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fca-temp-f
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pyui/sp-to
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8
.github/workflows/auto_pr_review.yaml
vendored
8
.github/workflows/auto_pr_review.yaml
vendored
@@ -40,10 +40,10 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
|
||||
env:
|
||||
PR_LABEL: 'dev'
|
||||
PR_LABEL: 'dev-c3'
|
||||
TRUST_FORK_PR_LABEL: 'trust-fork-pr'
|
||||
steps:
|
||||
- name: Check if PR has dev label
|
||||
- name: Check if PR has dev-c3 label
|
||||
id: check-labels
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
@@ -62,11 +62,11 @@ jobs:
|
||||
console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
|
||||
console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
|
||||
|
||||
core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
|
||||
|
||||
- name: Remove trust-fork-pr label if present
|
||||
if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
2
.github/workflows/release.yaml
vendored
2
.github/workflows/release.yaml
vendored
@@ -39,4 +39,4 @@ jobs:
|
||||
git config --global --add safe.directory '*'
|
||||
git lfs pull
|
||||
- name: Push __nightly
|
||||
run: BRANCH=__nightly release/build_stripped.sh
|
||||
run: BRANCH=__nightly release/build_devel.sh
|
||||
|
||||
1
.github/workflows/repo-maintenance.yaml
vendored
1
.github/workflows/repo-maintenance.yaml
vendored
@@ -43,7 +43,6 @@ jobs:
|
||||
with:
|
||||
submodules: true
|
||||
- name: uv lock
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
run: |
|
||||
python3 -m ensurepip --upgrade
|
||||
pip3 install uv
|
||||
|
||||
15
.github/workflows/selfdrive_tests.yaml
vendored
15
.github/workflows/selfdrive_tests.yaml
vendored
@@ -27,7 +27,7 @@ env:
|
||||
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
|
||||
PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
@@ -52,7 +52,7 @@ jobs:
|
||||
command: git lfs pull
|
||||
- name: Build devel
|
||||
timeout-minutes: 1
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot and run checks
|
||||
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
|
||||
@@ -107,6 +107,7 @@ jobs:
|
||||
|
||||
build_mac:
|
||||
name: build macOS
|
||||
if: false # temp disable since homebrew install is getting stuck
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -115,9 +116,7 @@ jobs:
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
if: false # disabling the cache for now because it is breaking macos builds...
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
@@ -126,8 +125,8 @@ jobs:
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
PYTHONWARNINGS: default # package install has DeprecationWarnings
|
||||
HOMEBREW_DISPLAY_INSTALL_TIMES: 1
|
||||
# package install has DeprecationWarnings
|
||||
PYTHONWARNINGS: default
|
||||
- name: Save Homebrew cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
@@ -138,7 +137,6 @@ jobs:
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
@@ -192,8 +190,7 @@ jobs:
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
# Pre-compile Python bytecode so each pytest worker doesn't need to
|
||||
$PYTEST --collect-only -m 'not slow' -qq && \
|
||||
$PYTEST --collect-only -m 'not slow' &> /dev/null && \
|
||||
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
|
||||
./selfdrive/ui/tests/create_test_translations.sh && \
|
||||
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
|
||||
|
||||
180
.github/workflows/sunnypilot-build-prebuilt.yaml
vendored
180
.github/workflows/sunnypilot-build-prebuilt.yaml
vendored
@@ -8,15 +8,21 @@ env:
|
||||
PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
|
||||
|
||||
# Branch configurations
|
||||
STAGING_SOURCE_BRANCH: 'master'
|
||||
STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
|
||||
DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
|
||||
|
||||
# Target branch configurations
|
||||
STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
|
||||
DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
|
||||
RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
|
||||
|
||||
# Runtime configuration
|
||||
SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [ master, master-dev ]
|
||||
tags: [ 'release/*' ]
|
||||
branches: [ master, master-dev-c3-new ]
|
||||
tags: [ '*' ]
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
workflow_dispatch:
|
||||
@@ -28,72 +34,9 @@ on:
|
||||
default: false
|
||||
|
||||
jobs:
|
||||
prepare_strategy:
|
||||
runs-on: ubuntu-24.04
|
||||
if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
outputs:
|
||||
environment: ${{ steps.strategy.outputs.environment }}
|
||||
new_branch: ${{ steps.strategy.outputs.new_branch }}
|
||||
extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
|
||||
version: ${{ steps.strategy.outputs.version }}
|
||||
cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
|
||||
publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
|
||||
is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
|
||||
build: ${{ steps.strategy.outputs.build }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Extract deploy strategy
|
||||
id: strategy
|
||||
run: |
|
||||
echo '::group::Strategy Extraction'
|
||||
BRANCH="${{ github.head_ref || github.ref_name }}"
|
||||
echo "Current branch: $BRANCH"
|
||||
|
||||
STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
|
||||
CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
|
||||
.configs[] | select(.branch == $branch)
|
||||
')
|
||||
|
||||
BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
|
||||
if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
|
||||
echo "No exact strategy match found. Falling back to feature/fork logic."
|
||||
IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
|
||||
FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
|
||||
NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
|
||||
|
||||
echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
|
||||
echo "version=$BUILD" >> $GITHUB_OUTPUT
|
||||
echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
|
||||
echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
|
||||
echo "environment=feature-branch" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "Matched config: $CONFIG"
|
||||
environment=$(echo "$CONFIG" | jq -r '.environment')
|
||||
echo "environment=$environment" >> $GITHUB_OUTPUT
|
||||
echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
|
||||
cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
|
||||
echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
|
||||
echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
|
||||
|
||||
is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
|
||||
echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
|
||||
|
||||
stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
|
||||
echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
echo "build=$BUILD" >> $GITHUB_OUTPUT
|
||||
cat $GITHUB_OUTPUT
|
||||
|
||||
validate_tests:
|
||||
runs-on: ubuntu-24.04
|
||||
needs: [ prepare_strategy ]
|
||||
if: ${{
|
||||
((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
|
||||
(github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
|
||||
contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
}}
|
||||
if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Wait for Tests
|
||||
@@ -101,26 +44,19 @@ jobs:
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
|
||||
|
||||
build:
|
||||
needs: [ validate_tests, prepare_strategy ]
|
||||
needs: [ validate_tests ]
|
||||
concurrency:
|
||||
group: build-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: false
|
||||
runs-on: [self-hosted, tici]
|
||||
outputs:
|
||||
new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
|
||||
version: ${{ needs.prepare_strategy.outputs.version }}
|
||||
extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
|
||||
commit_sha: ${{ github.sha }}
|
||||
if: ${{
|
||||
(always() && !cancelled() && !failure()) &&
|
||||
needs.prepare_strategy.result == 'success' &&
|
||||
(needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
|
||||
(!contains(github.event_name, 'pull_request') ||
|
||||
(github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
}}
|
||||
new_branch: ${{ steps.set-env.outputs.new_branch }}
|
||||
version: ${{ steps.set-env.outputs.version }}
|
||||
extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
|
||||
commit_sha: ${{ steps.set-env.outputs.commit_sha }}
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -138,15 +74,64 @@ jobs:
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set Feature Branch Prebuilt Configuration
|
||||
id: set_feature_configuration
|
||||
if: (
|
||||
!(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
|
||||
!(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
|
||||
!(startsWith(github.ref, 'refs/tags/'))
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set dev-c3-new prebuilt Configuration
|
||||
id: set_dev_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
|
||||
|
||||
- name: Set staging-c3-new prebuilt Configuration
|
||||
id: set_staging_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
!contains(github.event_name, 'pull_request') &&
|
||||
steps.set_dev_configuration.outcome == 'skipped' &&
|
||||
(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
|
||||
|
||||
- name: Set release-c3-new prebuilt Configuration
|
||||
id: set_tag_configuration
|
||||
if: (
|
||||
steps.set_feature_configuration.outcome == 'skipped' &&
|
||||
!contains(github.event_name, 'pull_request') &&
|
||||
steps.set_staging_configuration.outcome == 'skipped' &&
|
||||
startsWith(github.ref, 'refs/tags/')
|
||||
)
|
||||
run: |
|
||||
echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
|
||||
echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
|
||||
echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
run: |
|
||||
echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
|
||||
echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
|
||||
# Write to GITHUB_OUTPUT from environment variables
|
||||
echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
|
||||
[[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
|
||||
[[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
|
||||
echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
|
||||
|
||||
# Set up common environment
|
||||
@@ -241,19 +226,15 @@ jobs:
|
||||
if: always()
|
||||
run: |
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
|
||||
|
||||
publish:
|
||||
concurrency:
|
||||
# We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
|
||||
# This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
|
||||
# Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
|
||||
group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
|
||||
cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
|
||||
if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
needs: [ build, prepare_strategy ]
|
||||
group: publish-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: true
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
needs: [ build ]
|
||||
runs-on: ubuntu-24.04
|
||||
environment: ${{ needs.prepare_strategy.outputs.environment }}
|
||||
environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
@@ -285,7 +266,7 @@ jobs:
|
||||
"${{ needs.build.outputs.new_branch }}" \
|
||||
"${{ needs.build.outputs.version }}" \
|
||||
"https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
|
||||
"${{ needs.build.outputs.extra_version_identifier }}"
|
||||
"-${{ needs.build.outputs.extra_version_identifier }}"
|
||||
|
||||
echo ""
|
||||
echo "---- ℹ️ To update the list of branches that auto deploy prebuilts -----"
|
||||
@@ -293,18 +274,11 @@ jobs:
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
|
||||
- name: Tag ${{ needs.prepare_strategy.outputs.environment }}
|
||||
if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
|
||||
run: |
|
||||
TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
|
||||
git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
|
||||
git push -f origin ${TAG}
|
||||
|
||||
notify:
|
||||
needs: [ build, publish ]
|
||||
runs-on: ubuntu-24.04
|
||||
if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Setup Alpine Linux environment
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
name: Build dev
|
||||
name: Build dev-c3-new
|
||||
|
||||
env:
|
||||
DEFAULT_SOURCE_BRANCH: "master"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev"
|
||||
PR_LABEL: "dev"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
|
||||
PR_LABEL: "dev-c3"
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
@@ -25,7 +25,7 @@ on:
|
||||
target_branch:
|
||||
description: 'Target branch to reset and squash into'
|
||||
required: true
|
||||
default: 'master-dev'
|
||||
default: 'master-dev-c3-new'
|
||||
type: string
|
||||
cancel_in_progress:
|
||||
description: 'Cancel any in-progress runs of this workflow'
|
||||
@@ -43,7 +43,7 @@ jobs:
|
||||
if: (
|
||||
(github.event_name == 'workflow_dispatch')
|
||||
|| (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -55,7 +55,7 @@ jobs:
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
if: (
|
||||
(github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -50,6 +50,7 @@ cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
|
||||
41
.vscode/launch.json
vendored
41
.vscode/launch.json
vendored
@@ -23,11 +23,6 @@
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
@@ -45,41 +40,7 @@
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
{
|
||||
"name": "Attach LLDB to Replay drive",
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Replay drive",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
|
||||
"args": [
|
||||
"${input:replayArg}"
|
||||
],
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": false,
|
||||
"env": {
|
||||
"PYTHONPATH": "${workspaceFolder}"
|
||||
},
|
||||
"subProcess": true,
|
||||
"stopOnEntry": false
|
||||
}
|
||||
],
|
||||
"compounds": [
|
||||
{
|
||||
"name": "Replay drive + Safety LLDB",
|
||||
"configurations": [
|
||||
"Replay drive",
|
||||
"Attach LLDB to Replay drive"
|
||||
]
|
||||
"cwd": "${workspaceFolder}",
|
||||
}
|
||||
]
|
||||
}
|
||||
34
Jenkinsfile
vendored
34
Jenkinsfile
vendored
@@ -167,7 +167,7 @@ node {
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'release-tici', 'testing-closet*', 'hotfix-*']
|
||||
'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
@@ -178,7 +178,7 @@ node {
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release3-staging", "tizi-needs-can", [], [
|
||||
deviceStage("build release3-staging", "tici-needs-can", [], [
|
||||
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
@@ -186,12 +186,12 @@ node {
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tizi-needs-can", [], [
|
||||
deviceStage("build nightly", "tici-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tizi-needs-can", [], [
|
||||
deviceStage("build nightly-dev", "tici-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
@@ -200,30 +200,39 @@ node {
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
// tici tests
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
|
||||
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
|
||||
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
|
||||
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad AR0231': {
|
||||
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
|
||||
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
@@ -237,13 +246,17 @@ node {
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
|
||||
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
|
||||
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
@@ -253,6 +266,7 @@ node {
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
// TODO: enable once new AGNOS is available
|
||||
// step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
|
||||
|
||||
47
README.md
47
README.md
@@ -22,24 +22,34 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
|
||||
Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
|
||||
## Installation
|
||||
Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
|
||||
|
||||
### If you want to use our newest branches (our rewrite)
|
||||
> [!TIP]
|
||||
>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
|
||||
Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
|
||||
|
||||
* sunnypilot not installed or you installed a version before 0.8.17?
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
|
||||
* sunnypilot already installed and you installed a version after 0.8.17?
|
||||
1. On the comma three, go to `Settings` ▶️ `Software`.
|
||||
2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
|
||||
3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `staging-c3-new`
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `release-c3`
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:------------:|:--------------------------------:|
|
||||
| `release-c3` | https://release-c3.sunnypilot.ai |
|
||||
| `staging-c3` | https://staging-c3.sunnypilot.ai |
|
||||
| `dev-c3` | https://dev-c3.sunnypilot.ai |
|
||||
|
||||
### If you want to use our newest branches (our rewrite)
|
||||
> [!TIP]
|
||||
>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
|
||||
|
||||
|
||||
> [!IMPORTANT]
|
||||
> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
|
||||
> You can still restore the latest sunnylink backup made on the old branches.
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:----------------:|:---------------------------------------------:|
|
||||
@@ -49,31 +59,8 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
|
||||
| `release-c3-new` | **Not yet available**. |
|
||||
|
||||
> [!TIP]
|
||||
> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
|
||||
|
||||
> [!NOTE]
|
||||
> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
|
||||
|
||||
<details>
|
||||
|
||||
<summary>Older legacy branches</summary>
|
||||
|
||||
### If you want to use our older legacy branches (*not recommended*)
|
||||
|
||||
> [**IMPORTANT**]
|
||||
> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
|
||||
> You can still restore the latest sunnylink backup made on the old branches.
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:------------:|:--------------------------------:|
|
||||
| `release-c3` | https://release-c3.sunnypilot.ai |
|
||||
| `staging-c3` | https://staging-c3.sunnypilot.ai |
|
||||
| `dev-c3` | https://dev-c3.sunnypilot.ai |
|
||||
|
||||
</details>
|
||||
|
||||
|
||||
## 🎆 Pull Requests
|
||||
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
|
||||
|
||||
|
||||
20
RELEASES.md
20
RELEASES.md
@@ -1,28 +1,18 @@
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture
|
||||
* Described in our CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from World Model
|
||||
* Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from worldmodel
|
||||
* Low-speed lead car ground-truth fixes
|
||||
|
||||
* Enable live-learned steering actuation delay
|
||||
* Record driving feedback using LKAS button when MADS is disabled
|
||||
* Opt-in audio recording for dashcam video
|
||||
* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.9.9 (2025-05-23)
|
||||
========================
|
||||
|
||||
@@ -359,6 +359,11 @@ SConscript([
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/logcatd/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
@@ -25,26 +25,6 @@ struct ModularAssistiveDrivingSystem {
|
||||
}
|
||||
}
|
||||
|
||||
struct IntelligentCruiseButtonManagement {
|
||||
state @0 :IntelligentCruiseButtonManagementState;
|
||||
sendButton @1 :SendButtonState;
|
||||
vTarget @2 :Float32;
|
||||
|
||||
enum IntelligentCruiseButtonManagementState {
|
||||
inactive @0; # No button press or default state
|
||||
preActive @1; # Pre-active state before transitioning to increasing or decreasing
|
||||
increasing @2; # Increasing speed
|
||||
decreasing @3; # Decreasing speed
|
||||
holding @4; # Holding steady speed
|
||||
}
|
||||
|
||||
enum SendButtonState {
|
||||
none @0;
|
||||
increase @1;
|
||||
decrease @2;
|
||||
}
|
||||
}
|
||||
|
||||
# Same struct as Log.RadarState.LeadData
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
@@ -68,7 +48,6 @@ struct LeadData {
|
||||
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
|
||||
}
|
||||
|
||||
struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
@@ -143,13 +122,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
longitudinalPlanSource @1 :LongitudinalPlanSource;
|
||||
smartCruiseControl @2 :SmartCruiseControl;
|
||||
speedLimit @3 :SpeedLimit;
|
||||
vTarget @4 :Float32;
|
||||
aTarget @5 :Float32;
|
||||
events @6 :List(OnroadEventSP.Event);
|
||||
e2eAlerts @7 :E2eAlerts;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
@@ -161,97 +133,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
|
||||
struct SmartCruiseControl {
|
||||
vision @0 :Vision;
|
||||
map @1 :Map;
|
||||
|
||||
struct Vision {
|
||||
state @0 :VisionState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
currentLateralAccel @3 :Float32;
|
||||
maxPredictedLateralAccel @4 :Float32;
|
||||
enabled @5 :Bool;
|
||||
active @6 :Bool;
|
||||
}
|
||||
|
||||
struct Map {
|
||||
state @0 :MapState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
enabled @3 :Bool;
|
||||
active @4 :Bool;
|
||||
}
|
||||
|
||||
enum VisionState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on vision range.
|
||||
entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
|
||||
turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
leaving @4; # Road ahead straightens. Start to allow positive acceleration.
|
||||
overriding @5; # System overriding with manual control.
|
||||
}
|
||||
|
||||
enum MapState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on map range.
|
||||
turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
overriding @3; # System overriding with manual control.
|
||||
}
|
||||
}
|
||||
|
||||
struct SpeedLimit {
|
||||
resolver @0 :Resolver;
|
||||
assist @1 :Assist;
|
||||
|
||||
struct Resolver {
|
||||
speedLimit @0 :Float32;
|
||||
distToSpeedLimit @1 :Float32;
|
||||
source @2 :Source;
|
||||
speedLimitOffset @3 :Float32;
|
||||
speedLimitLast @4 :Float32;
|
||||
speedLimitFinal @5 :Float32;
|
||||
speedLimitFinalLast @6 :Float32;
|
||||
speedLimitValid @7 :Bool;
|
||||
speedLimitLastValid @8 :Bool;
|
||||
}
|
||||
|
||||
struct Assist {
|
||||
state @0 :AssistState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
vTarget @3 :Float32;
|
||||
aTarget @4 :Float32;
|
||||
}
|
||||
|
||||
enum Source {
|
||||
none @0;
|
||||
car @1;
|
||||
map @2;
|
||||
}
|
||||
|
||||
enum AssistState {
|
||||
disabled @0;
|
||||
inactive @1; # No speed limit set or not enabled by parameter.
|
||||
preActive @2;
|
||||
pending @3; # Awaiting new speed limit.
|
||||
adapting @4; # Reducing speed to match new speed limit.
|
||||
active @5; # Cruising at speed limit.
|
||||
}
|
||||
}
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
sccVision @1;
|
||||
sccMap @2;
|
||||
speedLimitAssist @3;
|
||||
}
|
||||
|
||||
struct E2eAlerts {
|
||||
greenLightAlert @0 :Bool;
|
||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
@@ -291,22 +172,12 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
experimentalModeSwitched @14;
|
||||
wrongCarModeAlertOnly @15;
|
||||
pedalPressedAlertOnly @16;
|
||||
laneTurnLeft @17;
|
||||
laneTurnRight @18;
|
||||
speedLimitPreActive @19;
|
||||
speedLimitActive @20;
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
}
|
||||
}
|
||||
|
||||
struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
flags @0 :UInt32; # flags for car specific quirks in sunnypilot
|
||||
safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
|
||||
pcmCruiseSpeed @3 :Bool;
|
||||
intelligentCruiseButtonManagementAvailable @4 :Bool;
|
||||
enableGasInterceptor @5 :Bool;
|
||||
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
@@ -326,24 +197,10 @@ struct CarControlSP @0xa5cd762cd951a455 {
|
||||
params @1 :List(Param);
|
||||
leadOne @2 :LeadData;
|
||||
leadTwo @3 :LeadData;
|
||||
intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
|
||||
|
||||
struct Param {
|
||||
key @0 :Text;
|
||||
type @2 :ParamType;
|
||||
value @3 :Data;
|
||||
|
||||
valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
|
||||
}
|
||||
|
||||
enum ParamType {
|
||||
string @0;
|
||||
bool @1;
|
||||
int @2;
|
||||
float @3;
|
||||
time @4;
|
||||
json @5;
|
||||
bytes @6;
|
||||
value @1 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -390,7 +247,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct CarStateSP @0xb86e6369214c01c8 {
|
||||
speedLimit @0 :Float32;
|
||||
}
|
||||
|
||||
struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
@@ -402,16 +258,9 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
roadName @5 :Text;
|
||||
}
|
||||
|
||||
struct ModelDataV2SP @0xa1680744031fdb2d {
|
||||
laneTurnDirection @0 :TurnDirection;
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
}
|
||||
|
||||
|
||||
@@ -585,6 +585,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
heartbeatLost @22 :Bool;
|
||||
interruptLoad @25 :Float32;
|
||||
fanPower @28 :UInt8;
|
||||
fanStallCount @34 :UInt8;
|
||||
|
||||
spiErrorCount @33 :UInt16;
|
||||
|
||||
@@ -713,7 +714,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
|
||||
safetyParamDEPRECATED @20 :Int16;
|
||||
safetyParam2DEPRECATED @26 :UInt32;
|
||||
fanStallCountDEPRECATED @34 :UInt8;
|
||||
}
|
||||
|
||||
struct PeripheralState {
|
||||
@@ -2631,7 +2631,7 @@ struct Event {
|
||||
backupManagerSP @113 :Custom.BackupManagerSP;
|
||||
carStateSP @114 :Custom.CarStateSP;
|
||||
liveMapDataSP @115 :Custom.LiveMapDataSP;
|
||||
modelDataV2SP @116 :Custom.ModelDataV2SP;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
customReserved10 @136 :Custom.CustomReserved10;
|
||||
customReserved11 @137 :Custom.CustomReserved11;
|
||||
customReserved12 @138 :Custom.CustomReserved12;
|
||||
@@ -2684,7 +2684,7 @@ struct Event {
|
||||
lateralPlanDEPRECATED @64 :LateralPlan;
|
||||
navModelDEPRECATED @104 :NavModelData;
|
||||
uiPlanDEPRECATED @106 :UiPlan;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
|
||||
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
|
||||
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
|
||||
}
|
||||
|
||||
@@ -33,7 +33,7 @@ MessageContext message_context;
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
float freq = 0.0f;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
|
||||
@@ -88,8 +88,6 @@ _services: dict[str, tuple] = {
|
||||
"carControlSP": (True, 100., 10),
|
||||
"carStateSP": (True, 100., 10),
|
||||
"liveMapDataSP": (True, 1., 1),
|
||||
"modelDataV2SP": (True, 20.),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
@@ -122,12 +120,12 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %f, %d}},\n' % \
|
||||
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "Firehose (Default)"
|
||||
#define DEFAULT_MODEL "Down To Ride (Default)"
|
||||
|
||||
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT}},
|
||||
{"LastUpdateTime", {PERSISTENT, TIME}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
|
||||
{"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
@@ -94,6 +94,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
@@ -145,28 +146,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
|
||||
{"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
|
||||
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"LastGPSPositionLLK", {PERSISTENT, STRING}},
|
||||
{"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
|
||||
{"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
|
||||
{"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"sunnypilot_ui", {PERSISTENT, BOOL, "1"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -178,7 +168,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
|
||||
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
|
||||
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
|
||||
|
||||
@@ -192,7 +181,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
|
||||
{"SunnylinkDongleId", {PERSISTENT, STRING}},
|
||||
{"SunnylinkdPid", {PERSISTENT, INT}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL}},
|
||||
|
||||
// Backup Manager params
|
||||
{"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
|
||||
@@ -204,16 +193,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnypilot model params
|
||||
// model panel params
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
|
||||
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
{"MapdVersion", {PERSISTENT, STRING}},
|
||||
{"MapdVersion", {PERSISTENT, STRING, ""}},
|
||||
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
|
||||
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
@@ -229,26 +216,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"OsmStateName", {PERSISTENT, STRING, "All"}},
|
||||
{"OsmStateTitle", {PERSISTENT, STRING}},
|
||||
{"OsmWayTest", {PERSISTENT, STRING}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"RoadNameToggle", {PERSISTENT, STRING}},
|
||||
|
||||
// Speed Limit
|
||||
{"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
|
||||
{"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
|
||||
// Smart Cruise Control
|
||||
{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
|
||||
};
|
||||
|
||||
@@ -14,7 +14,8 @@ class PIDController:
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
self.i_rate = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
@@ -40,10 +41,6 @@ class PIDController:
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def set_limits(self, pos_limit, neg_limit):
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = float(error) * self.k_p
|
||||
|
||||
@@ -1,6 +1,4 @@
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
@@ -13,16 +11,3 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
|
||||
@@ -36,7 +36,6 @@ const double MS_TO_KPH = 3.6;
|
||||
const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
|
||||
const double METER_TO_MILE = KM_TO_MILE / 1000.0;
|
||||
const double METER_TO_FOOT = 3.28084;
|
||||
const double METER_TO_KM = 1. / 1000.0;
|
||||
|
||||
#define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
|
||||
|
||||
|
||||
17
docs/CARS.md
17
docs/CARS.md
@@ -4,13 +4,12 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 334 Supported Cars
|
||||
# 325 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
@@ -73,25 +72,19 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
@@ -102,7 +95,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
@@ -127,7 +119,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -305,7 +297,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|
||||
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
|
||||
|
||||
### Getting Started
|
||||
|
||||
* Set up your [development environment](/tools/)
|
||||
* Setup your [development environment](../tools/)
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Docs are at https://docs.comma.ai and https://blog.comma.ai
|
||||
|
||||
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
|
||||
### First contribution
|
||||
|
||||
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
|
||||
There's lot of bounties that don't require a comma 3X or a car.
|
||||
There's lot of bounties that don't require a comma 3/3X or a car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
# Debugging Panda Safety with Replay Drive + LLDB
|
||||
|
||||
## 1. Start the debugger in VS Code
|
||||
|
||||
* Select **Replay drive + Safety LLDB**.
|
||||
* Enter the route or segment when prompted.
|
||||
[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
|
||||
|
||||
## 2. Attach LLDB
|
||||
|
||||
* When prompted, pick the running **`replay_drive` process**.
|
||||
* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
|
||||
|
||||
> [!TIP]
|
||||
> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
|
||||
|
||||
## 3. Set breakpoints in VS Code
|
||||
Breakpoints can be set directly in `modes/xxx.h` (or any C file).
|
||||
No extra LLDB commands are required — just place breakpoints in the editor.
|
||||
|
||||
## 4. Resume execution
|
||||
Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
|
||||
|
||||
> [!NOTE]
|
||||
> * Use short routes for quicker iteration.
|
||||
> * Pause `replay_drive` early to avoid wasting log messages.
|
||||
|
||||
## Video
|
||||
|
||||
View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578
|
||||
@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop, and in-vehicle tests before each software release.
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
@@ -29,18 +29,8 @@ ensuring two main safety requirements.
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
|
||||
|
||||
[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
||||
---
|
||||
[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
|
||||
|
||||
### Forks of openpilot
|
||||
|
||||
* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
|
||||
* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
|
||||
* If your fork modifies any of the code in `opendbc/safety/`:
|
||||
* your fork cannot use the openpilot trademark
|
||||
* your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
|
||||
|
||||
Failure to comply with these standards will get you and your users banned from comma.ai servers.
|
||||
|
||||
**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# connect to a comma 3X
|
||||
# connect to a comma 3/3X
|
||||
|
||||
A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
|
||||
## Serial Console
|
||||
|
||||
On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
|
||||
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
|
||||
|
||||
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
|
||||
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
|
||||
|
||||
> [!NOTE]
|
||||
> The default port for ADB is 5555 on the comma 3X.
|
||||
> The default port for ADB is 5555 on the comma 3/3X.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
|
||||
Just run `tools/replay/replay --demo`.
|
||||
|
||||
## Replaying CAN data
|
||||
*Hardware required: jungle and comma 3X*
|
||||
*Hardware required: jungle and comma 3/3X*
|
||||
|
||||
1. Connect your PC to a jungle.
|
||||
2.
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# Turn the speed blue
|
||||
*A getting started guide for openpilot development*
|
||||
|
||||
In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
|
||||
In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
|
||||
|
||||
And if you have a comma 3X, we'll deploy the change to your device for testing.
|
||||
And if you have a comma 3/3X, we'll deploy the change to your device for testing.
|
||||
|
||||
## 1. Set up your development environment
|
||||
## 1. Setup your development environment
|
||||
|
||||
Run this to clone openpilot and install all the dependencies:
|
||||
```bash
|
||||
|
||||
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="13.1"
|
||||
export AGNOS_VERSION="12.6"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
@@ -1,20 +1,3 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
IFS=$'\n\t'
|
||||
|
||||
# On any failure, run the fallback launcher
|
||||
trap 'exec ./launch_chffrplus.sh' ERR
|
||||
C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
|
||||
|
||||
MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
|
||||
export MODEL
|
||||
|
||||
if [ "$MODEL" = "comma tici" ]; then
|
||||
# Force a failure if the launcher doesn't exist
|
||||
[ -x "$C3_LAUNCH_SH" ] || false
|
||||
|
||||
# If it exists, run it
|
||||
exec "$C3_LAUNCH_SH"
|
||||
fi
|
||||
|
||||
exec ./launch_chffrplus.sh
|
||||
|
||||
@@ -21,7 +21,7 @@ nav:
|
||||
- What is openpilot?: getting-started/what-is-openpilot.md
|
||||
- How-to:
|
||||
- Turn the speed blue: how-to/turn-the-speed-blue.md
|
||||
- Connect to a comma 3X: how-to/connect-to-comma.md
|
||||
- Connect to a comma 3/3X: how-to/connect-to-comma.md
|
||||
# - Make your first pull request: how-to/make-first-pr.md
|
||||
#- Replay a drive: how-to/replay-a-drive.md
|
||||
- Concepts:
|
||||
|
||||
Submodule opendbc_repo updated: 29fe003b2f...23d37a87ec
2
panda
2
panda
Submodule panda updated: 69ab12ee2a...0e7a3fd8cf
@@ -36,9 +36,6 @@ dependencies = [
|
||||
"pyopenssl < 24.3.0",
|
||||
"pyaudio",
|
||||
|
||||
# ubloxd (TODO: just use struct)
|
||||
"kaitaistruct",
|
||||
|
||||
# panda
|
||||
"libusb1",
|
||||
"spidev; platform_system == 'Linux'",
|
||||
@@ -104,9 +101,8 @@ dev = [
|
||||
"av",
|
||||
"azure-identity",
|
||||
"azure-storage-blob",
|
||||
"dbus-next", # TODO: remove once we moved everything to jeepney
|
||||
"dbus-next",
|
||||
"dictdiffer",
|
||||
"jeepney",
|
||||
"matplotlib",
|
||||
"opencv-python-headless",
|
||||
"parameterized >=0.8, <0.9",
|
||||
@@ -124,7 +120,6 @@ dev = [
|
||||
|
||||
tools = [
|
||||
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
|
||||
"dearpygui>=2.1.0",
|
||||
]
|
||||
|
||||
[project.urls]
|
||||
@@ -162,6 +157,7 @@ testpaths = [
|
||||
"system/camerad",
|
||||
"system/hardware",
|
||||
"system/loggerd",
|
||||
"system/proclogd",
|
||||
"system/tests",
|
||||
"system/ubloxd",
|
||||
"system/webrtc",
|
||||
@@ -177,7 +173,7 @@ quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
|
||||
|
||||
[tool.mypy]
|
||||
python_version = "3.11"
|
||||
@@ -251,7 +247,6 @@ exclude = [
|
||||
"teleoprtc_repo",
|
||||
"third_party",
|
||||
"*.ipynb",
|
||||
"generated",
|
||||
]
|
||||
lint.flake8-implicit-str-concat.allow-multiline = false
|
||||
|
||||
|
||||
@@ -3,34 +3,33 @@
|
||||
```
|
||||
## release checklist
|
||||
|
||||
### Go to staging
|
||||
- [ ] make a GitHub issue to track release
|
||||
- [ ] create release master branch
|
||||
**Go to `devel-staging`**
|
||||
- [ ] make issue to track release
|
||||
- [ ] update RELEASES.md
|
||||
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
|
||||
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
|
||||
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
|
||||
- [ ] build new userdata partition from `release3-staging`
|
||||
- [ ] open a pull request from `devel-staging` to `devel`
|
||||
- [ ] post on Discord, tag `@release crew`
|
||||
|
||||
Updating staging:
|
||||
1. either rebase on master or cherry-pick changes
|
||||
2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
|
||||
3. build new userdata partition from `release3-staging`
|
||||
|
||||
### Go to release
|
||||
- [ ] before going to release, test the following:
|
||||
**Go to `devel`**
|
||||
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
|
||||
- [ ] before merging the pull request, test the following:
|
||||
- [ ] update from previous release -> new release
|
||||
- [ ] update from new release -> previous release
|
||||
- [ ] fresh install with `openpilot-test.comma.ai`
|
||||
- [ ] drive on fresh install
|
||||
- [ ] no submodules or LFS
|
||||
- [ ] check sentry, MTBF, etc.
|
||||
- [ ] stress test passes in production
|
||||
- [ ] stress test in production
|
||||
|
||||
**Go to `release3`**
|
||||
- [ ] publish the blog post
|
||||
- [ ] `git reset --hard origin/release3-staging`
|
||||
- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
|
||||
- [ ] create GitHub release
|
||||
- [ ] final test install on `openpilot.comma.ai`
|
||||
- [ ] update factory provisioning
|
||||
- [ ] close out milestone and issue
|
||||
- [ ] close out milestone
|
||||
- [ ] post on Discord, X, etc.
|
||||
```
|
||||
|
||||
@@ -17,23 +17,28 @@ rm -rf $TARGET_DIR
|
||||
mkdir -p $TARGET_DIR
|
||||
cd $TARGET_DIR
|
||||
cp -r $SOURCE_DIR/.git $TARGET_DIR
|
||||
pre-commit uninstall || true
|
||||
|
||||
echo "[-] setting up stripped branch sync T=$SECONDS"
|
||||
echo "[-] bringing __nightly and devel in sync T=$SECONDS"
|
||||
cd $TARGET_DIR
|
||||
|
||||
# tmp branch
|
||||
git checkout --orphan tmp
|
||||
git fetch --depth 1 origin __nightly
|
||||
git fetch --depth 1 origin devel
|
||||
|
||||
git checkout -f --track origin/__nightly
|
||||
git reset --hard __nightly
|
||||
git checkout __nightly
|
||||
git reset --hard origin/devel
|
||||
git clean -xdff
|
||||
git lfs uninstall
|
||||
|
||||
# remove everything except .git
|
||||
echo "[-] erasing old sunnypilot T=$SECONDS"
|
||||
git submodule deinit -f --all
|
||||
git rm -rf --cached .
|
||||
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
|
||||
|
||||
# cleanup before the copy
|
||||
# reset source tree
|
||||
cd $SOURCE_DIR
|
||||
git clean -xdff
|
||||
git submodule foreach --recursive git clean -xdff
|
||||
|
||||
# do the files copy
|
||||
echo "[-] copying files T=$SECONDS"
|
||||
@@ -42,7 +47,6 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
|
||||
|
||||
# in the directory
|
||||
cd $TARGET_DIR
|
||||
rm -rf .git/modules/
|
||||
rm -f panda/board/obj/panda.bin.signed
|
||||
|
||||
# include source commit hash and build date in commit
|
||||
@@ -81,7 +85,7 @@ fi
|
||||
|
||||
if [ ! -z "$BRANCH" ]; then
|
||||
echo "[-] Pushing to $BRANCH T=$SECONDS"
|
||||
git push -f origin tmp:$BRANCH
|
||||
git push -f origin __nightly:$BRANCH
|
||||
fi
|
||||
|
||||
echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
|
||||
@@ -51,19 +51,26 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
|
||||
|
||||
echo "[-] committing version $VERSION T=$SECONDS"
|
||||
git add -f .
|
||||
git commit -a -m "sunnypilot v$VERSION release"
|
||||
git branch --set-upstream-to=origin/$DEV_BRANCH
|
||||
|
||||
# include source commit hash and build date in commit
|
||||
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
|
||||
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
|
||||
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
|
||||
SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
|
||||
|
||||
# Commit with detailed message
|
||||
git commit -a -m "sunnypilot v$VERSION
|
||||
version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
|
||||
date: $DATETIME
|
||||
master commit: $GIT_HASH
|
||||
"
|
||||
git branch --set-upstream-to=origin/$DEV_BRANCH
|
||||
# Add built files to git
|
||||
git add -f .
|
||||
if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
|
||||
export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
|
||||
git commit --amend -m "sunnypilot v$VERSION"
|
||||
else
|
||||
git commit --amend -m "sunnypilot v$VERSION
|
||||
version: sunnypilot v$SP_VERSION release
|
||||
date: $DATETIME
|
||||
master commit: $GIT_HASH
|
||||
"
|
||||
fi
|
||||
git branch -m $DEV_BRANCH
|
||||
|
||||
# Push!
|
||||
|
||||
@@ -14,7 +14,7 @@ def setup_argument_parser():
|
||||
parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
|
||||
parser.add_argument('--source-branch', type=str, default='master',
|
||||
help='Source branch for merging')
|
||||
parser.add_argument('--target-branch', type=str, default='master-dev-test',
|
||||
parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
|
||||
help='Target branch for merging')
|
||||
parser.add_argument('--squash-script-path', type=str, required=True,
|
||||
help='Path to the squash_and_merge.py script')
|
||||
|
||||
@@ -71,7 +71,7 @@ class Car:
|
||||
|
||||
def __init__(self, CI=None, RI=None) -> None:
|
||||
self.can_sock = messaging.sub_sock('can', timeout=20)
|
||||
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
|
||||
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
|
||||
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
|
||||
|
||||
self.can_rcv_cum_timeout_counter = 0
|
||||
@@ -124,7 +124,7 @@ class Car:
|
||||
|
||||
self.CP.alternativeExperience = 0
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_alternative_experience(self.CP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
# Dynamic Experimental Control
|
||||
@@ -179,7 +179,7 @@ class Car:
|
||||
self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
|
||||
|
||||
self.mock_carstate = MockCarState()
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode")
|
||||
@@ -216,7 +216,6 @@ class Car:
|
||||
if can_rcv_valid and REPLAY:
|
||||
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
|
||||
|
||||
self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
|
||||
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
|
||||
# Use CarState w/ buttons from the step selfdrived enables on
|
||||
|
||||
@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {
|
||||
|
||||
|
||||
class VCruiseHelper(VCruiseHelperSP):
|
||||
def __init__(self, CP, CP_SP):
|
||||
VCruiseHelperSP.__init__(self, CP, CP_SP)
|
||||
def __init__(self, CP):
|
||||
VCruiseHelperSP.__init__(self)
|
||||
self.CP = CP
|
||||
self.v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_cluster_kph = V_CRUISE_UNSET
|
||||
@@ -46,14 +46,10 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
def update_v_cruise(self, CS, enabled, is_metric):
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
|
||||
self.get_minimum_set_speed(is_metric)
|
||||
|
||||
if CS.cruiseState.available:
|
||||
_enabled = self.update_enabled_state(CS, enabled)
|
||||
if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
|
||||
if not self.CP.pcmCruise:
|
||||
# if stock cruise is completely disabled, then we can use our own set speed logic
|
||||
self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
|
||||
self.update_speed_limit_assist_v_cruise_non_pcm()
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
self.update_button_timers(CS, enabled)
|
||||
else:
|
||||
@@ -105,12 +101,6 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
if not self.button_change_states[button_type]["enabled"]:
|
||||
return
|
||||
|
||||
# Speed Limit Assist for Non PCM long cars.
|
||||
# True: Disallow set speed changes when user confirmed the target set speed during preActive state
|
||||
# False: Allow set speed changes as SLA is not requesting user confirmation
|
||||
if self.update_speed_limit_assist_pre_active_confirmed(button_type):
|
||||
return
|
||||
|
||||
long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
|
||||
if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
|
||||
self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
|
||||
@@ -121,7 +111,7 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
|
||||
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
|
||||
|
||||
self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
|
||||
self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
|
||||
|
||||
def update_button_timers(self, CS, enabled):
|
||||
# increment timer for buttons still pressed
|
||||
|
||||
@@ -60,8 +60,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
|
||||
struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
|
||||
struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
|
||||
struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
|
||||
struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
|
||||
**remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
|
||||
)
|
||||
|
||||
return struct_dataclass
|
||||
|
||||
@@ -1,12 +1,15 @@
|
||||
import os
|
||||
import math
|
||||
import hypothesis.strategies as st
|
||||
from hypothesis import Phase, given, settings
|
||||
from parameterized import parameterized
|
||||
|
||||
from cereal import car, custom
|
||||
from opendbc.car import DT_CTRL
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
|
||||
from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
|
||||
from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.values import PLATFORMS
|
||||
from openpilot.selfdrive.car.helpers import convert_carControlSP
|
||||
@@ -18,6 +21,11 @@ from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
|
||||
ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
|
||||
ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
|
||||
|
||||
ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
|
||||
|
||||
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
|
||||
|
||||
|
||||
@@ -29,10 +37,43 @@ class TestCarInterfaces:
|
||||
phases=(Phase.reuse, Phase.generate, Phase.shrink))
|
||||
@given(data=st.data())
|
||||
def test_car_interfaces(self, car_name, data):
|
||||
car_interface = get_fuzzy_car_interface(car_name, data.draw)
|
||||
car_params = car_interface.CP.as_reader()
|
||||
car_params_sp = car_interface.CP_SP
|
||||
CarInterface = interfaces[car_name]
|
||||
|
||||
args = get_fuzzy_car_interface_args(data.draw)
|
||||
|
||||
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
|
||||
alpha_long=args['alpha_long'], is_release=False, docs=False)
|
||||
car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
|
||||
alpha_long=args['alpha_long'], docs=False)
|
||||
car_params = car_params.as_reader()
|
||||
car_interface = CarInterface(car_params, car_params_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(car_interface)
|
||||
assert car_params
|
||||
assert car_params_sp
|
||||
assert car_interface
|
||||
|
||||
assert car_params.mass > 1
|
||||
assert car_params.wheelbase > 0
|
||||
# centerToFront is center of gravity to front wheels, assert a reasonable range
|
||||
assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
|
||||
assert car_params.maxLateralAccel > 0
|
||||
|
||||
# Longitudinal sanity checks
|
||||
assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
|
||||
assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
|
||||
|
||||
# Lateral sanity checks
|
||||
if car_params.steerControlType != CarParams.SteerControlType.angle:
|
||||
tune = car_params.lateralTuning
|
||||
if tune.which() == 'pid':
|
||||
if car_name != MOCK.MOCK:
|
||||
assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
|
||||
assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
|
||||
assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
|
||||
|
||||
elif tune.which() == 'torque':
|
||||
assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
|
||||
assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
|
||||
|
||||
cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
|
||||
cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
|
||||
@@ -60,7 +101,7 @@ class TestCarInterfaces:
|
||||
# Test controller initialization
|
||||
# TODO: wait until card refactor is merged to run controller a few times,
|
||||
# hypothesis also slows down significantly with just one more message draw
|
||||
LongControl(car_params, car_params_sp)
|
||||
LongControl(car_params)
|
||||
if car_params.steerControlType == CarParams.SteerControlType.angle:
|
||||
LatControlAngle(car_params, car_params_sp, car_interface)
|
||||
elif car_params.lateralTuning.which() == 'pid':
|
||||
|
||||
@@ -5,7 +5,7 @@ import numpy as np
|
||||
from parameterized import parameterized_class
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
|
||||
from cereal import car, custom
|
||||
from cereal import car
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
|
||||
|
||||
@@ -44,13 +44,12 @@ class TestCruiseSpeed:
|
||||
assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
|
||||
|
||||
|
||||
# TODO: test pcmCruise and pcmCruiseSpeed
|
||||
@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
|
||||
# TODO: test pcmCruise
|
||||
@parameterized_class(('pcm_cruise',), [(False,)])
|
||||
class TestVCruiseHelper:
|
||||
def setup_method(self):
|
||||
self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
|
||||
self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
self.reset_cruise_speed_state()
|
||||
|
||||
def reset_cruise_speed_state(self):
|
||||
|
||||
@@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
self.pose_calibrator = PoseCalibrator()
|
||||
self.calibrated_pose: Pose | None = None
|
||||
|
||||
self.LoC = LongControl(self.CP, self.CP_SP)
|
||||
self.LoC = LongControl(self.CP)
|
||||
self.VM = VehicleModel(self.CP)
|
||||
self.LaC: LatControl
|
||||
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
@@ -95,8 +95,6 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
|
||||
torque_params.frictionCoefficientFiltered)
|
||||
|
||||
self.LaC.extension.update_limits()
|
||||
|
||||
self.LaC.extension.update_model_v2(self.sm['modelV2'])
|
||||
|
||||
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
|
||||
@@ -116,8 +114,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
|
||||
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
|
||||
(not standstill or self.CP.steerAtStandstill)
|
||||
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
|
||||
(self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
|
||||
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
|
||||
|
||||
actuators = CC.actuators
|
||||
actuators.longControlState = self.LoC.long_control_state
|
||||
@@ -169,7 +166,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
|
||||
CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
|
||||
|
||||
CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
|
||||
CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
|
||||
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
|
||||
CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
|
||||
|
||||
|
||||
@@ -1,8 +1,7 @@
|
||||
from cereal import log, custom
|
||||
from cereal import log
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
|
||||
|
||||
LaneChangeState = log.LaneChangeState
|
||||
LaneChangeDirection = log.LaneChangeDirection
|
||||
@@ -31,12 +30,6 @@ DESIRES = {
|
||||
},
|
||||
}
|
||||
|
||||
TURN_DESIRES = {
|
||||
custom.TurnDirection.none: log.Desire.none,
|
||||
custom.TurnDirection.turnLeft: log.Desire.turnLeft,
|
||||
custom.TurnDirection.turnRight: log.Desire.turnRight,
|
||||
}
|
||||
|
||||
|
||||
class DesireHelper:
|
||||
def __init__(self):
|
||||
@@ -48,25 +41,13 @@ class DesireHelper:
|
||||
self.prev_one_blinker = False
|
||||
self.desire = log.Desire.none
|
||||
self.alc = AutoLaneChangeController(self)
|
||||
self.lane_turn_controller = LaneTurnController(self)
|
||||
self.lane_turn_direction = custom.TurnDirection.none
|
||||
|
||||
@staticmethod
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
one_blinker = carstate.leftBlinker != carstate.rightBlinker
|
||||
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
||||
|
||||
# Lane turn controller update
|
||||
self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
|
||||
left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
|
||||
self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
|
||||
|
||||
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
|
||||
self.lane_change_state = LaneChangeState.off
|
||||
self.lane_change_direction = LaneChangeDirection.none
|
||||
@@ -75,13 +56,12 @@ class DesireHelper:
|
||||
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
|
||||
self.lane_change_state = LaneChangeState.preLaneChange
|
||||
self.lane_change_ll_prob = 1.0
|
||||
# Initialize lane change direction to prevent UI alert flicker
|
||||
self.lane_change_direction = self.get_lane_change_direction(carstate)
|
||||
|
||||
# LaneChangeState.preLaneChange
|
||||
elif self.lane_change_state == LaneChangeState.preLaneChange:
|
||||
# Update lane change direction
|
||||
self.lane_change_direction = self.get_lane_change_direction(carstate)
|
||||
# Set lane change direction
|
||||
self.lane_change_direction = LaneChangeDirection.left if \
|
||||
carstate.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
torque_applied = carstate.steeringPressed and \
|
||||
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
@@ -126,10 +106,7 @@ class DesireHelper:
|
||||
|
||||
self.prev_one_blinker = one_blinker
|
||||
|
||||
if self.lane_turn_direction != custom.TurnDirection.none:
|
||||
self.desire = TURN_DESIRES[self.lane_turn_direction]
|
||||
else:
|
||||
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
|
||||
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
|
||||
|
||||
# Send keep pulse once per second during LaneChangeStart.preLaneChange
|
||||
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
|
||||
|
||||
@@ -3,6 +3,7 @@ import numpy as np
|
||||
|
||||
from cereal import log
|
||||
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
|
||||
from opendbc.car.interfaces import LatControlInputs
|
||||
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
|
||||
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
||||
from openpilot.common.pid import PIDController
|
||||
@@ -28,30 +29,19 @@ class LatControlTorque(LatControl):
|
||||
def __init__(self, CP, CP_SP, CI):
|
||||
super().__init__(CP, CP_SP, CI)
|
||||
self.torque_params = CP.lateralTuning.torque.as_builder()
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
|
||||
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
|
||||
k_f=self.torque_params.kf)
|
||||
self.update_limits()
|
||||
k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
|
||||
|
||||
self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
|
||||
self.extension = LatControlTorqueExt(self, CP, CP_SP)
|
||||
|
||||
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
|
||||
self.torque_params.latAccelFactor = latAccelFactor
|
||||
self.torque_params.latAccelOffset = latAccelOffset
|
||||
self.torque_params.friction = friction
|
||||
self.update_limits()
|
||||
|
||||
def update_limits(self):
|
||||
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
|
||||
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
|
||||
# Override torque params from extension
|
||||
if self.extension.update_override_torque_params(self.torque_params):
|
||||
self.update_limits()
|
||||
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
if not active:
|
||||
output_torque = 0.0
|
||||
@@ -60,8 +50,10 @@ class LatControlTorque(LatControl):
|
||||
actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
|
||||
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
|
||||
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
|
||||
|
||||
desired_lateral_accel = desired_curvature * CS.vEgo ** 2
|
||||
|
||||
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
|
||||
# desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
|
||||
actual_lateral_accel = actual_curvature * CS.vEgo ** 2
|
||||
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
|
||||
|
||||
@@ -69,33 +61,33 @@ class LatControlTorque(LatControl):
|
||||
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
|
||||
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
|
||||
gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
|
||||
|
||||
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
|
||||
pid_log.error = float(setpoint - measurement)
|
||||
ff = gravity_adjusted_lateral_accel
|
||||
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
|
||||
ff -= self.torque_params.latAccelOffset
|
||||
torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
|
||||
gravity_adjusted=False)
|
||||
torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
|
||||
gravity_adjusted=False)
|
||||
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
|
||||
ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
|
||||
gravity_adjusted=True)
|
||||
ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
# Lateral acceleration torque controller extension updates
|
||||
# Overrides stock ff and pid_log.error
|
||||
ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
|
||||
desired_curvature, actual_curvature)
|
||||
|
||||
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
output_lataccel = self.pid.update(pid_log.error,
|
||||
output_torque = self.pid.update(pid_log.error,
|
||||
feedforward=ff,
|
||||
speed=CS.vEgo,
|
||||
freeze_integrator=freeze_integrator)
|
||||
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
|
||||
|
||||
# Lateral acceleration torque controller extension updates
|
||||
# Overrides pid_log.error and output_torque
|
||||
pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
|
||||
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
|
||||
desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
|
||||
|
||||
pid_log.active = True
|
||||
pid_log.p = float(self.pid.p)
|
||||
pid_log.i = float(self.pid.i)
|
||||
pid_log.d = float(self.pid.d)
|
||||
pid_log.f = float(self.pid.f)
|
||||
pid_log.output = float(-output_torque) # TODO: log lat accel?
|
||||
pid_log.output = float(-output_torque)
|
||||
pid_log.actualLateralAccel = float(actual_lateral_accel)
|
||||
pid_log.desiredLateralAccel = float(desired_lateral_accel)
|
||||
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
|
||||
|
||||
@@ -10,11 +10,8 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
def long_control_state_trans(CP, active, long_control_state, v_ego,
|
||||
should_stop, brake_pressed, cruise_standstill):
|
||||
# Gas Interceptor
|
||||
cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
|
||||
|
||||
stopping_condition = should_stop
|
||||
starting_condition = (not should_stop and
|
||||
not cruise_standstill and
|
||||
@@ -48,9 +45,8 @@ def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
return long_control_state
|
||||
|
||||
class LongControl:
|
||||
def __init__(self, CP, CP_SP):
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.long_control_state = LongCtrlState.off
|
||||
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
|
||||
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
|
||||
@@ -65,7 +61,7 @@ class LongControl:
|
||||
self.pid.neg_limit = accel_limits[0]
|
||||
self.pid.pos_limit = accel_limits[1]
|
||||
|
||||
self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
|
||||
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
|
||||
should_stop, CS.brakePressed,
|
||||
CS.cruiseState.standstill)
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
|
||||
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
return x, v, a, j, throttle_prob
|
||||
|
||||
def update(self, sm):
|
||||
mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
if not self.mlsim:
|
||||
self.mpc.mode = mode
|
||||
self.mpc.mode = self.mode
|
||||
LongitudinalPlannerSP.update(self, sm)
|
||||
if dec_mpc_mode := self.get_mpc_mode():
|
||||
mode = dec_mpc_mode
|
||||
self.mode = dec_mpc_mode
|
||||
if not self.mlsim:
|
||||
self.mpc.mode = dec_mpc_mode
|
||||
|
||||
@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
if mode == 'acc':
|
||||
if self.mode == 'acc':
|
||||
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
|
||||
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
|
||||
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
|
||||
@@ -146,9 +146,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
|
||||
accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
|
||||
|
||||
# Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
|
||||
v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
|
||||
|
||||
if force_slow_decel:
|
||||
v_cruise = 0.0
|
||||
|
||||
@@ -176,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
if mode == 'acc' or not self.mlsim:
|
||||
if self.mode == 'acc' or not self.mlsim:
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
else:
|
||||
|
||||
@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.nissan.values import CAR as NISSAN
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.selfdrive.car.helpers import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
@@ -18,8 +17,7 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
|
||||
|
||||
class TestLatControl:
|
||||
|
||||
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
|
||||
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
|
||||
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
|
||||
def test_saturation(self, car_name, controller):
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
@@ -1,6 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from openpilot.common.gps import get_gps_location_service
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import Priority, config_realtime_process
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
@@ -17,18 +16,14 @@ def main():
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("plannerd got CarParams: %s", CP.brand)
|
||||
|
||||
gps_location_service = get_gps_location_service(params)
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP)
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
|
||||
'liveMapDataSP', 'carStateSP', gps_location_service],
|
||||
poll='carState')
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
|
||||
poll='modelV2')
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
longitudinal_planner.sla.update_car_state(sm['carState'])
|
||||
if sm.updated['modelV2']:
|
||||
longitudinal_planner.update(sm)
|
||||
longitudinal_planner.publish(sm, pm)
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from cereal import car, custom
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
@@ -8,52 +8,49 @@ class TestLongControlStateTransition:
|
||||
|
||||
def test_stay_stopped(self):
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
active = False
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.off
|
||||
|
||||
def test_engage():
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.off
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
def test_starting():
|
||||
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
@@ -1,70 +0,0 @@
|
||||
import numpy as np
|
||||
from cereal import car, messaging
|
||||
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
|
||||
|
||||
np.random.seed(0)
|
||||
|
||||
LA_ERR_STD = 1.0
|
||||
INPUT_NOISE_STD = 0.08
|
||||
V_EGO = 30.0
|
||||
|
||||
WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
|
||||
STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
|
||||
|
||||
ROLL_BIAS_DEG = 2.0
|
||||
ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
|
||||
TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
|
||||
TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
|
||||
|
||||
def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
|
||||
rng = np.random.default_rng(0)
|
||||
steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
|
||||
la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
|
||||
frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
|
||||
lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
|
||||
if input_noise_std is not None:
|
||||
steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
|
||||
lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
|
||||
return steer_torques, lat_accels
|
||||
|
||||
def get_warmed_up_estimator(steer_torques, lat_accels):
|
||||
est = TorqueEstimator(car.CarParams())
|
||||
for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
|
||||
est.filtered_points.add_point(steer_torque, lat_accel)
|
||||
return est
|
||||
|
||||
def simulate_straight_road_msgs(est):
|
||||
carControl = messaging.new_message('carControl').carControl
|
||||
carOutput = messaging.new_message('carOutput').carOutput
|
||||
carState = messaging.new_message('carState').carState
|
||||
livePose = messaging.new_message('livePose').livePose
|
||||
carControl.latActive = True
|
||||
carState.vEgo = V_EGO
|
||||
carState.steeringPressed = False
|
||||
ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
|
||||
steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
|
||||
lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
|
||||
for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
|
||||
carOutput.actuatorsOutput.torque = float(-steer_torque)
|
||||
livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
|
||||
livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
|
||||
for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
|
||||
est.handle_log(t, which, msg)
|
||||
|
||||
def test_estimated_offset():
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
msg = est.get_msg()
|
||||
# TODO add lataccelfactor and friction check when we have more accurate estimates
|
||||
assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
|
||||
|
||||
def test_straight_road_roll_bias():
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
simulate_straight_road_msgs(est)
|
||||
msg = est.get_msg()
|
||||
assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
|
||||
@@ -11,7 +11,6 @@ from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
|
||||
|
||||
HISTORY = 5 # secs
|
||||
POINTS_PER_BUCKET = 1500
|
||||
@@ -51,10 +50,9 @@ class TorqueBuckets(PointBuckets):
|
||||
break
|
||||
|
||||
|
||||
class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
class TorqueEstimator(ParameterEstimator):
|
||||
def __init__(self, CP, decimated=False, track_all_points=False):
|
||||
ParameterEstimator.__init__(self)
|
||||
TorqueEstimatorExt.__init__(self, CP)
|
||||
super().__init__()
|
||||
self.CP = CP
|
||||
self.hist_len = int(HISTORY / DT_MDL)
|
||||
self.lag = 0.0
|
||||
@@ -84,8 +82,6 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
|
||||
self.calibrator = PoseCalibrator()
|
||||
|
||||
TorqueEstimatorExt.initialize_custom_params(self, decimated)
|
||||
|
||||
self.reset()
|
||||
|
||||
initial_params = {
|
||||
@@ -264,8 +260,6 @@ def main(demo=False):
|
||||
t = sm.logMonoTime[which] * 1e-9
|
||||
estimator.handle_log(t, which, sm[which])
|
||||
|
||||
TorqueEstimatorExt.update_use_params(estimator)
|
||||
|
||||
# 4Hz driven by livePose
|
||||
if sm.frame % 5 == 0:
|
||||
pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
|
||||
|
||||
@@ -13,9 +13,12 @@ class ModelConstants:
|
||||
META_T_IDXS = [2., 4., 6., 8., 10.]
|
||||
|
||||
# model inputs constants
|
||||
N_FRAMES = 2
|
||||
MODEL_RUN_FREQ = 20
|
||||
MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
|
||||
MODEL_FREQ = 20
|
||||
HISTORY_FREQ = 5
|
||||
HISTORY_LEN_SECONDS = 5
|
||||
TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
|
||||
FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
|
||||
INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
|
||||
|
||||
FEATURE_LEN = 512
|
||||
|
||||
|
||||
@@ -3,7 +3,6 @@ import capnp
|
||||
import numpy as np
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
|
||||
from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
|
||||
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
@@ -96,8 +95,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
# action
|
||||
modelV2.action = action
|
||||
|
||||
# times at X_IDXS of edges and lines
|
||||
LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
|
||||
# times at X_IDXS of edges and lines aren't used
|
||||
LINE_T_IDXS: list[float] = []
|
||||
|
||||
# lane lines
|
||||
modelV2.init('laneLines', 4)
|
||||
@@ -150,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
meta.hardBrakePredicted = hard_brake_predicted.item()
|
||||
|
||||
# confidence
|
||||
if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
|
||||
if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
|
||||
# any disengage prob
|
||||
brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
|
||||
gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
|
||||
|
||||
@@ -80,64 +80,6 @@ class FrameMeta:
|
||||
if vipc is not None:
|
||||
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
|
||||
|
||||
class InputQueues:
|
||||
def __init__ (self, model_fps, env_fps, n_frames_input):
|
||||
assert env_fps % model_fps == 0
|
||||
assert env_fps >= model_fps
|
||||
self.model_fps = model_fps
|
||||
self.env_fps = env_fps
|
||||
self.n_frames_input = n_frames_input
|
||||
|
||||
self.dtypes = {}
|
||||
self.shapes = {}
|
||||
self.q = {}
|
||||
|
||||
def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
|
||||
self.dtypes.update(input_dtypes)
|
||||
if self.env_fps == self.model_fps:
|
||||
self.shapes.update(input_shapes)
|
||||
else:
|
||||
for k in input_shapes:
|
||||
shape = list(input_shapes[k])
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // self.n_frames_input
|
||||
shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
|
||||
else:
|
||||
shape[1] = (self.env_fps // self.model_fps) * shape[1]
|
||||
self.shapes[k] = tuple(shape)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
|
||||
|
||||
def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
|
||||
for k in inputs.keys():
|
||||
if inputs[k].dtype != self.dtypes[k]:
|
||||
raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
|
||||
input_shape = list(self.shapes[k])
|
||||
input_shape[1] = -1
|
||||
single_input = inputs[k].reshape(tuple(input_shape))
|
||||
sz = single_input.shape[1]
|
||||
self.q[k][:,:-sz] = self.q[k][:,sz:]
|
||||
self.q[k][:,-sz:] = single_input
|
||||
|
||||
def get(self, *names) -> dict[str, np.ndarray]:
|
||||
if self.env_fps == self.model_fps:
|
||||
return {k: self.q[k] for k in names}
|
||||
else:
|
||||
out = {}
|
||||
for k in names:
|
||||
shape = self.shapes[k]
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
|
||||
out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
|
||||
elif 'pulse' in k:
|
||||
# any pulse within interval counts
|
||||
out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
|
||||
else:
|
||||
idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
|
||||
out[k] = self.q[k][:, idxs]
|
||||
return out
|
||||
|
||||
class ModelState(ModelStateBase):
|
||||
frames: dict[str, DrivingModelFrame]
|
||||
inputs: dict[str, np.ndarray]
|
||||
@@ -160,15 +102,22 @@ class ModelState(ModelStateBase):
|
||||
self.policy_output_slices = policy_metadata['output_slices']
|
||||
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
|
||||
self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
|
||||
self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
|
||||
self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
|
||||
self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
|
||||
self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
|
||||
|
||||
# policy inputs
|
||||
self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
|
||||
self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
|
||||
self.full_input_queues.reset()
|
||||
self.numpy_inputs = {
|
||||
'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
|
||||
'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
|
||||
'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
|
||||
'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
|
||||
'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32),
|
||||
}
|
||||
|
||||
# img buffers are managed in openCL transform code
|
||||
self.vision_inputs: dict[str, Tensor] = {}
|
||||
@@ -190,10 +139,16 @@ class ModelState(ModelStateBase):
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
inputs['desire'][0] = 0
|
||||
new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
|
||||
self.prev_desire[:] = inputs['desire']
|
||||
|
||||
self.full_desire[0,:-1] = self.full_desire[0,1:]
|
||||
self.full_desire[0,-1] = new_desire
|
||||
self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
|
||||
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
|
||||
imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
|
||||
|
||||
if TICI and not USBGPU:
|
||||
@@ -212,14 +167,18 @@ class ModelState(ModelStateBase):
|
||||
self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
|
||||
|
||||
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
|
||||
self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
|
||||
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
|
||||
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
|
||||
# TODO model only uses last value now
|
||||
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
|
||||
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
|
||||
self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
|
||||
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
@@ -266,14 +225,14 @@ def main(demo=False):
|
||||
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
|
||||
|
||||
# messaging
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
|
||||
|
||||
publish_state = PublishState()
|
||||
params = Params()
|
||||
|
||||
# setup filter to track dropped frames
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
|
||||
frame_id = 0
|
||||
last_vipc_frame_id = 0
|
||||
run_count = 0
|
||||
@@ -340,6 +299,7 @@ def main(demo=False):
|
||||
if sm.frame % 60 == 0:
|
||||
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
|
||||
lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
|
||||
lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
|
||||
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
|
||||
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
|
||||
@@ -370,8 +330,9 @@ def main(demo=False):
|
||||
bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
|
||||
transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
|
||||
inputs:dict[str, np.ndarray] = {
|
||||
'desire_pulse': vec_desire,
|
||||
'desire': vec_desire,
|
||||
'traffic_convention': traffic_convention,
|
||||
'lateral_control_params': lateral_control_params,
|
||||
}
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
@@ -383,7 +344,6 @@ def main(demo=False):
|
||||
modelv2_send = messaging.new_message('modelV2')
|
||||
drivingdata_send = messaging.new_message('drivingModelData')
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
|
||||
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
|
||||
prev_action = action
|
||||
@@ -398,7 +358,6 @@ def main(demo=False):
|
||||
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.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
|
||||
drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
|
||||
|
||||
@@ -406,7 +365,6 @@ def main(demo=False):
|
||||
pm.send('modelV2', modelv2_send)
|
||||
pm.send('drivingModelData', drivingdata_send)
|
||||
pm.send('cameraOdometry', posenet_send)
|
||||
pm.send('modelDataV2SP', mdv2sp_send)
|
||||
last_vipc_frame_id = meta_main.frame_id
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -22,10 +22,9 @@ class Parser:
|
||||
self.ignore_missing = ignore_missing
|
||||
|
||||
def check_missing(self, outs, name):
|
||||
missing = name not in outs
|
||||
if missing and not self.ignore_missing:
|
||||
if name not in outs and not self.ignore_missing:
|
||||
raise ValueError(f"Missing output {name}")
|
||||
return missing
|
||||
return name not in outs
|
||||
|
||||
def parse_categorical_crossentropy(self, name, outs, out_shape=None):
|
||||
if self.check_missing(outs, name):
|
||||
@@ -85,13 +84,6 @@ class Parser:
|
||||
outs[name] = pred_mu_final.reshape(final_shape)
|
||||
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
|
||||
|
||||
def is_mhp(self, outs, name, shape):
|
||||
if self.check_missing(outs, name):
|
||||
return False
|
||||
if outs[name].shape[1] == 2 * shape:
|
||||
return False
|
||||
return True
|
||||
|
||||
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
|
||||
@@ -102,17 +94,23 @@ class Parser:
|
||||
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
|
||||
self.parse_binary_crossentropy('meta', outs)
|
||||
self.parse_binary_crossentropy('lead_prob', outs)
|
||||
lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
|
||||
lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
|
||||
lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
|
||||
(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
|
||||
self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
|
||||
if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
|
||||
self.parse_mdn('lead', outs, in_N=0, out_N=0,
|
||||
out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
|
||||
else:
|
||||
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
|
||||
return outs
|
||||
|
||||
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
|
||||
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
|
||||
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
|
||||
if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
|
||||
self.parse_mdn('plan', outs, in_N=0, out_N=0,
|
||||
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
|
||||
else:
|
||||
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
|
||||
if 'desired_curvature' in outs:
|
||||
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
|
||||
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
|
||||
return outs
|
||||
|
||||
|
||||
@@ -84,10 +84,12 @@ Panda *connect(std::string serial="", uint32_t index=0) {
|
||||
panda->set_can_fd_auto(i, true);
|
||||
}
|
||||
|
||||
bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
|
||||
bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
|
||||
DEPRECATED_PANDA_TYPES.end(),
|
||||
panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
|
||||
|
||||
if (!is_supported_panda) {
|
||||
LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
|
||||
if (is_deprecated_panda) {
|
||||
LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
|
||||
return panda.release();
|
||||
}
|
||||
|
||||
@@ -173,6 +175,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
|
||||
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt);
|
||||
ps.setFanPower(health.fan_power);
|
||||
ps.setFanStallCount(health.fan_stall_count);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
|
||||
ps.setSpiErrorCount(health.spi_error_count_pkt);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
|
||||
@@ -9,10 +9,13 @@
|
||||
void pandad_main_thread(std::vector<std::string> serials);
|
||||
|
||||
// deprecated devices
|
||||
static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
|
||||
cereal::PandaState::PandaType::RED_PANDA,
|
||||
cereal::PandaState::PandaType::TRES,
|
||||
cereal::PandaState::PandaType::CUATRO,
|
||||
static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
|
||||
cereal::PandaState::PandaType::WHITE_PANDA,
|
||||
cereal::PandaState::PandaType::GREY_PANDA,
|
||||
cereal::PandaState::PandaType::BLACK_PANDA,
|
||||
cereal::PandaState::PandaType::PEDAL,
|
||||
cereal::PandaState::PandaType::UNO,
|
||||
cereal::PandaState::PandaType::RED_PANDA_V2
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -29,12 +29,6 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
HARDWARE.recover_internal_panda()
|
||||
raise
|
||||
|
||||
# skip flashing if the detected panda is not supported
|
||||
supported_panda = check_panda_support(panda)
|
||||
if not supported_panda:
|
||||
cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
|
||||
return panda
|
||||
|
||||
fw_signature = get_expected_signature(panda)
|
||||
internal_panda = panda.is_internal()
|
||||
|
||||
@@ -42,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
panda_signature = b"" if panda.bootstub else panda.get_signature()
|
||||
cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
|
||||
|
||||
# skip flashing if the detected device is deprecated from upstream
|
||||
hw_type = panda.get_type()
|
||||
if hw_type in Panda.DEPRECATED_DEVICES:
|
||||
cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
|
||||
return panda
|
||||
|
||||
if panda.bootstub or panda_signature != fw_signature:
|
||||
cloudlog.info("Panda firmware out of date, update required")
|
||||
panda.flash()
|
||||
@@ -67,14 +67,6 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
return panda
|
||||
|
||||
|
||||
def check_panda_support(panda) -> bool:
|
||||
hw_type = panda.get_type()
|
||||
if hw_type in Panda.SUPPORTED_DEVICES:
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
|
||||
def main() -> None:
|
||||
# signal pandad to close the relay and exit
|
||||
def signal_handler(signum, frame):
|
||||
@@ -99,6 +91,11 @@ def main() -> None:
|
||||
cloudlog.event("pandad.flash_and_connect", count=count)
|
||||
params.remove("PandaSignatures")
|
||||
|
||||
# TODO: remove this in the next AGNOS
|
||||
# wait until USB is up before counting
|
||||
if time.monotonic() < 35.:
|
||||
no_internal_panda_count = 0
|
||||
|
||||
# Handle missing internal panda
|
||||
if no_internal_panda_count > 0:
|
||||
if no_internal_panda_count == 3:
|
||||
@@ -148,12 +145,6 @@ def main() -> None:
|
||||
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
|
||||
|
||||
for panda in pandas:
|
||||
# skip health check if the detected panda is not supported
|
||||
supported_panda = check_panda_support(panda)
|
||||
if not supported_panda:
|
||||
cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
|
||||
continue
|
||||
|
||||
# check health for lost heartbeat
|
||||
health = panda.health()
|
||||
if health["heartbeat_lost"]:
|
||||
|
||||
BIN
selfdrive/pandad/tests/bootstub.panda.bin
Executable file
BIN
selfdrive/pandad/tests/bootstub.panda.bin
Executable file
Binary file not shown.
@@ -22,6 +22,8 @@ class TestPandad:
|
||||
if len(Panda.list()) == 0:
|
||||
self._run_test(60)
|
||||
|
||||
self.spi = HARDWARE.get_device_type() != 'tici'
|
||||
|
||||
def teardown_method(self):
|
||||
managed_processes['pandad'].stop()
|
||||
|
||||
@@ -104,9 +106,11 @@ class TestPandad:
|
||||
# - 0.2s pandad -> pandad
|
||||
# - plus some buffer
|
||||
print("startup times", ts, sum(ts) / len(ts))
|
||||
assert 0.1 < (sum(ts)/len(ts)) < 0.7
|
||||
assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
|
||||
|
||||
def test_protocol_version_check(self):
|
||||
if not self.spi:
|
||||
pytest.skip("SPI test")
|
||||
# flash old fw
|
||||
fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
|
||||
self._flash_bootstub_and_test(fn, expect_mismatch=True)
|
||||
|
||||
@@ -6,6 +6,7 @@ import random
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.selfdrive.test.helpers import with_processes
|
||||
from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
|
||||
|
||||
@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
|
||||
class TestBoarddSpi:
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
if HARDWARE.get_device_type() == 'tici':
|
||||
pytest.skip("only for spi pandas")
|
||||
os.environ['STARTED'] = '1'
|
||||
os.environ['SPI_ERR_PROB'] = '0.001'
|
||||
if not JUNGLE_SPAM:
|
||||
|
||||
@@ -29,6 +29,10 @@
|
||||
"text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_StorageMissing": {
|
||||
"text": "NVMe drive not mounted.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_CarUnrecognized": {
|
||||
"text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
|
||||
"severity": 0
|
||||
@@ -45,10 +49,5 @@
|
||||
"text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to lateral or longitudinal."
|
||||
},
|
||||
"Offroad_TiciSupport": {
|
||||
"text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to the current branch name."
|
||||
}
|
||||
}
|
||||
|
||||
@@ -83,7 +83,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
|
||||
f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
|
||||
|
||||
|
||||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
|
||||
@@ -21,12 +21,12 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
|
||||
from openpilot.selfdrive.selfdrived.state import StateMachine
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
|
||||
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.version import get_build_metadata
|
||||
|
||||
from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
|
||||
from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
|
||||
from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
|
||||
from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
|
||||
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
|
||||
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
|
||||
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
if REPLAY:
|
||||
@@ -95,8 +95,7 @@ class SelfdriveD(CruiseHelper):
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
|
||||
'modelDataV2SP', 'longitudinalPlanSP'] + \
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
|
||||
self.camera_packets + self.sensor_packets + self.gps_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=ignore,
|
||||
ignore_valid=ignore, frequency=int(1/DT_CTRL))
|
||||
@@ -135,7 +134,13 @@ class SelfdriveD(CruiseHelper):
|
||||
self.state_machine = StateMachine()
|
||||
self.rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
|
||||
self.ignored_processes = {'mapd', }
|
||||
# some comma three with NVMe experience NVMe dropouts mid-drive that
|
||||
# cause loggerd to crash on write, so ignore it only on that platform
|
||||
self.ignored_processes = set()
|
||||
nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
|
||||
if HARDWARE.get_device_type() == 'tici' and nvme_expected:
|
||||
self.ignored_processes = {'loggerd', }
|
||||
self.ignored_processes.update({'mapd'})
|
||||
|
||||
# Determine startup event
|
||||
is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
|
||||
@@ -157,9 +162,8 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events_sp_prev = []
|
||||
|
||||
self.mads = ModularAssistiveDrivingSystem(self)
|
||||
self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
|
||||
|
||||
self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
|
||||
self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
|
||||
|
||||
CruiseHelper.__init__(self, self.CP)
|
||||
|
||||
@@ -205,7 +209,6 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
if not self.CP.notCar:
|
||||
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
|
||||
self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
|
||||
|
||||
# Add car events, ignore if CAN isn't valid
|
||||
if CS.canValid:
|
||||
@@ -262,10 +265,7 @@ class SelfdriveD(CruiseHelper):
|
||||
if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
|
||||
self.events.add(EventName.ldw)
|
||||
|
||||
# ******************************************************************************************
|
||||
# NOTE: To fork maintainers.
|
||||
# Disabling or nerfing safety features will get you and your users banned from our servers.
|
||||
# We recommend that you do not change these numbers from the defaults.
|
||||
# Check for excessive actuation
|
||||
if self.sm.updated['liveCalibration']:
|
||||
self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
|
||||
if self.sm.updated['livePose']:
|
||||
@@ -280,7 +280,6 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
if self.excessive_actuation:
|
||||
self.events.add(EventName.excessiveActuation)
|
||||
# ******************************************************************************************
|
||||
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
@@ -297,13 +296,6 @@ class SelfdriveD(CruiseHelper):
|
||||
LaneChangeState.laneChangeFinishing):
|
||||
self.events.add(EventName.laneChange)
|
||||
|
||||
# Handle lane turn
|
||||
lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
|
||||
if lane_turn_direction == custom.TurnDirection.turnLeft:
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
|
||||
elif lane_turn_direction == custom.TurnDirection.turnRight:
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
|
||||
|
||||
for i, pandaState in enumerate(self.sm['pandaStates']):
|
||||
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
|
||||
if i < len(self.CP.safetyConfigs):
|
||||
@@ -445,8 +437,6 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events.add(EventName.personalityChanged)
|
||||
self.experimental_mode_switched = False
|
||||
|
||||
self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
|
||||
|
||||
def data_sample(self):
|
||||
_car_state = messaging.recv_one(self.car_state_sock)
|
||||
CS = _car_state.carState if _car_state else self.CS_prev
|
||||
@@ -551,11 +541,6 @@ class SelfdriveD(CruiseHelper):
|
||||
mads.active = self.mads.active
|
||||
mads.available = self.mads.enabled_toggle
|
||||
|
||||
icbm = ss_sp.intelligentCruiseButtonManagement
|
||||
icbm.state = self.icbm.state
|
||||
icbm.sendButton = self.icbm.cruise_button
|
||||
icbm.vTarget = self.icbm.v_target
|
||||
|
||||
self.pm.send('selfdriveStateSP', ss_sp_msg)
|
||||
|
||||
# onroadEventsSP - logged every second or on change
|
||||
|
||||
@@ -67,9 +67,6 @@ class Plant:
|
||||
lp = messaging.new_message('liveParameters')
|
||||
car_control = messaging.new_message('carControl')
|
||||
model = messaging.new_message('modelV2')
|
||||
car_state_sp = messaging.new_message('carStateSP')
|
||||
live_map_data_sp = messaging.new_message('liveMapDataSP')
|
||||
gps_data = messaging.new_message('gpsLocation')
|
||||
a_lead = (v_lead - self.v_lead_prev)/self.ts
|
||||
self.v_lead_prev = v_lead
|
||||
|
||||
@@ -136,10 +133,7 @@ class Plant:
|
||||
'controlsState': control.controlsState,
|
||||
'selfdriveState': ss.selfdriveState,
|
||||
'liveParameters': lp.liveParameters,
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation}
|
||||
'modelV2': model.modelV2}
|
||||
self.planner.update(sm)
|
||||
self.acceleration = self.planner.output_a_target
|
||||
self.speed = self.speed + self.acceleration * self.ts
|
||||
|
||||
@@ -28,8 +28,7 @@ MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
|
||||
# 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
|
||||
# 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
|
||||
# 5. all migration functions must be independent of each other
|
||||
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
|
||||
live_location_kalman: bool = True):
|
||||
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
|
||||
migrations = [
|
||||
migrate_sensorEvents,
|
||||
migrate_carParams,
|
||||
@@ -38,6 +37,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
|
||||
migrate_carOutput,
|
||||
migrate_controlsState,
|
||||
migrate_carState,
|
||||
migrate_liveLocationKalman,
|
||||
migrate_liveTracks,
|
||||
migrate_driverAssistance,
|
||||
migrate_drivingModelData,
|
||||
@@ -51,8 +51,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
|
||||
migrations.extend([migrate_pandaStates, migrate_peripheralState])
|
||||
if camera_states:
|
||||
migrations.append(migrate_cameraStates)
|
||||
if live_location_kalman:
|
||||
migrations.append(migrate_liveLocationKalman)
|
||||
|
||||
return migrate(lr, migrations)
|
||||
|
||||
|
||||
@@ -496,7 +496,7 @@ CONFIGS = [
|
||||
pubs=[
|
||||
"cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
|
||||
],
|
||||
subs=["liveLocationKalman", "livePose"],
|
||||
subs=["livePose"],
|
||||
ignore=["logMonoTime"],
|
||||
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
@@ -595,7 +595,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
|
||||
if len(live_calibration) > 0:
|
||||
custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
|
||||
if len(live_parameters) > 0:
|
||||
custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
|
||||
custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
|
||||
if len(live_torque_parameters) > 0:
|
||||
custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
afcab1abb62b9d5678342956cced4712f44e909e
|
||||
543bd2347fa35f8300478a3893fdd0a03a7c1fe6
|
||||
@@ -63,7 +63,7 @@ segments = [
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "body", "psa"]
|
||||
excluded_interfaces = ["mock", "body"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
|
||||
@@ -18,6 +18,7 @@ from openpilot.common.timeout import Timeout
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.selfdrived.events import EVENTS, ET
|
||||
from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.tools.lib.log_time_series import msgs_to_time_series
|
||||
@@ -32,7 +33,7 @@ CPU usage budget
|
||||
TEST_DURATION = 25
|
||||
LOG_OFFSET = 8
|
||||
|
||||
MAX_TOTAL_CPU = 300. # total for all 8 cores
|
||||
MAX_TOTAL_CPU = 280. # total for all 8 cores
|
||||
PROCS = {
|
||||
# Baseline CPU usage by process
|
||||
"selfdrive.controls.controlsd": 16.0,
|
||||
@@ -56,20 +57,30 @@ PROCS = {
|
||||
"selfdrive.ui.soundd": 3.0,
|
||||
"selfdrive.ui.feedback.feedbackd": 1.0,
|
||||
"selfdrive.monitoring.dmonitoringd": 4.0,
|
||||
"system.proclogd": 3.0,
|
||||
"./proclogd": 2.0,
|
||||
"system.logmessaged": 1.0,
|
||||
"system.tombstoned": 0,
|
||||
"system.journald": 1.0,
|
||||
"./logcatd": 1.0,
|
||||
"system.micd": 5.0,
|
||||
"system.timed": 0,
|
||||
"selfdrive.pandad.pandad": 0,
|
||||
"system.statsd": 1.0,
|
||||
"system.loggerd.uploader": 15.0,
|
||||
"system.loggerd.deleter": 1.0,
|
||||
"./pandad": 19.0,
|
||||
"system.qcomgpsd.qcomgpsd": 1.0,
|
||||
}
|
||||
|
||||
PROCS.update({
|
||||
"tici": {
|
||||
"./pandad": 5.0,
|
||||
"./ubloxd": 1.0,
|
||||
"system.ubloxd.pigeond": 6.0,
|
||||
},
|
||||
"tizi": {
|
||||
"./pandad": 19.0,
|
||||
"system.qcomgpsd.qcomgpsd": 1.0,
|
||||
}
|
||||
}.get(HARDWARE.get_device_type(), {}))
|
||||
|
||||
TIMINGS = {
|
||||
# rtols: max/min, rsd
|
||||
"can": [2.5, 0.35],
|
||||
@@ -322,18 +333,20 @@ class TestOnroad:
|
||||
assert np.all(eof_sof_diff > 0)
|
||||
assert np.all(eof_sof_diff < 50*1e6)
|
||||
|
||||
first_fid = {min(self.ts[c]['frameId']) for c in cams}
|
||||
assert len(first_fid) == 1, "Cameras don't start on same frame ID"
|
||||
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
|
||||
if cam.endswith('CameraState'):
|
||||
# camerad guarantees that all cams start on frame ID 0
|
||||
# (note loggerd also needs to start up fast enough to catch it)
|
||||
assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
|
||||
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
|
||||
else:
|
||||
# encoder guarantees all cams start on the same frame ID
|
||||
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
|
||||
|
||||
# we don't do a full segment rotation, so these might not match exactly
|
||||
last_fid = {max(self.ts[c]['frameId']) for c in cams}
|
||||
assert max(last_fid) - min(last_fid) < 10
|
||||
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
|
||||
assert max(last_fid.values()) - min(last_fid.values()) < 10
|
||||
|
||||
start, end = min(first_fid), min(last_fid)
|
||||
start, end = min(first_fid.values()), min(last_fid.values())
|
||||
for i in range(end-start):
|
||||
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
|
||||
diff = (max(ts.values()) - min(ts.values()))
|
||||
|
||||
@@ -22,9 +22,8 @@ def main():
|
||||
sm.update()
|
||||
should_send_bookmark = False
|
||||
|
||||
# TODO: https://github.com/commaai/openpilot/issues/36015
|
||||
# only allow the LKAS button to record feedback when MADS is disabled
|
||||
if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
|
||||
if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
|
||||
for be in sm['carState'].buttonEvents:
|
||||
if be.type == ButtonType.lkas:
|
||||
if be.pressed:
|
||||
|
||||
@@ -24,13 +24,11 @@ const std::string BRANCH_STR = get_str(BRANCH "?
|
||||
#define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
|
||||
#define CONTINUE_PATH "/data/continue.sh"
|
||||
|
||||
const std::string INSTALL_PATH = "/data/openpilot";
|
||||
const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
|
||||
const std::string CACHE_PATH = "/data/openpilot.cache";
|
||||
|
||||
#define INSTALL_PATH "/data/openpilot"
|
||||
#define TMP_INSTALL_PATH "/data/tmppilot"
|
||||
|
||||
const int FONT_SIZE = 120;
|
||||
|
||||
extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
|
||||
extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
|
||||
extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
|
||||
@@ -43,16 +41,6 @@ void run(const char* cmd) {
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
void finishInstall() {
|
||||
BeginDrawing();
|
||||
ClearBackground(BLACK);
|
||||
const char *m = "Finishing install...";
|
||||
int text_width = MeasureText(m, FONT_SIZE);
|
||||
DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
|
||||
EndDrawing();
|
||||
util::sleep_for(60 * 1000);
|
||||
}
|
||||
|
||||
void renderProgress(int progress) {
|
||||
BeginDrawing();
|
||||
ClearBackground(BLACK);
|
||||
@@ -74,11 +62,11 @@ int doInstall() {
|
||||
}
|
||||
|
||||
// cleanup previous install attempts
|
||||
run("rm -rf " TMP_INSTALL_PATH);
|
||||
run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
|
||||
|
||||
// do the install
|
||||
if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
|
||||
return cachedFetch(INSTALL_PATH);
|
||||
if (util::file_exists(CACHE_PATH)) {
|
||||
return cachedFetch(CACHE_PATH);
|
||||
} else {
|
||||
return freshClone();
|
||||
}
|
||||
@@ -147,9 +135,7 @@ void cloneFinished(int exitCode) {
|
||||
run("git submodule update --init");
|
||||
|
||||
// move into place
|
||||
run(("rm -f " + VALID_CACHE_PATH).c_str());
|
||||
run(("rm -rf " + INSTALL_PATH).c_str());
|
||||
run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
|
||||
run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
|
||||
|
||||
#ifdef INTERNAL
|
||||
run("mkdir -p /data/params/d/");
|
||||
@@ -167,9 +153,9 @@ void cloneFinished(int exitCode) {
|
||||
param << value;
|
||||
param.close();
|
||||
}
|
||||
run(("cd " + INSTALL_PATH + " && "
|
||||
run("cd " INSTALL_PATH " && "
|
||||
"git remote set-url origin --push " GIT_SSH_URL " && "
|
||||
"git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
|
||||
"git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
|
||||
#endif
|
||||
|
||||
// write continue.sh
|
||||
@@ -185,22 +171,16 @@ void cloneFinished(int exitCode) {
|
||||
run("mv /data/continue.sh.new " CONTINUE_PATH);
|
||||
|
||||
// wait for the installed software's UI to take over
|
||||
finishInstall();
|
||||
util::sleep_for(60 * 1000);
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
InitWindow(2160, 1080, "Installer");
|
||||
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
|
||||
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
|
||||
SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
|
||||
|
||||
if (util::file_exists(CONTINUE_PATH)) {
|
||||
finishInstall();
|
||||
} else {
|
||||
renderProgress(0);
|
||||
int result = doInstall();
|
||||
cloneFinished(result);
|
||||
}
|
||||
|
||||
renderProgress(0);
|
||||
int result = doInstall();
|
||||
cloneFinished(result);
|
||||
CloseWindow();
|
||||
UnloadFont(font);
|
||||
return 0;
|
||||
|
||||
@@ -63,20 +63,14 @@ class MainLayout(Widget):
|
||||
# Don't hide sidebar from interactive timeout
|
||||
if self._current_mode != MainState.ONROAD:
|
||||
self._sidebar.set_visible(False)
|
||||
self._set_current_layout(MainState.ONROAD)
|
||||
self._current_mode = MainState.ONROAD
|
||||
else:
|
||||
self._set_current_layout(MainState.HOME)
|
||||
self._current_mode = MainState.HOME
|
||||
self._sidebar.set_visible(True)
|
||||
|
||||
def _set_current_layout(self, layout: MainState):
|
||||
if layout != self._current_mode:
|
||||
self._layouts[self._current_mode].hide_event()
|
||||
self._current_mode = layout
|
||||
self._layouts[self._current_mode].show_event()
|
||||
|
||||
def open_settings(self, panel_type: PanelType):
|
||||
self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
|
||||
self._set_current_layout(MainState.SETTINGS)
|
||||
self._current_mode = MainState.SETTINGS
|
||||
self._sidebar.set_visible(False)
|
||||
|
||||
def _on_settings_clicked(self):
|
||||
|
||||
17
selfdrive/ui/layouts/network.py
Normal file
17
selfdrive/ui/layouts/network.py
Normal file
@@ -0,0 +1,17 @@
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.network import WifiManagerUI
|
||||
|
||||
|
||||
class NetworkLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.wifi_manager = WifiManagerWrapper()
|
||||
self.wifi_ui = WifiManagerUI(self.wifi_manager)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self.wifi_ui.render(rect)
|
||||
|
||||
def shutdown(self):
|
||||
self.wifi_manager.shutdown()
|
||||
@@ -4,6 +4,9 @@ from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.list_view import toggle_item
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
|
||||
if Params().get_bool("sunnypilot_ui"):
|
||||
from openpilot.system.ui.sunnypilot.lib.list_view import toggle_item_sp as toggle_item
|
||||
|
||||
# Description constants
|
||||
DESCRIPTIONS = {
|
||||
'enable_adb': (
|
||||
|
||||
@@ -2,7 +2,7 @@ import pyray as rl
|
||||
import time
|
||||
import threading
|
||||
|
||||
from openpilot.common.api import api_get
|
||||
from openpilot.common.api import Api, api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
|
||||
|
||||
TITLE = "Firehose Mode"
|
||||
DESCRIPTION = (
|
||||
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
|
||||
dongle_id = self.params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
identity_token = get_token(dongle_id)
|
||||
identity_token = Api(dongle_id).get_token()
|
||||
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
|
||||
@@ -2,6 +2,7 @@ import pyray as rl
|
||||
from dataclasses import dataclass
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
from openpilot.selfdrive.ui.layouts.network import NetworkLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
|
||||
@@ -9,9 +10,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.network import WifiManagerUI
|
||||
|
||||
# Settings close button
|
||||
SETTINGS_CLOSE_TEXT = "×"
|
||||
@@ -44,7 +43,7 @@ class PanelType(IntEnum):
|
||||
@dataclass
|
||||
class PanelInfo:
|
||||
name: str
|
||||
instance: Widget
|
||||
instance: object
|
||||
button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
|
||||
|
||||
|
||||
@@ -54,12 +53,9 @@ class SettingsLayout(Widget):
|
||||
self._current_panel = PanelType.DEVICE
|
||||
|
||||
# Panel configuration
|
||||
wifi_manager = WifiManager()
|
||||
wifi_manager.set_active(False)
|
||||
|
||||
self._panels = {
|
||||
PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
|
||||
PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
|
||||
PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
|
||||
PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
|
||||
PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
|
||||
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
|
||||
@@ -153,14 +149,8 @@ class SettingsLayout(Widget):
|
||||
|
||||
def set_current_panel(self, panel_type: PanelType):
|
||||
if panel_type != self._current_panel:
|
||||
self._panels[self._current_panel].instance.hide_event()
|
||||
self._current_panel = panel_type
|
||||
self._panels[self._current_panel].instance.show_event()
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._panels[self._current_panel].instance.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._panels[self._current_panel].instance.hide_event()
|
||||
def close_settings(self):
|
||||
if self._close_callback:
|
||||
self._close_callback()
|
||||
|
||||
@@ -3,6 +3,9 @@ from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
|
||||
if Params().get_bool("sunnypilot_ui"):
|
||||
from openpilot.system.ui.sunnypilot.lib.list_view import toggle_item_sp as toggle_item
|
||||
|
||||
# Description constants
|
||||
DESCRIPTIONS = {
|
||||
"OpenpilotEnabledToggle": (
|
||||
@@ -23,6 +26,10 @@ DESCRIPTIONS = {
|
||||
'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
|
||||
"IsMetric": "Display speed in km/h instead of mph.",
|
||||
"RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
|
||||
"RecordAudioFeedback": (
|
||||
"Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
|
||||
"The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
@@ -81,6 +88,12 @@ class TogglesLayout(Widget):
|
||||
self._params.get_bool("RecordAudio"),
|
||||
icon="microphone.png",
|
||||
),
|
||||
toggle_item(
|
||||
"Record Audio Feedback with LKAS button",
|
||||
DESCRIPTIONS["RecordAudioFeedback"],
|
||||
self._params.get_bool("RecordAudioFeedback"),
|
||||
icon="microphone.png",
|
||||
),
|
||||
toggle_item(
|
||||
"Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
|
||||
),
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
import time
|
||||
from functools import lru_cache
|
||||
from openpilot.common.api import Api
|
||||
|
||||
TOKEN_EXPIRY_HOURS = 2
|
||||
|
||||
|
||||
@lru_cache(maxsize=1)
|
||||
def _get_token(dongle_id: str, t: int):
|
||||
return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
|
||||
|
||||
|
||||
def get_token(dongle_id: str):
|
||||
return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
|
||||
@@ -3,11 +3,10 @@ import os
|
||||
import threading
|
||||
import time
|
||||
|
||||
from openpilot.common.api import api_get
|
||||
from openpilot.common.api import Api, api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
|
||||
|
||||
class PrimeType(IntEnum):
|
||||
@@ -50,7 +49,7 @@ class PrimeState:
|
||||
return
|
||||
|
||||
try:
|
||||
identity_token = get_token(dongle_id)
|
||||
identity_token = Api(dongle_id).get_token()
|
||||
response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
|
||||
@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
|
||||
self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
|
||||
)
|
||||
|
||||
self._update_experimental_gradient()
|
||||
self._update_experimental_gradient(self._rect.height)
|
||||
|
||||
def _update_experimental_gradient(self):
|
||||
def _update_experimental_gradient(self, height):
|
||||
"""Pre-calculate experimental mode gradient colors"""
|
||||
if not self._experimental_mode:
|
||||
return
|
||||
@@ -201,21 +201,22 @@ class ModelRenderer(Widget):
|
||||
|
||||
i = 0
|
||||
while i < max_len:
|
||||
# Some points (screen space) are out of frame (rect space)
|
||||
track_y = self._path.projected_points[i][1]
|
||||
if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
|
||||
track_idx = max_len - i - 1 # flip idx to start from bottom right
|
||||
track_y = self._path.projected_points[track_idx][1]
|
||||
if track_y < 0 or track_y > height:
|
||||
i += 1
|
||||
continue
|
||||
|
||||
# Calculate color based on acceleration (0 is bottom, 1 is top)
|
||||
lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
|
||||
# Calculate color based on acceleration
|
||||
lin_grad_point = (height - track_y) / height
|
||||
|
||||
# speed up: 120, slow down: 0
|
||||
path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
|
||||
path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
|
||||
path_hue = int(path_hue * 100 + 0.5) / 100
|
||||
|
||||
saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
|
||||
lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
|
||||
alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
|
||||
lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
|
||||
alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
|
||||
|
||||
# Use HSL to RGB conversion
|
||||
color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
|
||||
@@ -279,7 +280,7 @@ class ModelRenderer(Widget):
|
||||
|
||||
if self._experimental_mode:
|
||||
# Draw with acceleration coloring
|
||||
if len(self._exp_gradient['colors']) > 1:
|
||||
if len(self._exp_gradient['colors']) > 2:
|
||||
draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
|
||||
else:
|
||||
draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
|
||||
@@ -408,6 +409,13 @@ class ModelRenderer(Widget):
|
||||
|
||||
return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
|
||||
|
||||
@staticmethod
|
||||
def _map_val(x, x0, x1, y0, y1):
|
||||
x = np.clip(x, x0, x1)
|
||||
ra = x1 - x0
|
||||
rb = y1 - y0
|
||||
return (x - x0) * rb / ra + y0 if ra != 0 else y0
|
||||
|
||||
@staticmethod
|
||||
def _hsla_to_color(h, s, l, a):
|
||||
rgb = colorsys.hls_to_rgb(h, l, s)
|
||||
|
||||
@@ -75,6 +75,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
"../assets/icons/microphone.png",
|
||||
true,
|
||||
},
|
||||
{
|
||||
"RecordAudioFeedback",
|
||||
tr("Record Audio Feedback with LKAS button"),
|
||||
tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
|
||||
"../assets/icons/microphone.png",
|
||||
false,
|
||||
},
|
||||
{
|
||||
"IsMetric",
|
||||
tr("Use Metric System"),
|
||||
|
||||
@@ -4,9 +4,6 @@
|
||||
#include <map>
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#ifdef SUNNYPILOT
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#endif
|
||||
|
||||
void OnroadAlerts::updateState(const UIState &s) {
|
||||
Alert a = getAlert(*(s.sm), s.scene.started_frame);
|
||||
@@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
|
||||
}
|
||||
QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
|
||||
|
||||
#ifdef SUNNYPILOT
|
||||
const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
|
||||
const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
|
||||
r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
|
||||
#endif
|
||||
|
||||
QPainter p(this);
|
||||
|
||||
// draw background + gradient
|
||||
|
||||
@@ -12,7 +12,6 @@
|
||||
#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
|
||||
#define ExperimentalButton ExperimentalButtonSP
|
||||
#define ModelRenderer ModelRendererSP
|
||||
#define HudRenderer HudRendererSP
|
||||
#else
|
||||
#include "selfdrive/ui/qt/onroad/buttons.h"
|
||||
#include "selfdrive/ui/qt/onroad/hud.h"
|
||||
|
||||
@@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
|
||||
float y = surface_rect.height() - offset;
|
||||
float opacity = is_active ? 0.65f : 0.2f;
|
||||
|
||||
#ifdef SUNNYPILOT
|
||||
const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
|
||||
y -= dev_ui_info > 1 ? 50 : 0;
|
||||
#endif
|
||||
|
||||
drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
|
||||
|
||||
QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
|
||||
|
||||
@@ -47,11 +47,10 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
|
||||
bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
|
||||
p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
|
||||
|
||||
#ifndef SUNNYPILOT
|
||||
|
||||
if (is_cruise_available) {
|
||||
drawSetSpeed(p, surface_rect);
|
||||
}
|
||||
#endif
|
||||
drawCurrentSpeed(p, surface_rect);
|
||||
|
||||
p.restore();
|
||||
|
||||
@@ -336,8 +336,8 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
|
||||
return "";
|
||||
}
|
||||
|
||||
TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items,
|
||||
const QString ¤t, const QString &favParam, QWidget *parent) : DialogBase(parent) {
|
||||
TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
|
||||
const QString ¤t, QWidget *parent) : DialogBase(parent) {
|
||||
QFrame *container = new QFrame(this);
|
||||
container->setStyleSheet(R"(
|
||||
QFrame { background-color: #1B1B1B; }
|
||||
@@ -375,9 +375,6 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
|
||||
main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
|
||||
main_layout->addSpacing(25);
|
||||
|
||||
iconBlank = QIcon("../../sunnypilot/selfdrive/assets/icons/star-empty.png");
|
||||
iconFilled = QIcon ("../../sunnypilot/selfdrive/assets/icons/star-filled.png");
|
||||
|
||||
treeWidget = new QTreeWidget(this);
|
||||
treeWidget->setHeaderHidden(true);
|
||||
treeWidget->setIndentation(50);
|
||||
@@ -399,49 +396,34 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
|
||||
|
||||
QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
|
||||
|
||||
// Create initial list of favorites from param
|
||||
const QString favs = QString::fromStdString(params.get(favParam.toStdString()));
|
||||
mapFavs = new QMap<QString, QList<QPushButton*>>();
|
||||
favRefs = new QStringList(favs.split(";"));
|
||||
for (const QString &item : *favRefs)
|
||||
{
|
||||
mapFavs->insert( item, {});
|
||||
}
|
||||
|
||||
// Populate tree
|
||||
QListIterator<TreeFolder> iter(items);
|
||||
QListIterator<QPair<QString, QStringList>> iter(items);
|
||||
while (iter.hasNext()) {
|
||||
TreeFolder currItem = iter.next();
|
||||
QString prevFolder;
|
||||
QString currentFolder;
|
||||
if (currItem.folder.isEmpty()) {
|
||||
for (const TreeNode &item : currItem.items) {
|
||||
QPair currItem = iter.next();
|
||||
if (currItem.first.isEmpty()) {
|
||||
for (const QString &item : currItem.second) {
|
||||
QTreeWidgetItem *topLevel = new QTreeWidgetItem();
|
||||
topLevel->setText(0, item.displayName);
|
||||
topLevel->setData(0, Qt::UserRole, item.ref);
|
||||
topLevel->setText(0, item);
|
||||
topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
|
||||
treeWidget->addTopLevelItem(topLevel);
|
||||
if (item.ref == current) {
|
||||
if (item == current) {
|
||||
topLevel->setSelected(true);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
QList<QTreeWidgetItem*> folders = treeWidget->findItems(currItem.folder, Qt::MatchExactly, 0);
|
||||
QTreeWidgetItem *folderItem = nullptr;
|
||||
if (folders.isEmpty()) {
|
||||
folderItem = new QTreeWidgetItem(treeWidget);
|
||||
} else {
|
||||
folderItem = folders.first();
|
||||
}
|
||||
QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
|
||||
folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
|
||||
folderItem->setText(0, " " + currItem.folder);
|
||||
folderItem->setText(0, " " + currItem.first);
|
||||
folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
|
||||
folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
|
||||
|
||||
for (const TreeNode item : currItem.items)
|
||||
for (const QString &item : currItem.second)
|
||||
{
|
||||
QTreeWidgetItem *childItem = addChildItem(item.displayName, item.ref, folderItem);
|
||||
if (item.ref == current) {
|
||||
QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
|
||||
childItem->setText(0, item);
|
||||
childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
|
||||
|
||||
if (item == current) {
|
||||
childItem->setSelected(true);
|
||||
folderItem->setExpanded(true);
|
||||
}
|
||||
@@ -449,39 +431,6 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
|
||||
}
|
||||
}
|
||||
|
||||
// Create favorites folder
|
||||
favorites = new QTreeWidgetItem();
|
||||
favorites->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
|
||||
favorites->setText(0, " " + tr("Favorites"));
|
||||
favorites->setFlags(favorites->flags() | Qt::ItemIsAutoTristate);
|
||||
favorites->setFlags(favorites->flags() & ~Qt::ItemIsSelectable);
|
||||
treeWidget->insertTopLevelItem(1, favorites);
|
||||
|
||||
// Create favorite nodes
|
||||
for (int i = favRefs->size() - 1; i >= 0; --i) {
|
||||
QString item = favRefs->at(i);
|
||||
if (item.isEmpty()) continue;
|
||||
|
||||
QTreeWidgetItemIterator treeIt(treeWidget);
|
||||
QTreeWidgetItem *nodeItem = nullptr;
|
||||
while (*treeIt) {
|
||||
if (item == (*treeIt)->data(0, Qt::UserRole).toString()) {
|
||||
nodeItem = (*treeIt);
|
||||
break;
|
||||
}
|
||||
++treeIt;
|
||||
}
|
||||
if (nodeItem == nullptr) continue;
|
||||
|
||||
QTreeWidgetItem *childItem = addChildItem(nodeItem->text(0),
|
||||
nodeItem->data(0, Qt::UserRole).toString(), favorites);
|
||||
if (item == current) {
|
||||
treeWidget->collapseAll();
|
||||
childItem->setSelected(true);
|
||||
favorites->setExpanded(true);
|
||||
}
|
||||
}
|
||||
|
||||
confirm_btn = new QPushButton(tr("Select"));
|
||||
confirm_btn->setObjectName("confirm_btn");
|
||||
confirm_btn->setEnabled(false);
|
||||
@@ -489,7 +438,7 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
|
||||
QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
|
||||
QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
|
||||
if (!selectedItems.isEmpty()) {
|
||||
selection = selectedItems.first()->data(0, Qt::UserRole).toString();
|
||||
selection = selectedItems.first()->text(0);
|
||||
confirm_btn->setEnabled(selection != current);
|
||||
}
|
||||
});
|
||||
@@ -516,91 +465,11 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
|
||||
outer_layout->addWidget(container);
|
||||
}
|
||||
|
||||
QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<TreeFolder> &items,
|
||||
const QString ¤t, const QString &favParam, QWidget *parent) {
|
||||
TreeOptionDialog d(prompt_text, items, current, favParam, parent);
|
||||
QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
|
||||
const QString ¤t, QWidget *parent) {
|
||||
TreeOptionDialog d(prompt_text, items, current, parent);
|
||||
if (d.exec()) {
|
||||
return d.selection;
|
||||
}
|
||||
return "";
|
||||
}
|
||||
|
||||
/**
|
||||
* Handles the addition or removal of items from the "favorites" list based on the provided reference identifier.
|
||||
*
|
||||
* @param displayName The text label associated with the item to be added or removed in the favorites.
|
||||
* @param ref A unique reference key identifying the item.
|
||||
* @param btn A pointer to the QPushButton associated with the item. The button's icon is updated to indicate
|
||||
* whether the item is currently favorited or not.
|
||||
*
|
||||
* If the item is already in the favorites, it is removed from the list, its associated buttons have their
|
||||
* icons reset, and the favorites tree is updated accordingly. If the item is not in the favorites, it is
|
||||
* added to the list, a new associated button is created, and the favorites tree is updated. The current
|
||||
* state of the favorites is stored in the Params object as a semicolon-separated string.
|
||||
*/
|
||||
void TreeOptionDialog::handleFavorites(const QString &displayName, const QString &ref, QPushButton *btn) {
|
||||
if (mapFavs->keys().contains(ref)) { // Remove from favorites
|
||||
for (auto *itemBtn:mapFavs->value(ref))
|
||||
{
|
||||
itemBtn->setIcon(iconBlank);
|
||||
}
|
||||
mapFavs->remove(ref);
|
||||
favRefs->removeAll(ref);
|
||||
for (int i = 0; i < favorites->childCount(); ++i) {
|
||||
QTreeWidgetItem* child = favorites->child(i);
|
||||
if (child && child->data(0, Qt::UserRole).toString() == ref) {
|
||||
favorites->removeChild(child);
|
||||
}
|
||||
}
|
||||
} else { // Add to favorites
|
||||
QPushButton *favBtn = new QPushButton();
|
||||
btn->setIcon(iconFilled);
|
||||
mapFavs->insert(ref, {btn, favBtn});
|
||||
favRefs->append(ref);
|
||||
addChildItem(displayName, ref, favorites, favBtn, true);
|
||||
}
|
||||
|
||||
const QString favs =favRefs->join(";");
|
||||
params.put("ModelManager_Favs", favs.toStdString());
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a child item to a given folder item within the QTreeWidget.
|
||||
*
|
||||
* @param displayName The text to display for the child item.
|
||||
* @param ref A reference string that uniquely identifies the child item.
|
||||
* @param folderItem The parent folder item to which the child item will be added.
|
||||
* @param btn A pointer to a QPushButton associated with the child item. If nullptr, a new button will be created.
|
||||
* @param addAtTop If true, the child item is added as the first child of the folder item; otherwise, it is appended to the end.
|
||||
* @return A pointer to the created QTreeWidgetItem representing the child item.
|
||||
*/
|
||||
QTreeWidgetItem* TreeOptionDialog::addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem *folderItem, QPushButton *btn, bool addAtTop) {
|
||||
QTreeWidgetItem *childItem = new QTreeWidgetItem();
|
||||
if (btn == nullptr) {
|
||||
btn = new QPushButton();
|
||||
}
|
||||
if (mapFavs->keys().contains(ref)) {
|
||||
btn->setIcon(iconFilled);
|
||||
(*mapFavs)[ref].append(btn);
|
||||
} else {
|
||||
btn->setIcon(iconBlank);
|
||||
}
|
||||
btn->setIconSize(QSize(100, 100));
|
||||
QWidget *buttonContainer = new QWidget();
|
||||
QHBoxLayout *layout = new QHBoxLayout(buttonContainer);
|
||||
layout->addWidget(btn, 0, Qt::AlignRight);
|
||||
childItem->setText(0, displayName);
|
||||
childItem->setData(0, Qt::UserRole, ref);
|
||||
childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
|
||||
if (addAtTop) {
|
||||
folderItem->insertChild(0, childItem);
|
||||
} else {
|
||||
folderItem->addChild(childItem);
|
||||
}
|
||||
treeWidget->setItemWidget(childItem, 0, buttonContainer);
|
||||
|
||||
connect(btn, &QPushButton::clicked, btn, [=]() {
|
||||
handleFavorites(displayName, ref, btn);
|
||||
});
|
||||
return childItem;
|
||||
}
|
||||
|
||||
@@ -8,22 +8,9 @@
|
||||
#include <QWidget>
|
||||
#include <QTreeWidget>
|
||||
|
||||
#include "common/params.h"
|
||||
#include "selfdrive/ui/qt/widgets/keyboard.h"
|
||||
|
||||
|
||||
struct TreeNode {
|
||||
QString folder;
|
||||
QString displayName;
|
||||
QString ref;
|
||||
int index;
|
||||
};
|
||||
|
||||
struct TreeFolder {
|
||||
QString folder;
|
||||
QList<TreeNode> items;
|
||||
};
|
||||
|
||||
class DialogBase : public QDialog {
|
||||
Q_OBJECT
|
||||
|
||||
@@ -88,20 +75,11 @@ class TreeOptionDialog : public DialogBase {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items, const QString ¤t, const QString &favParam, QWidget *parent = nullptr);
|
||||
static QString getSelection(const QString &prompt_text, const QList<TreeFolder> &items, const QString ¤t, const QString &favParam, QWidget *parent = nullptr);
|
||||
void handleFavorites(const QString &displayName, const QString &ref, QPushButton* btn);
|
||||
QTreeWidgetItem* addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem* folderItem, QPushButton* btn = nullptr, bool addAtTop = false);
|
||||
explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString ¤t, QWidget *parent = nullptr);
|
||||
static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString ¤t, QWidget *parent = nullptr);
|
||||
QString selection;
|
||||
|
||||
private:
|
||||
QTreeWidget *treeWidget;
|
||||
QPushButton *confirm_btn;
|
||||
Params params;
|
||||
QMap<QString, QList<QPushButton*>> *mapFavs;
|
||||
QStringList *favRefs;
|
||||
QTreeWidgetItem *favorites;
|
||||
|
||||
QIcon iconBlank;
|
||||
QIcon iconFilled;
|
||||
};
|
||||
|
||||
@@ -4,7 +4,6 @@ widgets_src = [
|
||||
"sunnypilot/qt/widgets/controls.cc",
|
||||
"sunnypilot/qt/widgets/drive_stats.cc",
|
||||
"sunnypilot/qt/widgets/expandable_row.cc",
|
||||
"sunnypilot/qt/widgets/external_storage.cc",
|
||||
"sunnypilot/qt/widgets/prime.cc",
|
||||
"sunnypilot/qt/widgets/scrollview.cc",
|
||||
"sunnypilot/qt/network/networking.cc",
|
||||
@@ -24,7 +23,6 @@ qt_src = [
|
||||
"sunnypilot/qt/offroad/offroad_home.cc",
|
||||
"sunnypilot/qt/offroad/settings/developer_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/device_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/display_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/max_time_offroad.cc",
|
||||
@@ -40,7 +38,6 @@ qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/visuals_panel.cc",
|
||||
"sunnypilot/qt/onroad/annotated_camera.cc",
|
||||
"sunnypilot/qt/onroad/buttons.cc",
|
||||
"sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
|
||||
"sunnypilot/qt/onroad/hud.cc",
|
||||
"sunnypilot/qt/onroad/model.cc",
|
||||
"sunnypilot/qt/onroad/onroad_home.cc",
|
||||
@@ -51,14 +48,10 @@ lateral_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
|
||||
]
|
||||
|
||||
longitudinal_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc",
|
||||
]
|
||||
|
||||
network_src = [
|
||||
@@ -93,13 +86,9 @@ brand_settings_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
|
||||
]
|
||||
|
||||
display_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
|
||||
]
|
||||
|
||||
sp_widgets_src = widgets_src + network_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
|
||||
longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
|
||||
sp_qt_util = qt_util
|
||||
|
||||
Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
|
||||
|
||||
@@ -5,14 +5,9 @@
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
|
||||
|
||||
DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
|
||||
|
||||
#ifndef __APPLE__
|
||||
addItem(new ExternalStorageControl());
|
||||
#endif
|
||||
|
||||
// Advanced Controls Toggle
|
||||
showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
|
||||
addItem(showAdvancedControls);
|
||||
@@ -27,10 +22,6 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
|
||||
enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
|
||||
addItem(enableGithubRunner);
|
||||
|
||||
// Copyparty Toggle
|
||||
enableCopyparty = new ParamControlSP("EnableCopyparty", tr("Enable Copyparty service"), tr("Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP."), "", this, false);
|
||||
addItem(enableCopyparty);
|
||||
|
||||
// Quickboot Mode Toggle
|
||||
prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
|
||||
addItem(prebuiltToggle);
|
||||
|
||||
@@ -16,7 +16,6 @@ public:
|
||||
explicit DeveloperPanelSP(SettingsWindow *parent);
|
||||
|
||||
private:
|
||||
ParamControlSP *enableCopyparty;
|
||||
ParamControlSP *enableGithubRunner;
|
||||
ButtonControlSP *errorLogBtn;
|
||||
ParamControlSP *prebuiltToggle;
|
||||
|
||||
@@ -1,63 +0,0 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
|
||||
|
||||
OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString ¶m, const QString &title,
|
||||
const QString &description, const QString &icon,
|
||||
QWidget *parent)
|
||||
: ExpandableToggleRow(param, title, description, icon, parent) {
|
||||
auto *mainFrame = new QFrame(this);
|
||||
auto *mainFrameLayout = new QGridLayout();
|
||||
mainFrame->setLayout(mainFrameLayout);
|
||||
mainFrameLayout->setSpacing(0);
|
||||
|
||||
onroadScreenOffTimer = new OptionControlSP(
|
||||
"OnroadScreenOffTimer",
|
||||
"",
|
||||
"",
|
||||
"",
|
||||
{0, 11}, 1, true, &onroadScreenOffTimerOptions);
|
||||
|
||||
onroadScreenBrightness = new OptionControlSP(
|
||||
"OnroadScreenOffBrightness",
|
||||
"",
|
||||
"",
|
||||
"",
|
||||
{0, 100}, 10, true, nullptr, false);
|
||||
|
||||
connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
|
||||
connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
|
||||
onroadScreenOffTimer->setFixedWidth(280);
|
||||
onroadScreenBrightness->setFixedWidth(280);
|
||||
mainFrameLayout->addWidget(onroadScreenOffTimer, 0, 0, Qt::AlignLeft);
|
||||
mainFrameLayout->addWidget(onroadScreenBrightness, 0, 1, Qt::AlignRight);
|
||||
|
||||
addItem(mainFrame);
|
||||
|
||||
refresh();
|
||||
}
|
||||
|
||||
void OnroadScreenBrightnessControl::refresh() {
|
||||
// Driving Screen Off Timer
|
||||
int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
|
||||
std::string labelTimer = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
|
||||
labelTimer += "Delay";
|
||||
labelTimer += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
|
||||
labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
|
||||
labelTimer += "</span></span>";
|
||||
onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));
|
||||
|
||||
// Driving Screen Off Brightness
|
||||
std::string valBrightness = params.get("OnroadScreenOffBrightness");
|
||||
std::string labelBrightness = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
|
||||
labelBrightness += "Brightness";
|
||||
labelBrightness += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
|
||||
labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
|
||||
labelBrightness += "</span></span>";
|
||||
onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
|
||||
}
|
||||
@@ -1,42 +0,0 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
|
||||
|
||||
static const QMap<QString, QString> onroadScreenOffTimerOptions = {
|
||||
{"0", "15"},
|
||||
{"1", "30"},
|
||||
{"2", "60"},
|
||||
{"3", "120"},
|
||||
{"4", "180"},
|
||||
{"5", "240"},
|
||||
{"6", "300"},
|
||||
{"7", "360"},
|
||||
{"8", "420"},
|
||||
{"9", "480"},
|
||||
{"10", "540"},
|
||||
{"11", "600"}
|
||||
};
|
||||
|
||||
class OnroadScreenBrightnessControl : public ExpandableToggleRow {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
OnroadScreenBrightnessControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
|
||||
QWidget *parent = nullptr);
|
||||
void refresh();
|
||||
|
||||
private:
|
||||
Params params;
|
||||
OptionControlSP *onroadScreenOffTimer;
|
||||
OptionControlSP *onroadScreenBrightness;
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
|
||||
|
||||
DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
|
||||
main_layout = new QStackedLayout(this);
|
||||
ListWidgetSP *list = new ListWidgetSP(this, false);
|
||||
|
||||
sunnypilotScreen = new QWidget(this);
|
||||
QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
|
||||
vlayout->setContentsMargins(50, 20, 50, 20);
|
||||
|
||||
// Onroad Screen Off/Brightness
|
||||
onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
|
||||
"OnroadScreenOffControl",
|
||||
tr("Driving Screen Off: Non-Critical Events"),
|
||||
tr("Turn off device screen or reduce brightness after driving starts. "
|
||||
"It automatically brightens again when screen is touched or a critical event occurs."),
|
||||
"",
|
||||
this);
|
||||
list->addItem(onroadScreenBrightnessControl);
|
||||
|
||||
sunnypilotScroller = new ScrollViewSP(list, this);
|
||||
vlayout->addWidget(sunnypilotScroller);
|
||||
main_layout->addWidget(sunnypilotScreen);
|
||||
}
|
||||
|
||||
void DisplayPanel::showEvent(QShowEvent *event) {
|
||||
QWidget::showEvent(event);
|
||||
refresh();
|
||||
}
|
||||
|
||||
void DisplayPanel::refresh() {
|
||||
onroadScreenBrightnessControl->refresh();
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
|
||||
|
||||
class DisplayPanel : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit DisplayPanel(QWidget *parent = nullptr);
|
||||
void showEvent(QShowEvent *event) override;
|
||||
void refresh();
|
||||
|
||||
private:
|
||||
QStackedLayout* main_layout = nullptr;
|
||||
QWidget* sunnypilotScreen = nullptr;
|
||||
ScrollViewSP *sunnypilotScroller = nullptr;
|
||||
Params params;
|
||||
OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
|
||||
};
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user