:
|
||||
prev_feat_dev = unpacked_dict['prev_feat']
|
||||
inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize()
|
||||
inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])
|
||||
|
||||
if vision_runner:
|
||||
vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
|
||||
@@ -211,7 +214,7 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
|
||||
|
||||
inputs.update({road_key: img, wide_key: big_img})
|
||||
if 'features_buffer' not in inputs:
|
||||
inputs['features_buffer'] = sample_skip_fn(feat_q)
|
||||
inputs['features_buffer'] = sample_skip_fn(feat_q).reshape(input_shapes['features_buffer'])
|
||||
|
||||
policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
|
||||
if 'features_buffer' not in inputs and features_slice is not None:
|
||||
@@ -295,7 +298,7 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
|
||||
if 'USB' in os.getenv('DEV', '') or os.getenv('CHESTNUT'):
|
||||
from openpilot.system.hardware.chestnut.flash import link_up
|
||||
for _ in range(10):
|
||||
if link_up():
|
||||
|
||||
@@ -8,22 +8,22 @@ See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
import os
|
||||
os.environ['GMMU'] = '0'
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
|
||||
import time
|
||||
import numpy as np
|
||||
import threading
|
||||
import time
|
||||
from setproctitle import setproctitle
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
|
||||
from openpilot.cereal import log
|
||||
from opendbc.car.structs import car
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
from setproctitle import setproctitle
|
||||
from openpilot.cereal.messaging import PubMaster, SubMaster
|
||||
from openpilot.cereal.visionipc import VisionStreamType
|
||||
from msgq.visionipc import VisionIpcClient, VisionBuf
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
@@ -42,13 +42,13 @@ from openpilot.sunnypilot.modeld_v2.constants import Plan
|
||||
from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
|
||||
from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
|
||||
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
|
||||
BIG_MODEL_TIMEOUT = 60
|
||||
|
||||
|
||||
def _pkl_exists(path):
|
||||
@@ -68,6 +68,7 @@ def _find_driving_pkl(bundle):
|
||||
pkl_path = os.path.join(model_root, pkl_name)
|
||||
if _pkl_exists(pkl_path):
|
||||
return pkl_path
|
||||
return None
|
||||
|
||||
|
||||
class FrameMeta:
|
||||
@@ -84,14 +85,14 @@ class ModelState(ModelStateBase):
|
||||
inputs: dict[str, np.ndarray]
|
||||
prev_desire: np.ndarray
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
|
||||
def __init__(self, cam_w: int, cam_h: int, chestnut: bool = False):
|
||||
ModelStateBase.__init__(self)
|
||||
|
||||
env_pkl = os.environ.get('COMBINED_MODEL_PKL')
|
||||
if env_pkl and os.path.exists(env_pkl):
|
||||
model_bundle = None
|
||||
else:
|
||||
model_bundle = get_active_bundle()
|
||||
model_bundle = get_active_bundle(chestnut=chestnut)
|
||||
self.generation = model_bundle.generation if model_bundle is not None else None
|
||||
overrides = {override.key: override.value for override in model_bundle.overrides} if model_bundle else {}
|
||||
|
||||
@@ -99,10 +100,10 @@ class ModelState(ModelStateBase):
|
||||
self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
|
||||
self.MIN_LAT_CONTROL_SPEED = 0.3
|
||||
self.PLANPLUS_CONTROL: float = 1.0
|
||||
self.usbgpu = usbgpu
|
||||
self.chestnut = chestnut
|
||||
|
||||
pkl_path = _find_driving_pkl(model_bundle)
|
||||
assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
|
||||
assert pkl_path is not None, f"No driving pkl found for {'chestnut' if chestnut else 'small model'} — all models must be compiled with compile_modeld.py"
|
||||
self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
|
||||
|
||||
def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
|
||||
@@ -110,7 +111,7 @@ class ModelState(ModelStateBase):
|
||||
jits = load_oob(open_file_chunked(pkl_path))
|
||||
|
||||
self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
|
||||
self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
|
||||
self.DEV = 'AMD' if self.chestnut else self.WARP_DEV
|
||||
self.QUEUE_DEV = self.DEV
|
||||
metadata = jits['metadata']
|
||||
|
||||
@@ -185,9 +186,6 @@ class ModelState(ModelStateBase):
|
||||
else:
|
||||
self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
|
||||
|
||||
if self.usbgpu:
|
||||
self.warmup()
|
||||
|
||||
def warmup(self) -> None:
|
||||
dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
|
||||
transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
|
||||
@@ -287,9 +285,8 @@ class ModelState(ModelStateBase):
|
||||
buf[0, :-1] = buf[0, 1:]
|
||||
buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
|
||||
|
||||
if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
|
||||
cloudlog.error("model output not finite, dropping frame")
|
||||
return None
|
||||
if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
|
||||
raise RuntimeError("model output not finite")
|
||||
|
||||
return outputs
|
||||
|
||||
@@ -327,13 +324,13 @@ def main(demo=False):
|
||||
setproctitle(PROCESS_NAME)
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
USBGPU = usbgpu_present()
|
||||
if USBGPU:
|
||||
CHESTNUT = chestnut_present()
|
||||
if CHESTNUT:
|
||||
os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
|
||||
|
||||
params = Params()
|
||||
params.put_bool("UsbGpuLoading", USBGPU)
|
||||
params.remove("UsbGpuActive")
|
||||
params.put_bool("ChestnutLoading", CHESTNUT)
|
||||
params.remove("ChestnutActive")
|
||||
|
||||
# visionipc clients
|
||||
while True:
|
||||
@@ -362,31 +359,36 @@ def main(demo=False):
|
||||
st = time.monotonic()
|
||||
|
||||
model = None
|
||||
if USBGPU:
|
||||
import threading
|
||||
def load():
|
||||
nonlocal model
|
||||
model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
|
||||
t = threading.Thread(target=load, daemon=True)
|
||||
t.start()
|
||||
t.join(60)
|
||||
if model is None:
|
||||
params.put_bool("UsbGpuActive", False)
|
||||
raise RuntimeError("eGPU model load failed or timed out (60s)")
|
||||
params.put_bool("UsbGpuActive", True)
|
||||
else:
|
||||
model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
|
||||
if CHESTNUT:
|
||||
big_model = None
|
||||
def load_big():
|
||||
nonlocal big_model
|
||||
try:
|
||||
m = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=True)
|
||||
m.warmup()
|
||||
big_model = m
|
||||
except Exception:
|
||||
cloudlog.exception("chestnut load failed")
|
||||
loader = threading.Thread(target=load_big, daemon=True)
|
||||
loader.start()
|
||||
loader.join(BIG_MODEL_TIMEOUT)
|
||||
model = big_model
|
||||
params.put_bool("ChestnutActive", model is not None)
|
||||
|
||||
params.put_bool("UsbGpuLoading", False)
|
||||
small_model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False) if model is None or CHESTNUT else None
|
||||
if model is None:
|
||||
model = small_model
|
||||
params.put_bool("ChestnutLoading", False)
|
||||
assert model is not None
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# messaging
|
||||
pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
|
||||
pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if CHESTNUT else [])
|
||||
pm = PubMaster(pub_socks)
|
||||
sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
|
||||
|
||||
publish_state = PublishState()
|
||||
chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None
|
||||
chestnut_state = ChestnutState(pm, model.chestnut) if CHESTNUT else None
|
||||
|
||||
# setup filter to track dropped frames
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
|
||||
@@ -509,7 +511,19 @@ def main(demo=False):
|
||||
inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
model_output = model.run(bufs, transforms, inputs, prepare_only)
|
||||
try:
|
||||
model_output = model.run(bufs, transforms, inputs, prepare_only)
|
||||
except Exception:
|
||||
if not params.get_bool("ChestnutActive"):
|
||||
raise
|
||||
cloudlog.exception("chestnut failed, falling back to small")
|
||||
params.put_bool("ChestnutActive", False)
|
||||
assert small_model is not None
|
||||
model = small_model
|
||||
if chestnut_state is not None:
|
||||
chestnut_state.big = False
|
||||
run_count = 0
|
||||
model_output = None
|
||||
mt2 = time.perf_counter()
|
||||
model_execution_time = mt2 - mt1
|
||||
|
||||
@@ -524,7 +538,7 @@ def main(demo=False):
|
||||
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, meta_constants)
|
||||
modelv2_send.modelV2.big = model.usbgpu
|
||||
modelv2_send.modelV2.big = model.chestnut
|
||||
|
||||
desire_state = modelv2_send.modelV2.meta.desireState
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
|
||||
@@ -190,8 +190,8 @@ def tmp_path():
|
||||
|
||||
def patch_modeld(monkeypatch):
|
||||
def _patch(bundle):
|
||||
monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle)
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle)
|
||||
monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
|
||||
|
||||
return _patch
|
||||
|
||||
|
||||
@@ -59,8 +59,8 @@ class TestFindDrivingPkl(OpenpilotTestCase):
|
||||
class TestModelStateCombinedInit(OpenpilotTestCase):
|
||||
def test_asserts_when_no_pkl(self, monkeypatch):
|
||||
bundle = DummyBundle(models=[], is_20hz=True)
|
||||
monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle)
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle)
|
||||
monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
|
||||
with self.assertRaisesRegex(AssertionError, "No driving pkl found"):
|
||||
ModelState(cam_w=CAM_W, cam_h=CAM_H)
|
||||
|
||||
@@ -75,11 +75,11 @@ class TestStockEquivalence(OpenpilotTestCase):
|
||||
|
||||
frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
|
||||
stock_shapes = {**SPLIT_VISION_INPUT_SHAPES, **SPLIT_POLICY_INPUT_SHAPES, 'action_t': (1, 2)}
|
||||
stock_queues, stock_npy = make_input_queues(stock_shapes, frame_skip, device='NPY')
|
||||
stock_queues, stock_npy, _frame_views = make_input_queues(stock_shapes, frame_skip, device='NPY', frame_copy_size=49152)
|
||||
|
||||
assert set(state.input_queues.keys()) == set(stock_queues.keys())
|
||||
# sunnypilot split pipeline has tfm/big_tfm as queues (stock has them in npy only)
|
||||
assert set(stock_queues.keys()) <= set(state.input_queues.keys())
|
||||
assert {'desire', 'traffic_convention'} <= set(state.numpy_inputs.keys())
|
||||
assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - {'action_t', 'prev_feat'}
|
||||
|
||||
def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
|
||||
|
||||
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
import os
|
||||
import tempfile
|
||||
import unittest
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
@@ -195,3 +196,89 @@ class TestReadFileChunkedToDisk(OpenpilotTestCase):
|
||||
|
||||
assert out.parent == Path(d)
|
||||
assert out.read_bytes() == payload
|
||||
|
||||
|
||||
class Test4DFeaturesBuffer(OpenpilotTestCase):
|
||||
def test_get_policy_npy_shapes_4d(self):
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import get_policy_npy_shapes
|
||||
input_shapes = {
|
||||
'desire_pulse': (1, 25, 8),
|
||||
'features_buffer': (1, 24, 32, 512), # compare 4d to 3d for regression
|
||||
'traffic_convention': (1, 2),
|
||||
'action_t': (1, 2)
|
||||
}
|
||||
shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=True)
|
||||
assert shapes['prev_feat'] == (1, 16384)
|
||||
assert sizes == [8, 2, 2, 16384]
|
||||
|
||||
def test_get_policy_npy_shapes_3d(self):
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import get_policy_npy_shapes
|
||||
input_shapes = {
|
||||
'desire_pulse': (1, 25, 8),
|
||||
'features_buffer': (1, 24, 512),
|
||||
'traffic_convention': (1, 2),
|
||||
'action_t': (1, 2)
|
||||
}
|
||||
shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=True)
|
||||
assert shapes['prev_feat'] == (1, 512)
|
||||
assert sizes == [8, 2, 2, 512]
|
||||
|
||||
|
||||
class TestStockCompileModeldEquivalence(OpenpilotTestCase):
|
||||
def test_get_policy_npy_shapes_matches_stock(self):
|
||||
from openpilot.selfdrive.modeld.compile_modeld import get_policy_npy_shapes as stock_get_policy_npy_shapes
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import get_policy_npy_shapes as sunny_get_policy_npy_shapes
|
||||
|
||||
stock_input_shapes = {
|
||||
'desire_pulse': (1, 25, 8),
|
||||
'features_buffer': (1, 24, 512), # see below comment
|
||||
'traffic_convention': (1, 2),
|
||||
'action_t': (1, 2),
|
||||
}
|
||||
|
||||
stock_shapes, stock_sizes = stock_get_policy_npy_shapes(stock_input_shapes)
|
||||
sunny_shapes, sunny_sizes = sunny_get_policy_npy_shapes(stock_input_shapes, is_supercombo=True)
|
||||
|
||||
assert sunny_shapes == stock_shapes
|
||||
assert sunny_sizes == stock_sizes
|
||||
assert sunny_shapes['prev_feat'] == (1, 512)
|
||||
|
||||
def test_make_input_queues_full_stock_equivalence(self):
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues as stock_make_input_queues
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues as sunny_make_supercombo_input_queues
|
||||
input_shapes = {
|
||||
'img': (1, 12, 128, 256),
|
||||
'desire_pulse': (1, 25, 8),
|
||||
'features_buffer': (1, 24, 32, 512),
|
||||
'traffic_convention': (1, 2),
|
||||
'action_t': (1, 2),
|
||||
}
|
||||
frame_skip = 4
|
||||
|
||||
stock_queues, stock_npy, _frame_views = stock_make_input_queues(input_shapes, frame_skip, device='NPY', frame_copy_size=49152)
|
||||
sunny_queues, sunny_npy = sunny_make_supercombo_input_queues(input_shapes, frame_skip, device='NPY')
|
||||
# sunnypilot split pipeline has tfm/big_tfm as queues; packed_npy_inputs size differs (different frame packing)
|
||||
assert set(stock_queues.keys()) <= set(sunny_queues.keys())
|
||||
for key in stock_queues:
|
||||
if key == 'packed_npy_inputs':
|
||||
continue
|
||||
assert sunny_queues[key].shape == stock_queues[key].shape, \
|
||||
f"Queue shape mismatch for {key}: sunny {sunny_queues[key].shape} != stock {stock_queues[key].shape}"
|
||||
assert set(stock_npy.keys()) <= set(sunny_npy.keys())
|
||||
for key in stock_npy:
|
||||
assert sunny_npy[key].shape == stock_npy[key].shape, \
|
||||
f"Numpy array shape mismatch for {key}: sunny {sunny_npy[key].shape} != stock {stock_npy[key].shape}"
|
||||
|
||||
@unittest.skip("upstream removed make_warp_input_queues — warp merged into run_model")
|
||||
def test_make_warp_queues_stock_equivalence(self):
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_warp_input_queues as stock_make_warp_queues
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_warp_queues as sunny_make_warp_queues
|
||||
stock_vision_shapes = {'img': (1, 12, 128, 256)} # for now?
|
||||
stock_queues, stock_npy = stock_make_warp_queues(stock_vision_shapes, frame_skip=4, device='NPY')
|
||||
sunny_queues, sunny_npy = sunny_make_warp_queues(device='NPY')
|
||||
|
||||
assert set(sunny_npy.keys()) == set(stock_npy.keys()) == {'tfm', 'big_tfm'}
|
||||
for key in sunny_npy:
|
||||
assert sunny_npy[key].shape == stock_npy[key].shape == (3, 3)
|
||||
|
||||
|
||||
|
||||
@@ -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.
|
||||
"""
|
||||
|
||||
import io
|
||||
import requests
|
||||
|
||||
from openpilot.common.file_chunker import get_chunk_name
|
||||
from openpilot.common.hardware import hw
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.selfdrive.modeld.helpers import dump_oob
|
||||
import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
|
||||
from openpilot.sunnypilot.modeld_v2.tests import helpers as tests_helpers
|
||||
from openpilot.sunnypilot.modeld_v2.tests.helpers import DummyModel, DummyBundle, CAM_W, CAM_H
|
||||
from openpilot.sunnypilot.models.fetcher import ModelParser, ModelFetcher
|
||||
|
||||
tmp_path = tests_helpers.tmp_path
|
||||
|
||||
|
||||
class TestFallback(OpenpilotTestCase):
|
||||
def test_find_dual_model_in_bundle(self, tmp_path, monkeypatch):
|
||||
lebowski_file = 'driving_lebowski.pkl'
|
||||
tsfdo_file = 'driving_tsfdo.pkl'
|
||||
(tmp_path / lebowski_file).write_bytes(b'fkasdjfkljf')
|
||||
(tmp_path / tsfdo_file).write_bytes(b'dskfajklsdjlsfka')
|
||||
|
||||
monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
|
||||
big_bundle = DummyBundle(models=[DummyModel('supercombo', lebowski_file)])
|
||||
small_bundle = DummyBundle(models=[DummyModel('supercombo', tsfdo_file)])
|
||||
big_pkl = modeld_module._find_driving_pkl(big_bundle)
|
||||
small_pkl = modeld_module._find_driving_pkl(small_bundle)
|
||||
|
||||
assert big_pkl is not None and lebowski_file in big_pkl
|
||||
assert small_pkl is not None and tsfdo_file in small_pkl
|
||||
|
||||
def test_download_models_and_init_modelstate_fallback(self, tmp_path, monkeypatch):
|
||||
monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
|
||||
big_json = requests.get(ModelFetcher.MODEL_URL_CHESTNUT).json()
|
||||
big_bundle = ModelParser.parse_models(big_json)[-1]
|
||||
small_json = requests.get(ModelFetcher.MODEL_URL).json()
|
||||
small_bundle = ModelParser.parse_models(small_json)[-1]
|
||||
|
||||
buf = io.BytesIO()
|
||||
dump_oob(tests_helpers.make_pkl_data(tests_helpers.ARCHETYPES['supercombo_non20hz']), buf)
|
||||
oob_bytes = buf.getvalue()
|
||||
|
||||
for bundle in (big_bundle, small_bundle):
|
||||
artifact = bundle.models[0].artifact
|
||||
for i in range(len(artifact.chunks)):
|
||||
(tmp_path / get_chunk_name(artifact.fileName, i, len(artifact.chunks))).write_bytes(oob_bytes if i == 0 else b"")
|
||||
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: small_bundle)
|
||||
assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=False).chestnut is False
|
||||
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: big_bundle)
|
||||
try:
|
||||
assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=True).chestnut is True
|
||||
except Exception as e:
|
||||
assert "AMD" in str(e) or "device" in str(e).lower()
|
||||
@@ -1,43 +1,89 @@
|
||||
import argparse
|
||||
import os
|
||||
import hashlib
|
||||
import requests
|
||||
import re
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot import get_file_hash
|
||||
from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
|
||||
from openpilot.sunnypilot.models.fetcher import ModelFetcher
|
||||
|
||||
|
||||
def get_default_model() -> str:
|
||||
show_big_model = (ui_state.usbgpu
|
||||
and (ui_state.usbgpu_active or ui_state.usbgpu_loading or ui_state.is_offroad()))
|
||||
show_big_model = (ui_state.chestnut_present
|
||||
and (ui_state.chestnut_active or ui_state.chestnut_loading or ui_state.is_offroad()))
|
||||
|
||||
return DEFAULT_BIG_MODEL if show_big_model else DEFAULT_MODEL
|
||||
|
||||
|
||||
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
|
||||
MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
|
||||
BIG_MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "big_model_hash")
|
||||
SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "driving_supercombo.onnx")
|
||||
BIG_SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "big_driving_supercombo.onnx")
|
||||
|
||||
|
||||
def _read_model_name_fields():
|
||||
with open(DEFAULT_MODEL_NAME_PATH) as f:
|
||||
content = f.read()
|
||||
fields = {}
|
||||
for line in content.splitlines():
|
||||
if "=" in line:
|
||||
key, val = line.split("=", 1)
|
||||
fields[key.strip()] = val.strip().strip('"')
|
||||
return fields
|
||||
|
||||
|
||||
def update_model_hash():
|
||||
fields = _read_model_name_fields()
|
||||
supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
|
||||
combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
|
||||
fingerprint = f"{supercombo_hash}:{fields.get('DEFAULT_MODEL', '')}:{fields.get('DEFAULT_MODEL_REF', '')}"
|
||||
combined_hash = hashlib.sha256(fingerprint.encode()).hexdigest()
|
||||
|
||||
with open(MODEL_HASH_PATH, "w") as f:
|
||||
f.write(combined_hash)
|
||||
|
||||
print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
|
||||
|
||||
if os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
|
||||
import subprocess
|
||||
rel = os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd())
|
||||
pointer = subprocess.check_output(["git", "show", f"HEAD:{rel}"], text=True)
|
||||
oid = next(l.split(":", 1)[1] for l in pointer.splitlines() if l.startswith("oid sha256:"))
|
||||
big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
|
||||
big_combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
|
||||
|
||||
with open(BIG_MODEL_HASH_PATH, "w") as f:
|
||||
f.write(big_combined_hash)
|
||||
|
||||
print(f"Generated and updated new big model hash to {BIG_MODEL_HASH_PATH}")
|
||||
|
||||
|
||||
def get_ref_for_name(url: str, name: str) -> str:
|
||||
response = requests.get(url, timeout=10)
|
||||
if response.status_code == 200:
|
||||
bundles = response.json()["bundles"]
|
||||
matching = [b for b in bundles if re.search(name, f"{b['short_name']} {b['display_name']}", re.IGNORECASE)]
|
||||
if matching:
|
||||
return max(matching, key=lambda b: int(b["index"]))["ref"]
|
||||
return ""
|
||||
|
||||
|
||||
def update_default_model_names(default_model_name: str, default_big_model_name: str):
|
||||
print("[CHANGE DEFAULT MODEL NAMES]")
|
||||
small_ref = get_ref_for_name(ModelFetcher.MODEL_URL, default_model_name)
|
||||
big_ref = get_ref_for_name(ModelFetcher.MODEL_URL_CHESTNUT, default_big_model_name)
|
||||
|
||||
with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
|
||||
f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
|
||||
f.write(f'DEFAULT_MODEL_REF = "{small_ref}"\n')
|
||||
f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
|
||||
f.write(f'DEFAULT_BIG_MODEL_REF = "{big_ref}"\n')
|
||||
|
||||
print(f'New default small model name: "{default_model_name}"')
|
||||
print(f'New default big model name: "{default_big_model_name}"')
|
||||
print(f'New default small model name: "{default_model_name}" (ref: {small_ref})')
|
||||
print(f'New default big model name: "{default_big_model_name}" (ref: {big_ref})')
|
||||
print("[DONE]")
|
||||
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user