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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
5c37fd3ced |
+15
-15
@@ -150,91 +150,91 @@
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"output": "/data/openpilot/openpilot/cereal/messaging/socketmaster.o"
|
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},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
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"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
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"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
|
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"output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/rsa.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7rsa.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/sha.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7sha.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/bootstub.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/main.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/rsa.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7rsa.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/sha.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7sha.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/bootstub.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/panda_jungle_h7bootstub.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/jungle/main.c",
|
||||
"output": "/data/openpilot/panda/board/jungle/board/obj/panda_jungle_h7main.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
|
||||
"output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/rsa.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/body_h7rsa.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/crypto/sha.c",
|
||||
"output": "/data/openpilot/panda/board/crypto/board/obj/body_h7sha.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/bootstub.c",
|
||||
"output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
|
||||
},
|
||||
{
|
||||
"command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
|
||||
"command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0x8BD89F90U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
|
||||
"directory": "/data/openpilot",
|
||||
"file": "/data/openpilot/panda/board/body/main.c",
|
||||
"output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
|
||||
|
||||
+1
-1
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="19.7"
|
||||
export AGNOS_VERSION="19.6"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
@@ -11,7 +11,8 @@ from opendbc.car.toyota import toyotacan
|
||||
from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
|
||||
CarControllerParams, ToyotaFlags
|
||||
from opendbc.can import CANPacker
|
||||
|
||||
from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController
|
||||
from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarController
|
||||
from opendbc.sunnypilot.car.toyota.gas_interceptor import GasInterceptorCarController
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
@@ -19,6 +20,7 @@ Ecu = structs.CarParams.Ecu
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
# The up limit allows the brakes/gas to unwind quickly leaving a stop,
|
||||
# the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
|
||||
@@ -36,11 +38,20 @@ MAX_STEER_RATE_FRAMES = 17 # tx control frames needed before torque can be cut
|
||||
# EPS allows user torque above threshold for 50 frames before permanently faulting
|
||||
MAX_USER_TORQUE = 500
|
||||
|
||||
CRUISE_CANCEL_DELAY_FRAMES = 10
|
||||
|
||||
def get_long_tune(CP, params):
|
||||
def get_long_tune(CP, CP_SP, params):
|
||||
if CP.flags & ToyotaFlags.TSS2:
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
if CP_SP.flags & ToyotaFlagsSP.TSS2_LONG_TUNING:
|
||||
#kiBP = [0., 2.0, 9.0, 14., 20., 27.]
|
||||
#kiV = [0.25, 0.25, 0.15, 0.12, 0.12, 0.12]
|
||||
#kiBP= [0., 1.0, 2.0, 3.0, 4.0, 5.0, 7., 20., 27., 36.]
|
||||
#kiV = [0.31, 0.32, 0.301, 0.280, 0.259, 0.226, 0.15, 0.15, 0.101, 0.10]
|
||||
kiBP = [0.0, 2.0, 5.0, 12., 36.]
|
||||
kiV = [0.45, 0.42, 0.36, 0.30, 0.26]
|
||||
else:
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
else:
|
||||
kiBP = [0., 5., 35.]
|
||||
kiV = [3.6, 2.4, 1.5]
|
||||
@@ -63,9 +74,10 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
self.permit_braking = True
|
||||
self.steer_rate_counter = 0
|
||||
self.distance_button = 0
|
||||
self.cancel_counter = 0
|
||||
|
||||
# *** start long control state ***
|
||||
self.long_pid = get_long_tune(self.CP, self.params)
|
||||
self.long_pid = get_long_tune(self.CP, self.CP_SP, self.params)
|
||||
self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3)
|
||||
self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
|
||||
self.pitch_hp = HighPassFilter(0.0, 0.25, 1.5, DT_CTRL)
|
||||
@@ -81,11 +93,20 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
self.secoc_acc_message_counter = 0
|
||||
self.secoc_prev_reset_counter = 0
|
||||
|
||||
self.enhanced_bsm = EnhancedBsmCarController(CP, CP_SP)
|
||||
self.auto_brake_hold = AutoBrakeHoldCarController(CP, CP_SP)
|
||||
|
||||
self._auto_lock_speed = 0.0
|
||||
|
||||
self._auto_lock_once = False
|
||||
self._gear_prev = GearShifter.park
|
||||
|
||||
def update(self, CC, CC_SP, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
hud_control = CC.hudControl
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
|
||||
pcm_cancel_cmd = self.cancel_counter > CRUISE_CANCEL_DELAY_FRAMES
|
||||
lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
|
||||
|
||||
if len(CC.orientationNED) == 3:
|
||||
@@ -196,6 +217,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
|
||||
self.last_standstill = CS.out.standstill
|
||||
|
||||
if self.auto_brake_hold.enabled:
|
||||
can_sends.extend(self.auto_brake_hold.update(CS, self.frame, self.packer))
|
||||
|
||||
# handle UI messages
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
||||
@@ -319,6 +343,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
|
||||
|
||||
if self.enhanced_bsm.enabled:
|
||||
can_sends.extend(self.enhanced_bsm.update(CS, self.frame))
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.torque = apply_torque / self.params.STEER_MAX
|
||||
new_actuators.torqueOutputCan = apply_torque
|
||||
|
||||
@@ -1,4 +1,6 @@
|
||||
import copy
|
||||
from enum import IntEnum
|
||||
import importlib
|
||||
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, DT_CTRL, create_button_events, structs
|
||||
@@ -8,11 +10,34 @@ from opendbc.car.interfaces import CarStateBase
|
||||
from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
|
||||
TSS2_CAR, EPS_SCALE
|
||||
from opendbc.sunnypilot.car.toyota.carstate_ext import CarStateExt
|
||||
from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarState
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
|
||||
|
||||
class AccelPersonality(IntEnum):
|
||||
eco = 0
|
||||
normal = 1
|
||||
sport = 2
|
||||
|
||||
|
||||
def get_accel_personality(sport_mode: int, eco_mode: int) -> AccelPersonality:
|
||||
if sport_mode == 1:
|
||||
return AccelPersonality.sport
|
||||
if eco_mode == 1:
|
||||
return AccelPersonality.eco
|
||||
return AccelPersonality.normal
|
||||
|
||||
|
||||
def get_host_params():
|
||||
"""Return sunnypilot's Params store when opendbc is embedded in openpilot."""
|
||||
try:
|
||||
return importlib.import_module("openpilot.common.params").Params()
|
||||
except ModuleNotFoundError:
|
||||
return None
|
||||
|
||||
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
|
||||
# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
|
||||
# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
|
||||
@@ -55,6 +80,21 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.gvc = 0.0
|
||||
self.secoc_synchronization = None
|
||||
|
||||
self.enhanced_bsm = EnhancedBsmCarState(CP, CP_SP)
|
||||
|
||||
if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.pre_collision_2 = {}
|
||||
|
||||
self._host_params = get_host_params()
|
||||
self.toyota_drive_mode = self._host_params is not None and self._host_params.get_bool('ToyotaDriveMode')
|
||||
self._drive_mode_signals_checked = False
|
||||
self._sport_signal_available = False
|
||||
self._eco_signal_available = False
|
||||
self._prev_accel_profile = None
|
||||
self._accel_profile_init = False
|
||||
|
||||
self.frame = 0
|
||||
|
||||
def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
@@ -72,18 +112,47 @@ class CarState(CarStateBase, CarStateExt):
|
||||
ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1
|
||||
|
||||
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
|
||||
ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
#ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
|
||||
if self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
|
||||
ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
|
||||
can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
|
||||
else:
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 # TODO: these also have GAS_PEDAL, come back and unify
|
||||
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
|
||||
if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
|
||||
|
||||
if self.toyota_drive_mode: # and not self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2,
|
||||
CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
|
||||
|
||||
if not self._drive_mode_signals_checked:
|
||||
self._drive_mode_signals_checked = True
|
||||
try:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
|
||||
self._sport_signal_available = True
|
||||
except KeyError:
|
||||
sport_mode = 0
|
||||
self._sport_signal_available = False
|
||||
try:
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
|
||||
self._eco_signal_available = True
|
||||
except KeyError:
|
||||
eco_mode = 0
|
||||
self._eco_signal_available = False
|
||||
else:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self._sport_signal_available else 0
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self._eco_signal_available else 0
|
||||
|
||||
accel_profile = get_accel_personality(sport_mode, eco_mode)
|
||||
|
||||
if not self._accel_profile_init or accel_profile != self._prev_accel_profile:
|
||||
self._host_params.put('AccelPersonality', int(accel_profile))
|
||||
self._accel_profile_init = True
|
||||
self._prev_accel_profile = accel_profile
|
||||
|
||||
self.parse_wheel_speeds(ret,
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
|
||||
@@ -212,6 +281,14 @@ class CarState(CarStateBase, CarStateExt):
|
||||
|
||||
ret.buttonEvents = buttonEvents
|
||||
|
||||
if self.enhanced_bsm.enabled and self.frame > 199:
|
||||
ret.leftBlindspot, ret.rightBlindspot = self.enhanced_bsm.update(cp, self.frame)
|
||||
|
||||
if self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
|
||||
|
||||
self.frame += 1
|
||||
|
||||
CarStateExt.update(self, ret, ret_sp, can_parsers)
|
||||
|
||||
return ret, ret_sp
|
||||
|
||||
@@ -3,7 +3,7 @@ from opendbc.car.toyota.carstate import CarState
|
||||
from opendbc.car.toyota.carcontroller import CarController
|
||||
from opendbc.car.toyota.radar_interface import RadarInterface
|
||||
from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
|
||||
MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
|
||||
MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR, SECOC_CAR
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP, ToyotaSafetyFlagsSP
|
||||
@@ -117,6 +117,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if ret.flags & ToyotaFlags.TSS2:
|
||||
ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
|
||||
ret.stopAccel = -0.02
|
||||
|
||||
# Hybrids have much quicker longitudinal actuator response
|
||||
if ret.flags & ToyotaFlags.HYBRID.value:
|
||||
@@ -130,6 +131,9 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate in UNSUPPORTED_DSU_CAR:
|
||||
ret.safetyParam |= ToyotaSafetyFlagsSP.UNSUPPORTED_DSU
|
||||
|
||||
if candidate == CAR.TOYOTA_PRIUS_TSS2:
|
||||
ret.flags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
|
||||
|
||||
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
|
||||
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
|
||||
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.can_definitions import CanData
|
||||
|
||||
SteerControlType = CarParams.SteerControlType
|
||||
|
||||
@@ -164,3 +165,47 @@ def toyota_checksum(address: int, sig, d: bytearray) -> int:
|
||||
for i in range(len(d) - 1):
|
||||
s += d[i]
|
||||
return s & 0xFF
|
||||
|
||||
def create_set_bsm_debug_mode(lr_blindspot, enabled):
|
||||
dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00"
|
||||
dat = lr_blindspot + dat
|
||||
|
||||
return CanData(0x750, dat, 0)
|
||||
|
||||
|
||||
def create_bsm_polling_status(lr_blindspot):
|
||||
return CanData(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
|
||||
|
||||
|
||||
# auto brake hold
|
||||
def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
|
||||
# forward PRE_COLLISION_2 when auto brake hold is not active
|
||||
values = {s: pre_collision_2[s] for s in [
|
||||
"DSS1GDRV",
|
||||
"DS1STAT2",
|
||||
"DS1STBK2",
|
||||
"PCSWAR",
|
||||
"PCSALM",
|
||||
"PCSOPR",
|
||||
"PCSABK",
|
||||
"PBATRGR",
|
||||
"PPTRGR",
|
||||
"IBTRGR",
|
||||
"CLEXTRGR",
|
||||
"IRLT_REQ",
|
||||
"BRKHLD",
|
||||
"AVSTRGR",
|
||||
"VGRSTRGR",
|
||||
"PREFILL",
|
||||
"PBRTRGR",
|
||||
"PCSDIS",
|
||||
"PBPREPMP",
|
||||
]}
|
||||
|
||||
if brake_hold_active:
|
||||
values = {
|
||||
"DSS1GDRV": 0x3FF,
|
||||
"PBRTRGR": frame % 730 < 727, # cut actuation for 3 frames
|
||||
}
|
||||
|
||||
return packer.make_can_msg("PRE_COLLISION_2", 0, values)
|
||||
|
||||
@@ -0,0 +1,79 @@
|
||||
BO_ 1880 DEBUG: 8 XXX
|
||||
SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
|
||||
SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
|
||||
SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 713 HYBRID_POWERTRAIN: 8 XXX
|
||||
SG_ COAST_FUEL_CUT : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HYBRID_DRIVE_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 814 BRAKE_HYDRAULIC: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE_COPY1 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE_COPY2 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 971 MOTOR_SPEED_CLUSTER: 7 XXX
|
||||
SG_ CLUSTER_SPEED : 55|8@0+ (1,-21) [0|255] "km/h" XXX
|
||||
|
||||
BO_ 896 HYBRID_BATTERY: 8 XXX
|
||||
SG_ HV_SOC_PCT : 55|8@0+ (1,0) [0|100] "%" XXX
|
||||
|
||||
BO_ 1654 HV_POWER_INTEGRATOR: 8 XXX
|
||||
SG_ HV_POWER_ACCUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 975 HV_INVERTER: 5 XXX
|
||||
SG_ HV_VOLTAGE_LO : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ HV_CURRENT_LO : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 955 BRAKE_REDUNDANT: 8 XXX
|
||||
SG_ BRAKE_PRESSED_REDUNDANT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 918 VEHICLE_DRIVE_MODE: 8 XXX
|
||||
SG_ DRIVE_MODE_STATE : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "Sunnypilot Prius TSS2 reverse-engineered signals — route 550a71ee4c7a7fbe/0000038f--6b48497966, 2026-05-19. Confidence: high unless noted.";
|
||||
CM_ BO_ 713 "Hybrid powertrain status. 100Hz on bus 0.";
|
||||
CM_ SG_ 713 COAST_FUEL_CUT "byte0 bit5. 1 when accelerator lifted at speed -> ICE fuel cut / decel-fuel-cut active. P(=1|coast)=0.95, P(=1|accel)=0.008, P(=1|brake)=0.0. Use: lift detection for accel feedforward, EV-only mode hint.";
|
||||
CM_ SG_ 713 HYBRID_DRIVE_STATE "byte1 lower-nibble (bits 8-11). Enum (validated): 4=brake/regen-active, 5-8=coast/cruise levels, 10/12=ICE running active, 11=idle-stop. Not a scalar magnitude. Use: distinguish ICE-on vs EV for accel command shaping.";
|
||||
CM_ BO_ 814 "Brake hydraulic. 5Hz on bus 0. Bytes 0,2,4,6 are status/flag bytes (not yet decoded). Saturates 255 under hard brake.";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE "byte1. Master cylinder pressure proxy. 0 during coast, 33-45 mean during brake, 254-255 max. NOT same as BRAKE_MODULE.BRAKE_PRESSURE.";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE_COPY1 "byte3. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy (CRC/safety).";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE_COPY2 "byte5. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy.";
|
||||
CM_ BO_ 971 "Cluster speedometer feed. 10Hz on bus 0.";
|
||||
CM_ SG_ 971 CLUSTER_SPEED "byte6. Encoded as raw_byte = v_kph + 21. After (1,-21) factor/offset: km/h matching dashboard speedometer. Corr 0.998 w/ WHEEL_SPEEDS. ~5km/h higher than wheel mean = cluster display bias.";
|
||||
CM_ BO_ 896 "HV battery status. 5Hz on bus 0.";
|
||||
CM_ SG_ 896 HV_SOC_PCT "byte6. HV battery state-of-charge percent. Validated range 53-62% on route 0000038f (Prius hybrid SoC normal band 40-80%). Use: energy-aware planner — reduce regen demand at high SoC (>70%), lift accel demand at low SoC (<50%).";
|
||||
CM_ BO_ 1654 "HV power integrator. 1Hz on bus 0. Slow drift signal, semantic not fully confirmed.";
|
||||
CM_ SG_ 1654 HV_POWER_ACCUM "byte4. Slow-drifting integer 0-59, independent of HV_SOC_PCT. Hypothesis: HV power flow accumulator or charging-cycle counter. Needs more routes.";
|
||||
CM_ BO_ 975 "HV inverter telemetry. 10Hz on bus 0. 5-byte message.";
|
||||
CM_ SG_ 975 HV_VOLTAGE_LO "byte2. Sequential integer 40-53 range. Hypothesis: HV bus voltage low-byte scaled. Moderate corr w/ brake (regen-loaded voltage).";
|
||||
CM_ SG_ 975 HV_CURRENT_LO "byte4. Sequential integer 17-36 range. JUMPS -16 at brake-release (regen current cutoff signature). Use: real-time regen current readback for brake-blend tuning.";
|
||||
CM_ BO_ 955 "Brake redundant signal. 10Hz on bus 0.";
|
||||
CM_ SG_ 955 BRAKE_PRESSED_REDUNDANT "byte0 bit0. 99.9% agreement with BRAKE_MODULE.BRAKE_PRESSED. Safety-redundant copy. Use: cross-check brake state for fault detection.";
|
||||
CM_ BO_ 918 "Vehicle drive mode state. 5Hz on bus 0.";
|
||||
CM_ SG_ 918 DRIVE_MODE_STATE "byte0. 3 states observed: 185=parked-with-brake, 189=ready-to-drive, 191=ready-no-brake. Transitions on GEAR shifts + brake. Use: more reliable drive-state machine than gear+brake combo.";
|
||||
VAL_ 713 HYBRID_DRIVE_STATE 4 "brake_regen_active" 5 "coast_5" 6 "coast_6" 7 "coast_7" 8 "coast_cruise" 10 "ice_active_10" 11 "idle_stop" 12 "ice_active_12";
|
||||
VAL_ 918 DRIVE_MODE_STATE 185 "parked_brake" 189 "ready" 191 "ready_no_brake";
|
||||
@@ -234,6 +234,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -545,6 +546,7 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
|
||||
VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
|
||||
VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
|
||||
VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
|
||||
|
||||
@@ -35,14 +35,6 @@ BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
|
||||
SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
// Stock longitudinal
|
||||
#define TOYOTA_BASE_TX_MSGS \
|
||||
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
|
||||
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, {0x750, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
|
||||
|
||||
#define TOYOTA_COMMON_TX_MSGS \
|
||||
TOYOTA_BASE_TX_MSGS \
|
||||
@@ -69,6 +69,7 @@ static bool toyota_secoc = false;
|
||||
static bool toyota_alt_brake = false;
|
||||
static bool toyota_stock_longitudinal = false;
|
||||
static bool toyota_lta = false;
|
||||
static bool toyota_cruise_engaged = false; // SP: PCM_CRUISE.CRUISE_ACTIVE, narrows the auto brake hold AEB window below
|
||||
static int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
|
||||
static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
|
||||
@@ -151,6 +152,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->addr == 0x176U) {
|
||||
bool cruise_engaged = GET_BIT(msg, 5U); // PCM_CRUISE.CRUISE_ACTIVE
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
toyota_cruise_engaged = cruise_engaged;
|
||||
}
|
||||
if (msg->addr == 0x116U) {
|
||||
gas_pressed = msg->data[1] != 0U; // GAS_PEDAL.GAS_PEDAL_USER
|
||||
@@ -162,6 +164,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->addr == 0x1D2U) {
|
||||
bool cruise_engaged = GET_BIT(msg, 5U); // PCM_CRUISE.CRUISE_ACTIVE
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
toyota_cruise_engaged = cruise_engaged;
|
||||
|
||||
if (!enable_gas_interceptor) {
|
||||
gas_pressed = !GET_BIT(msg, 4U); // PCM_CRUISE.GAS_RELEASED
|
||||
@@ -386,13 +389,35 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// SP: auto brake hold https://github.com/AlexandreSato
|
||||
if ((msg->addr == 0x344U) && (alternative_experience & ALT_EXP_ALLOW_AEB)) {
|
||||
if (vehicle_moving || gas_pressed || !acc_main_on || toyota_cruise_engaged) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (msg->addr == 0x750U) {
|
||||
// this address is sub-addressed. only allow tester present to radar (0xF)
|
||||
bool invalid_uds_msg = (GET_BYTES(msg, 0, 4) != 0x003E020FU) || (GET_BYTES(msg, 4, 4) != 0x0U);
|
||||
if (invalid_uds_msg) {
|
||||
// SP: Secret sauce from dp. (ask @rav4kumar prior to modifying)
|
||||
// Enhanced BSM
|
||||
bool sp_valid_uds_msgs = ((GET_BYTES(msg, 0, 4) == 0x01100241U) || // disable left BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x60100241U) || // enable left BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x69210241U) || // poll left BSM status
|
||||
(GET_BYTES(msg, 0, 4) == 0x01100242U) || // disable right BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x60100242U) || // enable right BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x69210242U)) // poll right BSM status
|
||||
&& (GET_BYTES(msg, 4, 4) == 0x0U);
|
||||
|
||||
sp_valid_uds_msgs |= (GET_BYTES(msg, 0, 4) == 0x11300540U) && // automatic door locking and unlocking
|
||||
((GET_BYTES(msg, 4, 4) == 0x00004000U) || // unlock
|
||||
(GET_BYTES(msg, 4, 4) == 0x00008000U)); // lock
|
||||
|
||||
bool valid_tester_present = !invalid_uds_msg && !toyota_stock_longitudinal && !toyota_secoc;
|
||||
if (!valid_tester_present && !sp_valid_uds_msgs) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
@@ -566,10 +591,27 @@ static safety_config toyota_init(uint16_t param) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
static bool toyota_fwd_hook(int bus_num, int addr) {
|
||||
bool block_msg = false;
|
||||
if (bus_num == 2) {
|
||||
// SP: block AEB when auto brake hold is active, unblock AEB when auto brake hold is not active.
|
||||
// Narrowed to match auto brake hold's own precondition (cruise must be off) - previously this
|
||||
// blocked native AEB forwarding, forcing a slower software relay, any time the car was simply
|
||||
// stopped with the gas released and ACC main on, even while cruise was actively engaged and
|
||||
// auto brake hold couldn't be active at all.
|
||||
bool is_aeb_msg = (addr == 0x344);
|
||||
block_msg = (is_aeb_msg && (alternative_experience & ALT_EXP_ALLOW_AEB) && !vehicle_moving && !gas_pressed && acc_main_on &&
|
||||
!toyota_cruise_engaged);
|
||||
}
|
||||
|
||||
return block_msg;
|
||||
}
|
||||
|
||||
const safety_hooks toyota_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
.get_checksum = toyota_get_checksum,
|
||||
.compute_checksum = toyota_compute_checksum,
|
||||
.get_quality_flag_valid = toyota_get_quality_flag_valid,
|
||||
|
||||
@@ -148,7 +148,6 @@ inline void mads_heartbeat_engaged_check(void) {
|
||||
// Function Implementations
|
||||
// ===============================
|
||||
|
||||
// cppcheck-suppress misra-c2012-8.7; called from libsafety test harness
|
||||
inline void mads_set_alternative_experience(const int *mode) {
|
||||
const bool mads_enabled = (*mode & ALT_EXP_ENABLE_MADS) != 0;
|
||||
const bool disengage_lateral_on_brake = (*mode & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
|
||||
|
||||
@@ -101,6 +101,29 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
|
||||
tester_present = libsafety_py.make_CANPacket(0x750, 0, msg)
|
||||
self.assertEqual(should_tx and ecu_disabled and not stock_longitudinal, self._tx(tester_present))
|
||||
|
||||
def test_enhanced_bsm(self):
|
||||
# SP: enable/disable/poll left+right blind spot debug mode, sent to the radar diagnostic address
|
||||
valid_msgs = [
|
||||
b"\x41\x02\x10\x60\x00\x00\x00\x00", # enable left
|
||||
b"\x41\x02\x10\x01\x00\x00\x00\x00", # disable left
|
||||
b"\x41\x02\x21\x69\x00\x00\x00\x00", # poll left
|
||||
b"\x42\x02\x10\x60\x00\x00\x00\x00", # enable right
|
||||
b"\x42\x02\x10\x01\x00\x00\x00\x00", # disable right
|
||||
b"\x42\x02\x21\x69\x00\x00\x00\x00", # poll right
|
||||
]
|
||||
for msg in valid_msgs:
|
||||
pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
|
||||
self.assertTrue(self._tx(pkt), msg.hex())
|
||||
|
||||
invalid_msgs = [
|
||||
b"\x41\x02\x10\x61\x00\x00\x00\x00", # wrong subfunction
|
||||
b"\x43\x02\x10\x60\x00\x00\x00\x00", # wrong sub-address (not left/right)
|
||||
b"\x41\x02\x10\x60\x01\x00\x00\x00", # non-zero trailing bytes
|
||||
]
|
||||
for msg in invalid_msgs:
|
||||
pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
|
||||
self.assertFalse(self._tx(pkt), msg.hex())
|
||||
|
||||
def test_block_aeb(self, stock_longitudinal: bool = False):
|
||||
for controls_allowed in (True, False):
|
||||
for bad in (True, False):
|
||||
|
||||
@@ -14,7 +14,7 @@ from opendbc.car import structs
|
||||
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.hyundai.values import HyundaiFlags
|
||||
from opendbc.car.subaru.values import SubaruFlags
|
||||
from opendbc.car.toyota.values import ToyotaSafetyFlags
|
||||
from opendbc.car.toyota.values import RADAR_ACC_CAR, SECOC_CAR, TSS2_CAR, ToyotaSafetyFlags
|
||||
from opendbc.sunnypilot.car.hyundai.enable_radar_tracks import enable_radar_tracks as hyundai_enable_radar_tracks
|
||||
from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
|
||||
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
|
||||
@@ -157,6 +157,9 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
|
||||
if CP.brand == 'toyota':
|
||||
toyota_stock_long = int(params_dict.get("ToyotaEnforceStockLongitudinal", 0)) == 1
|
||||
toyota_stop_and_go_hack = int(params_dict.get("ToyotaStopAndGoHack", 0)) == 1
|
||||
toyota_tss2_long_tuning = int(params_dict.get("ToyotaTSS2Long", 0)) == 1
|
||||
toyota_enhanced_bsm = int(params_dict.get("ToyotaEnhancedBsm", 0)) == 1
|
||||
toyota_auto_brake_hold = int(params_dict.get("ToyotaAutoHold", 0)) == 1
|
||||
|
||||
if toyota_stock_long:
|
||||
CP_SP.flags |= ToyotaFlagsSP.STOCK_LONGITUDINAL.value
|
||||
@@ -166,3 +169,12 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
|
||||
|
||||
if toyota_stop_and_go_hack and CP.openpilotLongitudinalControl:
|
||||
CP_SP.flags |= ToyotaFlagsSP.STOP_AND_GO_HACK.value
|
||||
|
||||
if toyota_tss2_long_tuning:
|
||||
CP_SP.flags |= ToyotaFlagsSP.TSS2_LONG_TUNING.value
|
||||
|
||||
if toyota_enhanced_bsm and CP.carFingerprint in (TSS2_CAR - SECOC_CAR):
|
||||
CP_SP.flags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value
|
||||
|
||||
if toyota_auto_brake_hold and CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR):
|
||||
CP_SP.flags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
|
||||
|
||||
@@ -0,0 +1,80 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
# frames of confirmed hold-eligible standstill required before engaging
|
||||
BRAKE_HOLD_ALLOWED_TIMER = 100
|
||||
|
||||
DISALLOWED_GEARS = (GearShifter.park, GearShifter.reverse)
|
||||
|
||||
# PRE_COLLISION_2 fields that go high when the camera's own PCS/AEB is genuinely intervening this
|
||||
# frame (PCSALM mirrors PRECOLLISION_ACTIVE; IBTRGR/PBATRGR/PREFILL/AVSTRGR/PBRTRGR/PPTRGR are its
|
||||
# actuation triggers - see create_pcs_commands for the same field set on the stock-DSU PCS path).
|
||||
# Deliberately over-inclusive: a false positive here just means we pass a quiescent frame through
|
||||
# instead of holding it, never the other way around, so err toward checking more fields, not fewer.
|
||||
PCS_TRIGGER_FIELDS = ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR")
|
||||
|
||||
|
||||
def pcs_is_active(pre_collision_2: dict) -> bool:
|
||||
return any(pre_collision_2.get(field, 0) for field in PCS_TRIGGER_FIELDS) or pre_collision_2.get("DSS1GDRV", 0) != 0
|
||||
|
||||
|
||||
class AutoBrakeHold:
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
|
||||
@property
|
||||
def enabled(self):
|
||||
return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD)
|
||||
|
||||
|
||||
# Auto Brake Hold (@AlexandreSato, @rav4kumar): holds the car at a stop with cruise off by
|
||||
# overriding PRE_COLLISION_2 - the only channel on this platform that can command the brake
|
||||
# independent of ACC engagement, since PCS/AEB is an always-on active safety system by design.
|
||||
# Yields to any genuine PCS activation this frame - the real message is only ever overridden while
|
||||
# it's quiescent - and releases for the rest of the current standstill episode on a brake press,
|
||||
# rather than for a single frame.
|
||||
class AutoBrakeHoldCarController(AutoBrakeHold):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
self.active = False
|
||||
self._counter = 0
|
||||
self._released = False
|
||||
self._prev_brake_pressed = False
|
||||
|
||||
def update(self, CS: structs.CarState, frame: int, packer) -> list:
|
||||
relay_blocked = (CS.out.standstill and CS.out.cruiseState.available and not CS.out.cruiseState.enabled and
|
||||
not CS.out.gasPressed)
|
||||
hold_allowed = relay_blocked and CS.out.gearShifter not in DISALLOWED_GEARS
|
||||
|
||||
if hold_allowed:
|
||||
# only a fresh press releases hold - the press that caused the stop is already reflected in
|
||||
# _prev_brake_pressed by the time standstill is reached, so it doesn't count as a release
|
||||
if CS.out.brakePressed and not self._prev_brake_pressed:
|
||||
self._released = True
|
||||
self._counter += 1
|
||||
self.active = self._counter > BRAKE_HOLD_ALLOWED_TIMER and not self._released
|
||||
else:
|
||||
self._counter = 0
|
||||
self.active = False
|
||||
self._released = False
|
||||
|
||||
self._prev_brake_pressed = CS.out.brakePressed
|
||||
|
||||
can_sends = []
|
||||
if relay_blocked and frame % 2 == 0:
|
||||
override = self.active and not pcs_is_active(CS.pre_collision_2)
|
||||
can_sends.append(toyotacan.create_brake_hold_command(packer, frame, CS.pre_collision_2, override))
|
||||
|
||||
return can_sends
|
||||
@@ -0,0 +1,126 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
LEFT_BLINDSPOT = b"\x41"
|
||||
RIGHT_BLINDSPOT = b"\x42"
|
||||
LEFT_SIDE = LEFT_BLINDSPOT[0]
|
||||
RIGHT_SIDE = RIGHT_BLINDSPOT[0]
|
||||
|
||||
# BLINDSPOTD1/D2 aren't real distances despite the DBC name: verified against 3 real routes, values
|
||||
# fall into 3 clean bands - idle (0), a small transitional-noise band (seen 1-31, rare: single-digit
|
||||
# occurrence counts, present during side/state transitions), and two real zone codes (~46-47 and
|
||||
# ~50-53, consistent across routes and cars - likely mirroring stock BSM's own ADJACENT/APPROACHING
|
||||
# split). A plain nonzero check lets the noise band through as false "occupied" hits; gate on the
|
||||
# real-zone floor instead - comfortably above every noise value seen, comfortably below neither zone code.
|
||||
BLINDSPOT_NOISE_FLOOR = 35
|
||||
|
||||
# DEBUG also carries a 1-bit BLINDSPOT flag (byte 4) that isn't read here. Checked against the same
|
||||
# route: stayed 0 across all frames, including every confirmed real detection - not a usable signal.
|
||||
|
||||
|
||||
class EnhancedBsm:
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
|
||||
@property
|
||||
def enabled(self):
|
||||
return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_ENHANCED_BSM)
|
||||
|
||||
|
||||
class _BsmSideState:
|
||||
def __init__(self):
|
||||
self.blindspot = False
|
||||
self.counter = 0
|
||||
|
||||
def update(self, distance_1, distance_2):
|
||||
# every fresh matching-side reading directly reflects the current occupancy check - this is not
|
||||
# a latch. A drop to an idle/noise reading on this exact side clears it immediately, same as the
|
||||
# original. The counter is purely a silence timeout for when this side stops responding entirely,
|
||||
# not a "hold the last detection for a while" mechanism.
|
||||
self.blindspot = distance_1 > BLINDSPOT_NOISE_FLOOR or distance_2 > BLINDSPOT_NOISE_FLOOR
|
||||
self.counter = 100
|
||||
|
||||
def decay(self):
|
||||
self.counter = max(0, self.counter - 1)
|
||||
if self.counter == 0:
|
||||
self.blindspot = False
|
||||
|
||||
|
||||
# Enhanced BSM (@arne182, @rav4kumar)
|
||||
class EnhancedBsmCarState(EnhancedBsm):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
self._sides = {LEFT_SIDE: _BsmSideState(), RIGHT_SIDE: _BsmSideState()}
|
||||
|
||||
def update(self, cp, frame: int) -> tuple[bool, bool]:
|
||||
# Let's keep all the commented out code for easy debug purposes in the future.
|
||||
distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
|
||||
distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
|
||||
side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
|
||||
|
||||
if all(val is not None for val in [distance_1, distance_2, side]) and side in self._sides:
|
||||
self._sides[side].update(distance_1, distance_2)
|
||||
|
||||
for side_state in self._sides.values():
|
||||
side_state.decay()
|
||||
|
||||
return self._sides[LEFT_SIDE].blindspot, self._sides[RIGHT_SIDE].blindspot
|
||||
|
||||
|
||||
class _BsmSideController:
|
||||
def __init__(self, addr_byte: bytes):
|
||||
self.addr_byte = addr_byte
|
||||
self.debug_enabled = False
|
||||
self.last_poll_frame = 0
|
||||
|
||||
def update(self, frame: int, poll_phase: int, e_bsm_rate: int, always_on: bool, vego_ok: bool) -> list[CanData]:
|
||||
can_sends = []
|
||||
|
||||
if not self.debug_enabled:
|
||||
if always_on or vego_ok: # eagle eye camera will stop working if bsm is switched on under 6m/s
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, True))
|
||||
self.debug_enabled = True
|
||||
self.last_poll_frame = frame # give the poll loop a fresh baseline so the stale-poll disable check below can't fire before the first real poll
|
||||
else:
|
||||
# no periodic re-assert: re-sending DiagnosticSessionControl(extendedSession) while already in that
|
||||
# session appears to make the ECU intermittently drop its own detection state (confirmed against a
|
||||
# real route - two reasserts landed inside an 8s window where the ECU went silent on that side).
|
||||
# send it once and leave it alone, matching the original, proven-stable behavior.
|
||||
if not always_on and frame - self.last_poll_frame > 50:
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, False))
|
||||
self.debug_enabled = False
|
||||
|
||||
if frame % e_bsm_rate == poll_phase:
|
||||
can_sends.append(toyotacan.create_bsm_polling_status(self.addr_byte))
|
||||
self.last_poll_frame = frame
|
||||
|
||||
return can_sends
|
||||
|
||||
|
||||
# Enhanced BSM (@arne182, @rav4kumar)
|
||||
class EnhancedBsmCarController(EnhancedBsm):
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
self._left = _BsmSideController(LEFT_BLINDSPOT)
|
||||
self._right = _BsmSideController(RIGHT_BLINDSPOT)
|
||||
|
||||
def update(self, CS: structs.CarState, frame: int, e_bsm_rate: int = 20, always_on: bool = True) -> list[CanData]:
|
||||
if frame <= 200:
|
||||
return []
|
||||
|
||||
vego_ok = CS.out.vEgo > 6
|
||||
can_sends = self._left.update(frame, 0, e_bsm_rate, always_on, vego_ok)
|
||||
can_sends += self._right.update(frame, e_bsm_rate // 2, e_bsm_rate, always_on, vego_ok)
|
||||
return can_sends
|
||||
@@ -0,0 +1,231 @@
|
||||
import unittest
|
||||
from unittest.mock import patch
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController, BRAKE_HOLD_ALLOWED_TIMER, pcs_is_active
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
|
||||
def make_car_params_sp(enabled: bool = True) -> structs.CarParamsSP:
|
||||
cp_sp = structs.CarParamsSP()
|
||||
cp_sp.flags = ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD if enabled else 0
|
||||
return cp_sp
|
||||
|
||||
|
||||
class FakeCarState:
|
||||
def __init__(self, standstill=True, cruise_enabled=False, cruise_available=True, gas_pressed=False,
|
||||
gear=GearShifter.drive, brake_pressed=False, pre_collision_2=None):
|
||||
self.out = structs.CarState()
|
||||
self.out.standstill = standstill
|
||||
self.out.cruiseState.enabled = cruise_enabled
|
||||
self.out.cruiseState.available = cruise_available
|
||||
self.out.gasPressed = gas_pressed
|
||||
self.out.gearShifter = gear
|
||||
self.out.brakePressed = brake_pressed
|
||||
self.pre_collision_2 = pre_collision_2 if pre_collision_2 is not None else {}
|
||||
|
||||
|
||||
@patch("opendbc.sunnypilot.car.toyota.auto_brake_hold.toyotacan.create_brake_hold_command")
|
||||
class TestAutoBrakeHoldCarController(unittest.TestCase):
|
||||
def _make(self):
|
||||
return AutoBrakeHoldCarController(structs.CarParams(), make_car_params_sp())
|
||||
|
||||
def test_enabled_reflects_flag(self, mock_create):
|
||||
for value in range(256):
|
||||
with self.subTest(flags=value):
|
||||
cp_sp = structs.CarParamsSP()
|
||||
cp_sp.flags = value
|
||||
ctrl = AutoBrakeHoldCarController(structs.CarParams(), cp_sp)
|
||||
self.assertEqual(ctrl.enabled, bool(value & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD))
|
||||
|
||||
def test_does_not_engage_before_timer(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False)
|
||||
for i in range(BRAKE_HOLD_ALLOWED_TIMER):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertFalse(ctrl.active)
|
||||
|
||||
def test_engages_after_timer_once_brake_released(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False)
|
||||
for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertTrue(ctrl.active)
|
||||
|
||||
def test_brake_still_down_from_the_stop_does_not_block_engagement(self, mock_create):
|
||||
# the driver's foot is normally still on the brake on the very frame standstill is reached -
|
||||
# that must not count as a "fresh press" release, or the feature could never engage
|
||||
ctrl = self._make()
|
||||
# decelerating into the stop with the brake held continuously
|
||||
cs = FakeCarState(standstill=False, brake_pressed=True)
|
||||
for i in range(30):
|
||||
ctrl.update(cs, i, None)
|
||||
# reaches standstill, foot stays down for a while, then lifts
|
||||
cs.out.standstill = True
|
||||
for i in range(30, 50):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertFalse(ctrl.active, "must not engage while the original stopping press is still held")
|
||||
cs.out.brakePressed = False
|
||||
for i in range(50, 50 + BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertTrue(ctrl.active, "should engage once the stopping press is released and the timer elapses")
|
||||
|
||||
def test_fresh_brake_press_mid_hold_releases_and_stays_released(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False)
|
||||
frame = 0
|
||||
for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertTrue(ctrl.active)
|
||||
|
||||
cs.out.brakePressed = True
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertFalse(ctrl.active, "a fresh press should release immediately")
|
||||
|
||||
for _ in range(20):
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertFalse(ctrl.active, "must stay released for the rest of the episode while continuously held")
|
||||
|
||||
cs.out.brakePressed = False
|
||||
for _ in range(20):
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertFalse(ctrl.active, "must stay released for the rest of the episode even after lifting off again")
|
||||
|
||||
def test_drive_off_and_restop_rearms(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False)
|
||||
frame = 0
|
||||
for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
cs.out.brakePressed = True
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertFalse(ctrl.active)
|
||||
|
||||
# drives off - leaves the standstill episode entirely
|
||||
cs.out.standstill = False
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
|
||||
# stops again
|
||||
cs.out.standstill = True
|
||||
cs.out.brakePressed = False
|
||||
for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertTrue(ctrl.active, "should re-arm and engage again at the next stop")
|
||||
|
||||
def test_cruise_engaged_blocks_hold(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(cruise_enabled=True, brake_pressed=False)
|
||||
for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertFalse(ctrl.active, "must not hold while ACC is engaged - that's the point of the constraint")
|
||||
|
||||
def test_gas_pressed_blocks_hold(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(gas_pressed=True, brake_pressed=False)
|
||||
for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertFalse(ctrl.active)
|
||||
|
||||
def test_park_and_reverse_block_hold(self, mock_create):
|
||||
for gear in (GearShifter.park, GearShifter.reverse):
|
||||
with self.subTest(gear=gear):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(gear=gear, brake_pressed=False)
|
||||
for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertFalse(ctrl.active)
|
||||
|
||||
def test_yields_to_live_pcs_without_dropping_active_state(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False)
|
||||
frame = 0
|
||||
for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, frame, None)
|
||||
frame += 1
|
||||
self.assertTrue(ctrl.active)
|
||||
mock_create.reset_mock()
|
||||
|
||||
# a real PCS event shows up on the live signal
|
||||
cs.pre_collision_2 = {"PCSALM": 1}
|
||||
# advance to the next even frame the message is actually built on
|
||||
while frame % 2 != 0:
|
||||
frame += 1
|
||||
ctrl.update(cs, frame, None)
|
||||
override_arg = mock_create.call_args.args[-1]
|
||||
self.assertTrue(ctrl.active, "internal hold state should not be cleared by a live PCS event")
|
||||
self.assertFalse(override_arg, "must not override PRE_COLLISION_2 while PCS is genuinely active")
|
||||
|
||||
# once PCS goes quiet again, override resumes on our own signal, not stale PCS state
|
||||
frame += 2
|
||||
cs.pre_collision_2 = {}
|
||||
ctrl.update(cs, frame, None)
|
||||
override_arg = mock_create.call_args.args[-1]
|
||||
self.assertTrue(override_arg)
|
||||
|
||||
def test_message_only_built_every_other_frame(self, mock_create):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False)
|
||||
for i in range(10):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertEqual(mock_create.call_count, 5)
|
||||
|
||||
def test_no_message_sent_outside_relay_blocked_window(self, mock_create):
|
||||
# outside relay_blocked, toyota_fwd_hook lets the real PRE_COLLISION_2 relay through on its own -
|
||||
# our passthrough copy would just be redundant traffic panda rejects, so it must not be sent at all
|
||||
cases = [
|
||||
dict(cruise_enabled=True),
|
||||
dict(gas_pressed=True),
|
||||
dict(cruise_available=False),
|
||||
]
|
||||
for kwargs in cases:
|
||||
with self.subTest(kwargs=kwargs):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(brake_pressed=False, **kwargs)
|
||||
for i in range(10):
|
||||
ctrl.update(cs, i, None)
|
||||
mock_create.assert_not_called()
|
||||
|
||||
def test_message_still_sent_in_park_or_reverse(self, mock_create):
|
||||
# relay_blocked has no gear check, matching toyota_fwd_hook - park/reverse must not open a gap
|
||||
# in the PRE_COLLISION_2 relay even though hold can never engage there (this was a real
|
||||
# regression: gating the send on hold_allowed's gear check left bus 0 with nothing at this
|
||||
# address while parked, which is what tripped a genuine PCS dash fault on-road)
|
||||
for gear in (GearShifter.park, GearShifter.reverse):
|
||||
with self.subTest(gear=gear):
|
||||
ctrl = self._make()
|
||||
cs = FakeCarState(gear=gear, brake_pressed=False)
|
||||
for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
|
||||
ctrl.update(cs, i, None)
|
||||
self.assertFalse(ctrl.active, "must never actually hold in park/reverse")
|
||||
self.assertGreater(mock_create.call_count, 0, "must still relay PRE_COLLISION_2 in park/reverse")
|
||||
override_arg = mock_create.call_args.args[-1]
|
||||
self.assertFalse(override_arg, "never override while gear disallows an actual hold")
|
||||
|
||||
|
||||
class TestPcsIsActive(unittest.TestCase):
|
||||
def test_all_zero_is_not_active(self):
|
||||
self.assertFalse(pcs_is_active({}))
|
||||
self.assertFalse(pcs_is_active({"PCSALM": 0, "DSS1GDRV": 0}))
|
||||
|
||||
def test_any_trigger_field_is_active(self):
|
||||
for field in ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR"):
|
||||
with self.subTest(field=field):
|
||||
self.assertTrue(pcs_is_active({field: 1}))
|
||||
|
||||
def test_nonzero_force_signal_is_active(self):
|
||||
self.assertTrue(pcs_is_active({"DSS1GDRV": -5}))
|
||||
self.assertFalse(pcs_is_active({"DSS1GDRV": 0}))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -0,0 +1,15 @@
|
||||
import unittest
|
||||
|
||||
from opendbc.car.toyota.carstate import AccelPersonality, get_accel_personality
|
||||
|
||||
|
||||
class TestDriveMode(unittest.TestCase):
|
||||
def test_acceleration_profile_mapping(self):
|
||||
self.assertEqual(get_accel_personality(0, 0), AccelPersonality.normal)
|
||||
self.assertEqual(get_accel_personality(0, 1), AccelPersonality.eco)
|
||||
self.assertEqual(get_accel_personality(1, 0), AccelPersonality.sport)
|
||||
self.assertEqual(get_accel_personality(1, 1), AccelPersonality.sport)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -0,0 +1,57 @@
|
||||
import unittest
|
||||
from types import SimpleNamespace
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.toyota.carcontroller import get_long_tune
|
||||
from opendbc.car.toyota.values import CAR, ToyotaFlags
|
||||
from opendbc.sunnypilot.car.interfaces import _initialize_toyota
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
|
||||
def build_params(*, tss2=True):
|
||||
flags = ToyotaFlags.TSS2.value if tss2 else 0
|
||||
CP = structs.CarParams(
|
||||
brand="toyota",
|
||||
carFingerprint=str(CAR.TOYOTA_COROLLA_TSS2),
|
||||
flags=flags,
|
||||
)
|
||||
return CP, structs.CarParamsSP()
|
||||
|
||||
|
||||
class TestTss2LongTuning(unittest.TestCase):
|
||||
def test_param_handoff(self):
|
||||
for enabled in (False, True):
|
||||
with self.subTest(enabled=enabled):
|
||||
CP, CP_SP = build_params()
|
||||
_initialize_toyota(CP, CP_SP, {"ToyotaTSS2Long": int(enabled)})
|
||||
self.assertEqual(bool(CP_SP.flags & ToyotaFlagsSP.TSS2_LONG_TUNING), enabled)
|
||||
|
||||
def test_tss2_tune_selection(self):
|
||||
controller_params = SimpleNamespace(ACCEL_MAX=2.0, ACCEL_MIN=-3.5)
|
||||
CP, CP_SP = build_params()
|
||||
|
||||
stock_tune = get_long_tune(CP, CP_SP, controller_params)
|
||||
stock_tune.speed = 2.0
|
||||
self.assertEqual(stock_tune.k_i, 0.5)
|
||||
stock_tune.speed = 5.0
|
||||
self.assertEqual(stock_tune.k_i, 0.25)
|
||||
|
||||
CP_SP.flags |= ToyotaFlagsSP.TSS2_LONG_TUNING.value
|
||||
custom_tune = get_long_tune(CP, CP_SP, controller_params)
|
||||
custom_tune.speed = 0.0
|
||||
self.assertEqual(custom_tune.k_i, 0.30)
|
||||
custom_tune.speed = 5.0
|
||||
self.assertEqual(custom_tune.k_i, 0.28)
|
||||
|
||||
def test_non_tss2_ignores_custom_tune_flag(self):
|
||||
controller_params = SimpleNamespace(ACCEL_MAX=2.0, ACCEL_MIN=-3.5)
|
||||
CP, CP_SP = build_params(tss2=False)
|
||||
CP_SP.flags |= ToyotaFlagsSP.TSS2_LONG_TUNING.value
|
||||
|
||||
standard_tune = get_long_tune(CP, CP_SP, controller_params)
|
||||
standard_tune.speed = 0.0
|
||||
self.assertEqual(standard_tune.k_i, 3.6)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -14,6 +14,10 @@ class ToyotaFlagsSP(IntFlag):
|
||||
ZSS = 4
|
||||
STOCK_LONGITUDINAL = 8
|
||||
STOP_AND_GO_HACK = 16
|
||||
SP_ENHANCED_BSM = 32
|
||||
SP_NEED_DEBUG_BSM = 64
|
||||
SP_AUTO_BRAKE_HOLD = 128
|
||||
TSS2_LONG_TUNING = 512
|
||||
|
||||
|
||||
class ToyotaSafetyFlagsSP:
|
||||
|
||||
@@ -204,11 +204,16 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
aTarget @5 :Float32;
|
||||
events @6 :List(OnroadEventSP.Event);
|
||||
e2eAlerts @7 :E2eAlerts;
|
||||
accelController @8 :AccelController;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
decelIntent @3 :Float32;
|
||||
curveDetected @4 :Bool;
|
||||
wantBlended @5 :Bool;
|
||||
leadVeto @6 :Bool;
|
||||
|
||||
enum DynamicExperimentalControlState {
|
||||
acc @0;
|
||||
@@ -306,6 +311,17 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
greenLightAlert @0 :Bool;
|
||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
|
||||
struct AccelController {
|
||||
enabled @0 :Bool;
|
||||
active @1 :Bool;
|
||||
profile @2 :Profile;
|
||||
enum Profile {
|
||||
eco @0;
|
||||
normal @1;
|
||||
sport @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
@@ -353,7 +369,6 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
laneChangeRoadEdge @24;
|
||||
bigModelReady @25;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1897,34 +1897,36 @@ const ::capnp::_::RawSchema s_e60821c0505ad473 = {
|
||||
4, 12, i_e60821c0505ad473, nullptr, nullptr, { &s_e60821c0505ad473, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
static const ::capnp::_::AlignedData<192> b_f35cc4560bbf6ec2 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
13, 0, 0, 0, 1, 0, 2, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
|
||||
5, 0, 7, 0, 0, 0, 0, 0,
|
||||
6, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 2, 1, 0, 0,
|
||||
33, 0, 0, 0, 87, 0, 0, 0,
|
||||
33, 0, 0, 0, 103, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 0, 0, 0, 199, 1, 0, 0,
|
||||
141, 0, 0, 0, 255, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 0,
|
||||
20, 0, 0, 0, 1, 0, 1, 0,
|
||||
24, 0, 0, 0, 1, 0, 1, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
33, 0, 0, 0, 218, 0, 0, 0,
|
||||
41, 0, 0, 0, 218, 0, 0, 0,
|
||||
163, 23, 92, 92, 71, 153, 141, 193,
|
||||
41, 0, 0, 0, 154, 0, 0, 0,
|
||||
49, 0, 0, 0, 154, 0, 0, 0,
|
||||
187, 34, 168, 255, 81, 184, 158, 154,
|
||||
45, 0, 0, 0, 90, 0, 0, 0,
|
||||
53, 0, 0, 0, 90, 0, 0, 0,
|
||||
196, 110, 217, 86, 5, 68, 71, 173,
|
||||
45, 0, 0, 0, 186, 0, 0, 0,
|
||||
53, 0, 0, 0, 186, 0, 0, 0,
|
||||
254, 40, 174, 34, 232, 188, 103, 165,
|
||||
49, 0, 0, 0, 82, 0, 0, 0,
|
||||
57, 0, 0, 0, 82, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
57, 0, 0, 0, 130, 0, 0, 0,
|
||||
68, 121, 110, 97, 109, 105, 99, 69,
|
||||
120, 112, 101, 114, 105, 109, 101, 110,
|
||||
116, 97, 108, 67, 111, 110, 116, 114,
|
||||
@@ -1939,63 +1941,72 @@ static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
83, 111, 117, 114, 99, 101, 0, 0,
|
||||
69, 50, 101, 65, 108, 101, 114, 116,
|
||||
115, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 0,
|
||||
36, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 34, 0, 0, 0,
|
||||
237, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 0, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
236, 0, 0, 0, 3, 0, 1, 0,
|
||||
248, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
245, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 0, 0, 0, 66, 0, 0, 0,
|
||||
241, 0, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 58, 0, 0, 0,
|
||||
253, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
248, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 1, 0, 0, 3, 0, 1, 0,
|
||||
20, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 82, 0, 0, 0,
|
||||
17, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 1, 0, 0, 3, 0, 1, 0,
|
||||
28, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 1, 0, 0, 3, 0, 1, 0,
|
||||
48, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 1, 0, 0, 3, 0, 1, 0,
|
||||
56, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
52, 1, 0, 0, 3, 0, 1, 0,
|
||||
64, 1, 0, 0, 2, 0, 1, 0,
|
||||
100, 101, 99, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
@@ -2067,6 +2078,15 @@ static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
254, 40, 174, 34, 232, 188, 103, 165,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
@@ -2074,6 +2094,7 @@ static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
|
||||
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
|
||||
&s_88dcd6d006f3c4a1,
|
||||
&s_9a9eb851ffa822bb,
|
||||
&s_a567bce822ae28fe,
|
||||
&s_ad47440556d96ec4,
|
||||
@@ -2081,14 +2102,14 @@ static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
|
||||
&s_c18d99475c5c17a3,
|
||||
&s_f6e831752fcdf793,
|
||||
};
|
||||
static const uint16_t m_f35cc4560bbf6ec2[] = {5, 0, 7, 6, 1, 2, 3, 4};
|
||||
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
static const uint16_t m_f35cc4560bbf6ec2[] = {5, 8, 0, 7, 6, 1, 2, 3, 4};
|
||||
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 172, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
|
||||
6, 8, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 192, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
|
||||
7, 9, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
static const ::capnp::_::AlignedData<137> b_bc6a5bae100ebf77 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
32, 0, 0, 0, 1, 0, 1, 0,
|
||||
@@ -2098,7 +2119,7 @@ static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
21, 0, 0, 0, 218, 1, 0, 0,
|
||||
49, 0, 0, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 0, 0, 0, 175, 0, 0, 0,
|
||||
69, 0, 0, 0, 143, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -2116,28 +2137,56 @@ static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
120, 112, 101, 114, 105, 109, 101, 110,
|
||||
116, 97, 108, 67, 111, 110, 116, 114,
|
||||
111, 108, 83, 116, 97, 116, 101, 0,
|
||||
12, 0, 0, 0, 3, 0, 4, 0,
|
||||
28, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 0, 0, 0, 50, 0, 0, 0,
|
||||
181, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 0, 0, 0, 3, 0, 1, 0,
|
||||
76, 0, 0, 0, 2, 0, 1, 0,
|
||||
176, 0, 0, 0, 3, 0, 1, 0,
|
||||
188, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 0, 0, 0, 66, 0, 0, 0,
|
||||
185, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 0, 0, 0, 3, 0, 1, 0,
|
||||
80, 0, 0, 0, 2, 0, 1, 0,
|
||||
180, 0, 0, 0, 3, 0, 1, 0,
|
||||
192, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 0, 0, 0, 58, 0, 0, 0,
|
||||
189, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 0, 0, 0, 3, 0, 1, 0,
|
||||
84, 0, 0, 0, 2, 0, 1, 0,
|
||||
184, 0, 0, 0, 3, 0, 1, 0,
|
||||
196, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 0, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
192, 0, 0, 0, 3, 0, 1, 0,
|
||||
204, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 18, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 0, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
200, 0, 0, 0, 3, 0, 1, 0,
|
||||
212, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 19, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 0, 0, 0, 3, 0, 1, 0,
|
||||
220, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 20, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
115, 116, 97, 116, 101, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
55, 64, 112, 160, 167, 242, 246, 216,
|
||||
@@ -2155,6 +2204,42 @@ static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 116, 105, 118, 101, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 101, 99, 101, 108, 73, 110, 116,
|
||||
101, 110, 116, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 114, 118, 101, 68, 101, 116,
|
||||
101, 99, 116, 101, 100, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
119, 97, 110, 116, 66, 108, 101, 110,
|
||||
100, 101, 100, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 101, 97, 100, 86, 101, 116, 111,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -2168,11 +2253,11 @@ static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
static const ::capnp::_::RawSchema* const d_bc6a5bae100ebf77[] = {
|
||||
&s_d8f6f2a7a0704037,
|
||||
};
|
||||
static const uint16_t m_bc6a5bae100ebf77[] = {2, 1, 0};
|
||||
static const uint16_t i_bc6a5bae100ebf77[] = {0, 1, 2};
|
||||
static const uint16_t m_bc6a5bae100ebf77[] = {2, 4, 3, 1, 6, 0, 5};
|
||||
static const uint16_t i_bc6a5bae100ebf77[] = {0, 1, 2, 3, 4, 5, 6};
|
||||
const ::capnp::_::RawSchema s_bc6a5bae100ebf77 = {
|
||||
0xbc6a5bae100ebf77, b_bc6a5bae100ebf77.words, 73, d_bc6a5bae100ebf77, m_bc6a5bae100ebf77,
|
||||
1, 3, i_bc6a5bae100ebf77, nullptr, nullptr, { &s_bc6a5bae100ebf77, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xbc6a5bae100ebf77, b_bc6a5bae100ebf77.words, 137, d_bc6a5bae100ebf77, m_bc6a5bae100ebf77,
|
||||
1, 7, i_bc6a5bae100ebf77, nullptr, nullptr, { &s_bc6a5bae100ebf77, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<34> b_d8f6f2a7a0704037 = {
|
||||
@@ -3257,6 +3342,132 @@ const ::capnp::_::RawSchema s_a567bce822ae28fe = {
|
||||
0, 2, i_a567bce822ae28fe, nullptr, nullptr, { &s_a567bce822ae28fe, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<68> b_88dcd6d006f3c4a1 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
32, 0, 0, 0, 1, 0, 1, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 130, 1, 0, 0,
|
||||
41, 0, 0, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 0, 0, 0, 175, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 0,
|
||||
4, 0, 0, 0, 1, 0, 1, 0,
|
||||
166, 80, 70, 176, 68, 149, 159, 140,
|
||||
1, 0, 0, 0, 66, 0, 0, 0,
|
||||
80, 114, 111, 102, 105, 108, 101, 0,
|
||||
12, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 0, 0, 0, 3, 0, 1, 0,
|
||||
76, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 0, 0, 0, 3, 0, 1, 0,
|
||||
80, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 0, 0, 0, 3, 0, 1, 0,
|
||||
84, 0, 0, 0, 2, 0, 1, 0,
|
||||
101, 110, 97, 98, 108, 101, 100, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 116, 105, 118, 101, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
112, 114, 111, 102, 105, 108, 101, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
166, 80, 70, 176, 68, 149, 159, 140,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_88dcd6d006f3c4a1 = b_88dcd6d006f3c4a1.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_88dcd6d006f3c4a1[] = {
|
||||
&s_8c9f9544b04650a6,
|
||||
};
|
||||
static const uint16_t m_88dcd6d006f3c4a1[] = {1, 0, 2};
|
||||
static const uint16_t i_88dcd6d006f3c4a1[] = {0, 1, 2};
|
||||
const ::capnp::_::RawSchema s_88dcd6d006f3c4a1 = {
|
||||
0x88dcd6d006f3c4a1, b_88dcd6d006f3c4a1.words, 68, d_88dcd6d006f3c4a1, m_88dcd6d006f3c4a1,
|
||||
1, 3, i_88dcd6d006f3c4a1, nullptr, nullptr, { &s_88dcd6d006f3c4a1, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<33> b_8c9f9544b04650a6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
166, 80, 70, 176, 68, 149, 159, 140,
|
||||
48, 0, 0, 0, 2, 0, 0, 0,
|
||||
161, 196, 243, 6, 208, 214, 220, 136,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 194, 1, 0, 0,
|
||||
45, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 79, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 67, 111, 110,
|
||||
116, 114, 111, 108, 108, 101, 114, 46,
|
||||
80, 114, 111, 102, 105, 108, 101, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
12, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 99, 111, 0, 0, 0, 0, 0,
|
||||
110, 111, 114, 109, 97, 108, 0, 0,
|
||||
115, 112, 111, 114, 116, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_8c9f9544b04650a6 = b_8c9f9544b04650a6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_8c9f9544b04650a6[] = {0, 1, 2};
|
||||
const ::capnp::_::RawSchema s_8c9f9544b04650a6 = {
|
||||
0x8c9f9544b04650a6, b_8c9f9544b04650a6.words, 33, nullptr, m_8c9f9544b04650a6,
|
||||
0, 3, nullptr, nullptr, nullptr, { &s_8c9f9544b04650a6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(Profile_8c9f9544b04650a6, 8c9f9544b04650a6);
|
||||
static const ::capnp::_::AlignedData<44> b_da96579883444c35 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
53, 76, 68, 131, 152, 87, 150, 218,
|
||||
@@ -3522,7 +3733,7 @@ const ::capnp::_::RawSchema s_f6e831752fcdf793 = {
|
||||
1, 11, i_f6e831752fcdf793, nullptr, nullptr, { &s_f6e831752fcdf793, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<169> b_b8007ed8a646b5e6 = {
|
||||
static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
230, 181, 70, 166, 216, 126, 0, 184,
|
||||
27, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -3532,7 +3743,7 @@ static const ::capnp::_::AlignedData<169> b_b8007ed8a646b5e6 = {
|
||||
21, 0, 0, 0, 42, 1, 0, 0,
|
||||
37, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 119, 2, 0, 0,
|
||||
33, 0, 0, 0, 95, 2, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -3541,84 +3752,81 @@ static const ::capnp::_::AlignedData<169> b_b8007ed8a646b5e6 = {
|
||||
83, 80, 46, 69, 118, 101, 110, 116,
|
||||
78, 97, 109, 101, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
104, 0, 0, 0, 1, 0, 2, 0,
|
||||
100, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 1, 0, 0, 90, 0, 0, 0,
|
||||
37, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 98, 0, 0, 0,
|
||||
33, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 186, 0, 0, 0,
|
||||
29, 1, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 218, 0, 0, 0,
|
||||
29, 1, 0, 0, 218, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
18, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
19, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
18, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
19, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
22, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
23, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 74, 0, 0, 0,
|
||||
21, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 114, 0, 0, 0,
|
||||
17, 1, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 107, 97, 115, 69, 110, 97, 98,
|
||||
108, 101, 0, 0, 0, 0, 0, 0,
|
||||
@@ -3689,16 +3897,14 @@ static const ::capnp::_::AlignedData<169> b_b8007ed8a646b5e6 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 97, 110, 101, 67, 104, 97, 110,
|
||||
103, 101, 82, 111, 97, 100, 69, 100,
|
||||
103, 101, 0, 0, 0, 0, 0, 0,
|
||||
98, 105, 103, 77, 111, 100, 101, 108,
|
||||
82, 101, 97, 100, 121, 0, 0, 0, }
|
||||
103, 101, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b8007ed8a646b5e6 = b_b8007ed8a646b5e6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {25, 12, 23, 14, 13, 24, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {12, 23, 14, 13, 24, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
const ::capnp::_::RawSchema s_b8007ed8a646b5e6 = {
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 169, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 26, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 164, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 25, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(EventName_b8007ed8a646b5e6, b8007ed8a646b5e6);
|
||||
@@ -5635,6 +5841,18 @@ constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::E2eAlerts::_capnpPriv
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// LongitudinalPlanSP::AccelController
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t LongitudinalPlanSP::AccelController::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t LongitudinalPlanSP::AccelController::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind LongitudinalPlanSP::AccelController::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::AccelController::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// OnroadEventSP
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t OnroadEventSP::_capnpPrivate::dataWordSize;
|
||||
|
||||
@@ -178,6 +178,14 @@ enum class LongitudinalPlanSource_ad47440556d96ec4: uint16_t {
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(LongitudinalPlanSource, ad47440556d96ec4);
|
||||
CAPNP_DECLARE_SCHEMA(a567bce822ae28fe);
|
||||
CAPNP_DECLARE_SCHEMA(88dcd6d006f3c4a1);
|
||||
CAPNP_DECLARE_SCHEMA(8c9f9544b04650a6);
|
||||
enum class Profile_8c9f9544b04650a6: uint16_t {
|
||||
ECO,
|
||||
NORMAL,
|
||||
SPORT,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(Profile, 8c9f9544b04650a6);
|
||||
CAPNP_DECLARE_SCHEMA(da96579883444c35);
|
||||
CAPNP_DECLARE_SCHEMA(f6e831752fcdf793);
|
||||
CAPNP_DECLARE_SCHEMA(b8007ed8a646b5e6);
|
||||
@@ -207,7 +215,6 @@ enum class EventName_b8007ed8a646b5e6: uint16_t {
|
||||
SPEED_LIMIT_PENDING,
|
||||
E2E_CHIME,
|
||||
LANE_CHANGE_ROAD_EDGE,
|
||||
BIG_MODEL_READY,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(EventName, b8007ed8a646b5e6);
|
||||
CAPNP_DECLARE_SCHEMA(80ae746ee2596b11);
|
||||
@@ -477,9 +484,10 @@ struct LongitudinalPlanSP {
|
||||
typedef ::capnp::schemas::LongitudinalPlanSource_ad47440556d96ec4 LongitudinalPlanSource;
|
||||
|
||||
struct E2eAlerts;
|
||||
struct AccelController;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 5)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 6)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -620,6 +628,23 @@ struct LongitudinalPlanSP::E2eAlerts {
|
||||
};
|
||||
};
|
||||
|
||||
struct LongitudinalPlanSP::AccelController {
|
||||
AccelController() = delete;
|
||||
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
typedef ::capnp::schemas::Profile_8c9f9544b04650a6 Profile;
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(88dcd6d006f3c4a1, 1, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
};
|
||||
};
|
||||
|
||||
struct OnroadEventSP {
|
||||
OnroadEventSP() = delete;
|
||||
|
||||
@@ -2300,6 +2325,9 @@ public:
|
||||
inline bool hasE2eAlerts() const;
|
||||
inline ::cereal::LongitudinalPlanSP::E2eAlerts::Reader getE2eAlerts() const;
|
||||
|
||||
inline bool hasAccelController() const;
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Reader getAccelController() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2372,6 +2400,13 @@ public:
|
||||
inline void adoptE2eAlerts(::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> disownE2eAlerts();
|
||||
|
||||
inline bool hasAccelController();
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder getAccelController();
|
||||
inline void setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value);
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder initAccelController();
|
||||
inline void adoptAccelController(::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> disownAccelController();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2394,6 +2429,7 @@ public:
|
||||
inline ::cereal::LongitudinalPlanSP::SmartCruiseControl::Pipeline getSmartCruiseControl();
|
||||
inline ::cereal::LongitudinalPlanSP::SpeedLimit::Pipeline getSpeedLimit();
|
||||
inline ::cereal::LongitudinalPlanSP::E2eAlerts::Pipeline getE2eAlerts();
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Pipeline getAccelController();
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
@@ -2425,6 +2461,14 @@ public:
|
||||
|
||||
inline bool getActive() const;
|
||||
|
||||
inline float getDecelIntent() const;
|
||||
|
||||
inline bool getCurveDetected() const;
|
||||
|
||||
inline bool getWantBlended() const;
|
||||
|
||||
inline bool getLeadVeto() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2462,6 +2506,18 @@ public:
|
||||
inline bool getActive();
|
||||
inline void setActive(bool value);
|
||||
|
||||
inline float getDecelIntent();
|
||||
inline void setDecelIntent(float value);
|
||||
|
||||
inline bool getCurveDetected();
|
||||
inline void setCurveDetected(bool value);
|
||||
|
||||
inline bool getWantBlended();
|
||||
inline void setWantBlended(bool value);
|
||||
|
||||
inline bool getLeadVeto();
|
||||
inline void setLeadVeto(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -3169,6 +3225,92 @@ private:
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class LongitudinalPlanSP::AccelController::Reader {
|
||||
public:
|
||||
typedef AccelController Reads;
|
||||
|
||||
Reader() = default;
|
||||
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const {
|
||||
return _reader.totalSize().asPublic();
|
||||
}
|
||||
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const {
|
||||
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getEnabled() const;
|
||||
|
||||
inline bool getActive() const;
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::List;
|
||||
friend class ::capnp::MessageBuilder;
|
||||
friend class ::capnp::Orphanage;
|
||||
};
|
||||
|
||||
class LongitudinalPlanSP::AccelController::Builder {
|
||||
public:
|
||||
typedef AccelController Builds;
|
||||
|
||||
Builder() = delete; // Deleted to discourage incorrect usage.
|
||||
// You can explicitly initialize to nullptr instead.
|
||||
inline Builder(decltype(nullptr)) {}
|
||||
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
|
||||
inline operator Reader() const { return Reader(_builder.asReader()); }
|
||||
inline Reader asReader() const { return *this; }
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool getEnabled();
|
||||
inline void setEnabled(bool value);
|
||||
|
||||
inline bool getActive();
|
||||
inline void setActive(bool value);
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile();
|
||||
inline void setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
friend class ::capnp::Orphanage;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
};
|
||||
|
||||
#if !CAPNP_LITE
|
||||
class LongitudinalPlanSP::AccelController::Pipeline {
|
||||
public:
|
||||
typedef AccelController Pipelines;
|
||||
|
||||
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class OnroadEventSP::Reader {
|
||||
public:
|
||||
typedef OnroadEventSP Reads;
|
||||
@@ -6883,6 +7025,45 @@ inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> LongitudinalPla
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Reader::hasAccelController() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool LongitudinalPlanSP::Builder::hasAccelController() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Reader LongitudinalPlanSP::Reader::getAccelController() const {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::getAccelController() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
#if !CAPNP_LITE
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Pipeline LongitudinalPlanSP::Pipeline::getAccelController() {
|
||||
return ::cereal::LongitudinalPlanSP::AccelController::Pipeline(_typeless.getPointerField(5));
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
inline void LongitudinalPlanSP::Builder::setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::set(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::initAccelController() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::init(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::adoptAccelController(
|
||||
::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> LongitudinalPlanSP::Builder::disownAccelController() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState LongitudinalPlanSP::DynamicExperimentalControl::Reader::getState() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -6925,6 +7106,62 @@ inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setActive(b
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::DynamicExperimentalControl::Reader::getDecelIntent() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::DynamicExperimentalControl::Builder::getDecelIntent() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setDecelIntent(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::DynamicExperimentalControl::Reader::getCurveDetected() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<18>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::DynamicExperimentalControl::Builder::getCurveDetected() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<18>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setCurveDetected(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<18>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::DynamicExperimentalControl::Reader::getWantBlended() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<19>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::DynamicExperimentalControl::Builder::getWantBlended() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<19>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setWantBlended(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<19>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::DynamicExperimentalControl::Reader::getLeadVeto() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<20>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::DynamicExperimentalControl::Builder::getLeadVeto() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<20>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setLeadVeto(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<20>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::SmartCruiseControl::Reader::hasVision() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
@@ -7473,6 +7710,48 @@ inline void LongitudinalPlanSP::E2eAlerts::Builder::setLeadDepartAlert(bool valu
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Reader::getEnabled() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Builder::getEnabled() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setEnabled(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Reader::getActive() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::AccelController::Builder::getActive() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setActive(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Reader::getProfile() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Builder::getProfile() {
|
||||
return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::AccelController::Builder::setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value) {
|
||||
_builder.setDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool OnroadEventSP::Reader::hasEvents() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
|
||||
@@ -7192,7 +7192,7 @@ const ::capnp::_::RawSchema s_a7053446d13dbfe4 = {
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(Usb3Lane_a7053446d13dbfe4, a7053446d13dbfe4);
|
||||
static const ::capnp::_::AlignedData<192> b_8fd70f1cb19dc3aa = {
|
||||
static const ::capnp::_::AlignedData<176> b_8fd70f1cb19dc3aa = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
170, 195, 157, 177, 28, 15, 215, 143,
|
||||
10, 0, 0, 0, 1, 0, 4, 0,
|
||||
@@ -7202,91 +7202,84 @@ static const ::capnp::_::AlignedData<192> b_8fd70f1cb19dc3aa = {
|
||||
21, 0, 0, 0, 194, 0, 0, 0,
|
||||
29, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 0, 0, 0, 111, 2, 0, 0,
|
||||
25, 0, 0, 0, 55, 2, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 67, 104, 101, 115, 116, 110,
|
||||
117, 116, 83, 116, 97, 116, 101, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
44, 0, 0, 0, 3, 0, 4, 0,
|
||||
40, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 50, 0, 0, 0,
|
||||
9, 1, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 1, 0, 0, 3, 0, 1, 0,
|
||||
44, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 1, 0, 0, 3, 0, 1, 0,
|
||||
16, 1, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 1, 0, 0, 98, 0, 0, 0,
|
||||
13, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
40, 1, 0, 0, 3, 0, 1, 0,
|
||||
52, 1, 0, 0, 2, 0, 1, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 1, 0, 0, 90, 0, 0, 0,
|
||||
21, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
48, 1, 0, 0, 3, 0, 1, 0,
|
||||
60, 1, 0, 0, 2, 0, 1, 0,
|
||||
20, 1, 0, 0, 3, 0, 1, 0,
|
||||
32, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
57, 1, 0, 0, 98, 0, 0, 0,
|
||||
29, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
56, 1, 0, 0, 3, 0, 1, 0,
|
||||
68, 1, 0, 0, 2, 0, 1, 0,
|
||||
28, 1, 0, 0, 3, 0, 1, 0,
|
||||
40, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
65, 1, 0, 0, 130, 0, 0, 0,
|
||||
37, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 1, 0, 0, 3, 0, 1, 0,
|
||||
76, 1, 0, 0, 2, 0, 1, 0,
|
||||
36, 1, 0, 0, 3, 0, 1, 0,
|
||||
48, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 1, 0, 0, 98, 0, 0, 0,
|
||||
45, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 1, 0, 0, 3, 0, 1, 0,
|
||||
84, 1, 0, 0, 2, 0, 1, 0,
|
||||
44, 1, 0, 0, 3, 0, 1, 0,
|
||||
56, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 1, 0, 0, 98, 0, 0, 0,
|
||||
53, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
80, 1, 0, 0, 3, 0, 1, 0,
|
||||
92, 1, 0, 0, 2, 0, 1, 0,
|
||||
52, 1, 0, 0, 3, 0, 1, 0,
|
||||
64, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
89, 1, 0, 0, 82, 0, 0, 0,
|
||||
61, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
88, 1, 0, 0, 3, 0, 1, 0,
|
||||
100, 1, 0, 0, 2, 0, 1, 0,
|
||||
60, 1, 0, 0, 3, 0, 1, 0,
|
||||
72, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 1, 0, 0, 114, 0, 0, 0,
|
||||
69, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
96, 1, 0, 0, 3, 0, 1, 0,
|
||||
108, 1, 0, 0, 2, 0, 1, 0,
|
||||
68, 1, 0, 0, 3, 0, 1, 0,
|
||||
80, 1, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
105, 1, 0, 0, 114, 0, 0, 0,
|
||||
77, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
104, 1, 0, 0, 3, 0, 1, 0,
|
||||
116, 1, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 208, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
113, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
112, 1, 0, 0, 3, 0, 1, 0,
|
||||
124, 1, 0, 0, 2, 0, 1, 0,
|
||||
76, 1, 0, 0, 3, 0, 1, 0,
|
||||
88, 1, 0, 0, 2, 0, 1, 0,
|
||||
116, 101, 109, 112, 67, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -7375,24 +7368,15 @@ static const ::capnp::_::AlignedData<192> b_8fd70f1cb19dc3aa = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 117, 112, 112, 108, 121, 70, 97,
|
||||
117, 108, 116, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_8fd70f1cb19dc3aa = b_8fd70f1cb19dc3aa.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_8fd70f1cb19dc3aa[] = {6, 5, 4, 1, 7, 2, 3, 9, 10, 8, 0};
|
||||
static const uint16_t i_8fd70f1cb19dc3aa[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
|
||||
static const uint16_t m_8fd70f1cb19dc3aa[] = {6, 5, 4, 1, 7, 2, 3, 9, 8, 0};
|
||||
static const uint16_t i_8fd70f1cb19dc3aa[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
|
||||
const ::capnp::_::RawSchema s_8fd70f1cb19dc3aa = {
|
||||
0x8fd70f1cb19dc3aa, b_8fd70f1cb19dc3aa.words, 192, nullptr, m_8fd70f1cb19dc3aa,
|
||||
0, 11, i_8fd70f1cb19dc3aa, nullptr, nullptr, { &s_8fd70f1cb19dc3aa, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0x8fd70f1cb19dc3aa, b_8fd70f1cb19dc3aa.words, 176, nullptr, m_8fd70f1cb19dc3aa,
|
||||
0, 10, i_8fd70f1cb19dc3aa, nullptr, nullptr, { &s_8fd70f1cb19dc3aa, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<92> b_9a185389d6fdd05f = {
|
||||
@@ -10959,17 +10943,17 @@ const ::capnp::_::RawSchema s_9187f23dbdc347c2 = {
|
||||
8, 7, i_9187f23dbdc347c2, nullptr, nullptr, { &s_9187f23dbdc347c2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<170> b_e8f9ba819993a776 = {
|
||||
static const ::capnp::_::AlignedData<155> b_e8f9ba819993a776 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
118, 167, 147, 153, 129, 186, 249, 232,
|
||||
10, 0, 0, 0, 1, 0, 3, 0,
|
||||
10, 0, 0, 0, 1, 0, 2, 0,
|
||||
91, 40, 164, 37, 126, 241, 177, 243,
|
||||
4, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 218, 0, 0, 0,
|
||||
33, 0, 0, 0, 55, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
77, 0, 0, 0, 255, 1, 0, 0,
|
||||
77, 0, 0, 0, 199, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
@@ -10989,70 +10973,63 @@ static const ::capnp::_::AlignedData<170> b_e8f9ba819993a776 = {
|
||||
77, 101, 116, 97, 0, 0, 0, 0,
|
||||
77, 101, 116, 97, 68, 97, 116, 97,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
36, 0, 0, 0, 3, 0, 4, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 66, 0, 0, 0,
|
||||
209, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 0, 0, 0, 106, 0, 0, 0,
|
||||
213, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 0, 0, 0, 3, 0, 1, 0,
|
||||
224, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 0, 0, 0, 58, 0, 0, 0,
|
||||
221, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 1, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 106, 0, 0, 0,
|
||||
225, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
252, 0, 0, 0, 3, 0, 1, 0,
|
||||
8, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 2, 0, 0, 0,
|
||||
224, 0, 0, 0, 3, 0, 1, 0,
|
||||
236, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 1, 0, 0, 42, 0, 0, 0,
|
||||
233, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 3, 0, 0, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 42, 0, 0, 0,
|
||||
237, 0, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 1, 0, 0, 3, 0, 1, 0,
|
||||
16, 1, 0, 0, 2, 0, 1, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 114, 0, 0, 0,
|
||||
241, 0, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 154, 0, 0, 0,
|
||||
249, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 1, 0, 0, 3, 0, 1, 0,
|
||||
36, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 128, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
28, 1, 0, 0, 3, 0, 1, 0,
|
||||
40, 1, 0, 0, 2, 0, 1, 0,
|
||||
252, 0, 0, 0, 3, 0, 1, 0,
|
||||
8, 1, 0, 0, 2, 0, 1, 0,
|
||||
102, 114, 97, 109, 101, 73, 100, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -11120,14 +11097,6 @@ static const ::capnp::_::AlignedData<170> b_e8f9ba819993a776 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
98, 105, 103, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
@@ -11139,11 +11108,11 @@ static const ::capnp::_::RawSchema* const d_e8f9ba819993a776[] = {
|
||||
&s_a0cfcfa4ed19ac5d,
|
||||
&s_ca1e4710874d12b5,
|
||||
};
|
||||
static const uint16_t m_e8f9ba819993a776[] = {2, 8, 6, 0, 1, 3, 4, 7, 5};
|
||||
static const uint16_t i_e8f9ba819993a776[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
static const uint16_t m_e8f9ba819993a776[] = {2, 6, 0, 1, 3, 4, 7, 5};
|
||||
static const uint16_t i_e8f9ba819993a776[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
const ::capnp::_::RawSchema s_e8f9ba819993a776 = {
|
||||
0xe8f9ba819993a776, b_e8f9ba819993a776.words, 170, d_e8f9ba819993a776, m_e8f9ba819993a776,
|
||||
4, 9, i_e8f9ba819993a776, nullptr, nullptr, { &s_e8f9ba819993a776, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xe8f9ba819993a776, b_e8f9ba819993a776.words, 155, d_e8f9ba819993a776, m_e8f9ba819993a776,
|
||||
4, 8, i_e8f9ba819993a776, nullptr, nullptr, { &s_e8f9ba819993a776, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<79> b_ca1e4710874d12b5 = {
|
||||
|
||||
@@ -1513,7 +1513,7 @@ struct DrivingModelData {
|
||||
struct MetaData;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e8f9ba819993a776, 3, 4)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e8f9ba819993a776, 2, 4)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -7300,8 +7300,6 @@ public:
|
||||
|
||||
inline ::int16_t getSupplyCurrent() const;
|
||||
|
||||
inline bool getSupplyFault() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -7360,9 +7358,6 @@ public:
|
||||
inline ::int16_t getSupplyCurrent();
|
||||
inline void setSupplyCurrent( ::int16_t value);
|
||||
|
||||
inline bool getSupplyFault();
|
||||
inline void setSupplyFault(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -9599,8 +9594,6 @@ public:
|
||||
|
||||
inline float getModelExecutionTime() const;
|
||||
|
||||
inline bool getBig() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -9669,9 +9662,6 @@ public:
|
||||
inline float getModelExecutionTime();
|
||||
inline void setModelExecutionTime(float value);
|
||||
|
||||
inline bool getBig();
|
||||
inline void setBig(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -30423,20 +30413,6 @@ inline void ChestnutState::Builder::setSupplyCurrent( ::int16_t value) {
|
||||
::capnp::bounded<12>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ChestnutState::Reader::getSupplyFault() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<208>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ChestnutState::Builder::getSupplyFault() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<208>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ChestnutState::Builder::setSupplyFault(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<208>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline typename RadarState::Deprecated::Reader RadarState::Reader::getDeprecated() const {
|
||||
return typename RadarState::Deprecated::Reader(_reader);
|
||||
}
|
||||
@@ -33908,20 +33884,6 @@ inline void DrivingModelData::Builder::setModelExecutionTime(float value) {
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool DrivingModelData::Reader::getBig() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<128>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool DrivingModelData::Builder::getBig() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<128>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void DrivingModelData::Builder::setBig(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<128>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool DrivingModelData::PolyPath::Reader::hasXCoefficients() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
|
||||
@@ -725,7 +725,6 @@ struct ChestnutState {
|
||||
pcieLtssm @7 :UInt8;
|
||||
supplyVoltage @8 :UInt16; # mV
|
||||
supplyCurrent @9 :Int16; # mA
|
||||
supplyFault @10 :Bool;
|
||||
}
|
||||
|
||||
struct RadarState @0x9a185389d6fdd05f {
|
||||
@@ -1005,7 +1004,6 @@ struct DrivingModelData {
|
||||
frameIdExtra @1 :UInt32;
|
||||
frameDropPerc @6 :Float32;
|
||||
modelExecutionTime @7 :Float32;
|
||||
big @8 :Bool;
|
||||
|
||||
action @2 :ModelDataV2.Action;
|
||||
|
||||
|
||||
@@ -56,29 +56,29 @@
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
|
||||
"hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
|
||||
"hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
|
||||
"hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
|
||||
"hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
|
||||
"size": 46897152,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
|
||||
"ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
|
||||
"hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
|
||||
"hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
|
||||
"hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
|
||||
"hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
|
||||
"size": 4718592000,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
|
||||
"ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
|
||||
"alt": {
|
||||
"hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
|
||||
"hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
|
||||
"size": 4718592000
|
||||
}
|
||||
}
|
||||
]
|
||||
]
|
||||
|
||||
@@ -5,7 +5,6 @@ import logging
|
||||
import os
|
||||
import select
|
||||
import signal
|
||||
import string
|
||||
import struct
|
||||
import subprocess
|
||||
import tempfile
|
||||
@@ -355,7 +354,7 @@ class Modem:
|
||||
imei = ""
|
||||
|
||||
iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
|
||||
if not all(c in string.hexdigits for c in iccid):
|
||||
if not iccid.isdigit():
|
||||
iccid = ""
|
||||
|
||||
imsi = first_line("AT+CIMI")
|
||||
|
||||
@@ -4,17 +4,11 @@ from pathlib import Path
|
||||
CHESTNUT_FW_VERSION = "ed4e39b7"
|
||||
CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
|
||||
CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
|
||||
CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
|
||||
USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
|
||||
TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
|
||||
PRIMARY_USB_CONTROLLER = "a600000.ssusb"
|
||||
|
||||
|
||||
def is_chestnut_usb_id(vendor_id: int, product_id: int, include_bootloader: bool = False) -> bool:
|
||||
ids = CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS if include_bootloader else CHESTNUT_USB_IDS
|
||||
return (vendor_id, product_id) in ids
|
||||
|
||||
|
||||
def get_usb_topology() -> set[str]:
|
||||
try:
|
||||
return set(os.listdir(USB_DEVICES_PATH))
|
||||
@@ -87,7 +81,7 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
|
||||
entry.linkErrorCount = device["linkErrorCount"]
|
||||
entry.usb3Lane = device.get("usb3Lane", "unknown")
|
||||
|
||||
if is_chestnut_usb_id(entry.vendorId, entry.productId):
|
||||
if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
|
||||
chestnut_present = True
|
||||
|
||||
device_state.chestnutPresent = chestnut_present
|
||||
|
||||
Binary file not shown.
@@ -92,12 +92,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
@@ -138,7 +132,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"Version", {PERSISTENT, STRING}},
|
||||
|
||||
// --- sunnypilot params --- //
|
||||
@@ -194,6 +187,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// toyota specific params
|
||||
{"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -243,6 +242,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Accel Controller profiles (Eco / Normal / Sport)
|
||||
{"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
|
||||
// sunnypilot model params
|
||||
{"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
|
||||
@@ -27,14 +27,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
util::check_system(util::string_format("rm -rf %s", real_path.c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
if (getenv("COMMA_CACHE") == nullptr) {
|
||||
util::check_system(util::string_format("rm -rf %s", Path::download_cache_root().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
|
||||
}
|
||||
util::check_system(util::string_format("rm -rf %s", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm -rf %s", msgq_path.c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
|
||||
@@ -117,12 +117,16 @@ class TestParams(OpenpilotTestCase):
|
||||
def test_params_default_value(self):
|
||||
self.params.remove("LanguageSetting")
|
||||
self.params.remove("LongitudinalPersonality")
|
||||
self.params.remove("AccelPersonalityEnabled")
|
||||
self.params.remove("AccelPersonality")
|
||||
self.params.remove("LiveParametersV2")
|
||||
|
||||
assert self.params.get("LanguageSetting") is None
|
||||
assert self.params.get("LanguageSetting", return_default=False) is None
|
||||
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
|
||||
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
|
||||
assert self.params.get("AccelPersonalityEnabled", return_default=True) is False
|
||||
assert self.params.get("AccelPersonality", return_default=True) == 1
|
||||
assert self.params.get("LiveParametersV2") is None
|
||||
assert self.params.get("LiveParametersV2", return_default=True) is None
|
||||
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 1.5 KiB |
@@ -11,13 +11,13 @@ from opendbc.car.structs import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.fw_versions import ObdCallback
|
||||
from opendbc.car.car_helpers import get_car, interfaces
|
||||
from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper
|
||||
from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
|
||||
@@ -123,6 +123,9 @@ class Car:
|
||||
self.RI = RI
|
||||
|
||||
self.CP.alternativeExperience = 0
|
||||
if self.params.get_bool("ToyotaAutoHold"):
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
|
||||
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
@@ -13,12 +13,13 @@ V_CRUISE_MIN = 8
|
||||
V_CRUISE_MAX = 145
|
||||
V_CRUISE_UNSET = 255
|
||||
V_CRUISE_INITIAL = 40
|
||||
V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
|
||||
V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 128
|
||||
IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1) # round here to avoid rounding errors incrementing set speed
|
||||
|
||||
ButtonEvent = car.CarState.ButtonEvent
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
CRUISE_LONG_PRESS = 50
|
||||
TOYOTA_VIRTUAL_CRUISE_LONG_PRESS = 65
|
||||
CRUISE_NEAREST_FUNC = {
|
||||
ButtonType.accelCruise: math.ceil,
|
||||
ButtonType.decelCruise: math.floor,
|
||||
@@ -43,6 +44,30 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
def v_cruise_initialized(self):
|
||||
return self.v_cruise_kph != V_CRUISE_UNSET
|
||||
|
||||
@property
|
||||
def software_pcm_cruise_speed(self) -> bool:
|
||||
return self.CP.brand == "toyota" and self.CP.pcmCruise and self.CP.openpilotLongitudinalControl and not self.CP_SP.pcmCruiseSpeed
|
||||
|
||||
@property
|
||||
def cruise_long_press_frames(self) -> int:
|
||||
return TOYOTA_VIRTUAL_CRUISE_LONG_PRESS if self.software_pcm_cruise_speed else CRUISE_LONG_PRESS
|
||||
|
||||
@property
|
||||
def software_pcm_cruise_initialized(self) -> bool:
|
||||
return 0 < self.v_cruise_kph < V_CRUISE_UNSET and 0 < self.v_cruise_cluster_kph < V_CRUISE_UNSET
|
||||
|
||||
def _apply_software_pcm_cruise_delta(self, delta_kph: float, is_metric: bool) -> None:
|
||||
"""Move Toyota's planner/display targets together while respecting both targets' bounds."""
|
||||
cluster_min_kph = self.v_cruise_min if is_metric else self.v_cruise_min * CV.MPH_TO_KPH
|
||||
min_delta = max(V_CRUISE_MIN - self.v_cruise_kph, cluster_min_kph - self.v_cruise_cluster_kph)
|
||||
max_delta = min(V_CRUISE_MAX - self.v_cruise_kph, V_CRUISE_MAX - self.v_cruise_cluster_kph)
|
||||
if delta_kph > 0:
|
||||
applied_delta = min(delta_kph, max(0., max_delta))
|
||||
else:
|
||||
applied_delta = max(delta_kph, min(0., min_delta))
|
||||
self.v_cruise_kph = round(self.v_cruise_kph + applied_delta, 1)
|
||||
self.v_cruise_cluster_kph = round(self.v_cruise_cluster_kph + applied_delta, 1)
|
||||
|
||||
def update_v_cruise(self, CS, enabled, is_metric):
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
|
||||
@@ -51,11 +76,21 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
_enabled = self.update_enabled_state(CS, enabled)
|
||||
|
||||
if CS.cruiseState.available:
|
||||
if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
|
||||
software_pcm_enabled = not self.CP_SP.pcmCruiseSpeed and _enabled
|
||||
if self.software_pcm_cruise_speed:
|
||||
software_pcm_enabled = software_pcm_enabled and self.software_pcm_cruise_initialized
|
||||
|
||||
if not self.CP.pcmCruise or software_pcm_enabled:
|
||||
# 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)
|
||||
v_cruise_kph_before_sla = self.v_cruise_kph
|
||||
self.update_speed_limit_assist_v_cruise_non_pcm()
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
if self.software_pcm_cruise_speed:
|
||||
sla_delta_kph = self.v_cruise_kph - v_cruise_kph_before_sla
|
||||
self.v_cruise_kph = v_cruise_kph_before_sla
|
||||
self._apply_software_pcm_cruise_delta(sla_delta_kph, is_metric)
|
||||
else:
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
else:
|
||||
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
|
||||
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
|
||||
@@ -85,13 +120,13 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
|
||||
for b in CS.buttonEvents:
|
||||
if b.type.raw in self.button_timers and not b.pressed:
|
||||
if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
|
||||
if self.button_timers[b.type.raw] > self.cruise_long_press_frames:
|
||||
return # end long press
|
||||
button_type = b.type.raw
|
||||
break
|
||||
else:
|
||||
for k, timer in self.button_timers.items():
|
||||
if timer and timer % CRUISE_LONG_PRESS == 0:
|
||||
if timer and timer % self.cruise_long_press_frames == 0:
|
||||
button_type = k
|
||||
long_press = True
|
||||
break
|
||||
@@ -115,10 +150,26 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
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
|
||||
# Toyota's canonical PCM set speed and displayed cluster set speed can differ. In
|
||||
# software-owned PCM mode, round the value the driver sees and apply the same delta
|
||||
# to both targets so the planner/cluster calibration offset remains intact.
|
||||
v_cruise_reference = self.v_cruise_cluster_kph if self.software_pcm_cruise_speed else self.v_cruise_kph
|
||||
if long_press and v_cruise_reference % v_cruise_delta != 0: # partial interval
|
||||
v_cruise_reference_new = CRUISE_NEAREST_FUNC[button_type](v_cruise_reference / v_cruise_delta) * v_cruise_delta
|
||||
else:
|
||||
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
|
||||
v_cruise_reference_new = v_cruise_reference + v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
|
||||
|
||||
if self.software_pcm_cruise_speed:
|
||||
delta_kph = v_cruise_reference_new - v_cruise_reference
|
||||
|
||||
# If SET is pressed while overriding, do not lower the target below the current speed.
|
||||
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
|
||||
delta_kph = max(delta_kph, CS.vEgo * CV.MS_TO_KPH - self.v_cruise_kph)
|
||||
|
||||
self._apply_software_pcm_cruise_delta(delta_kph, is_metric)
|
||||
return
|
||||
|
||||
self.v_cruise_kph += v_cruise_reference_new - v_cruise_reference
|
||||
|
||||
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
|
||||
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
|
||||
@@ -127,6 +178,12 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
|
||||
|
||||
def update_button_timers(self, CS, enabled):
|
||||
if self.software_pcm_cruise_speed and (not enabled or not CS.cruiseState.available or not self.software_pcm_cruise_initialized):
|
||||
for k in self.button_timers:
|
||||
self.button_timers[k] = 0
|
||||
self.button_change_states[k] = {"standstill": False, "enabled": False}
|
||||
return
|
||||
|
||||
# increment timer for buttons still pressed
|
||||
for k in self.button_timers:
|
||||
if self.button_timers[k] > 0:
|
||||
|
||||
@@ -14,8 +14,11 @@ MAX_LATERAL_JERK = 5.0 # m/s^3
|
||||
MAX_LATERAL_ACCEL_NO_ROLL = 3.0 # m/s^2
|
||||
|
||||
|
||||
STOPPING_SPEED = 0.25 # m/s, speed at which the car goes into the stopping state
|
||||
|
||||
|
||||
def should_stop(v_ego: float, a_target: float) -> bool:
|
||||
return bool(v_ego < 0.3 and a_target < 0.1)
|
||||
return bool(v_ego < STOPPING_SPEED and a_target < 0.1)
|
||||
|
||||
def clamp(val, min_val, max_val):
|
||||
clamped_val = float(np.clip(val, min_val, max_val))
|
||||
|
||||
@@ -7,6 +7,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
|
||||
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
|
||||
|
||||
STOPPING_DECEL_RATE = 0.3 # m/s^2/s while trying to stop
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
@@ -68,7 +70,7 @@ class LongControl:
|
||||
if output_accel > self.CP.stopAccel:
|
||||
output_accel = min(output_accel, 0.0)
|
||||
# TODO: can we just go straight to stopAccel?
|
||||
output_accel -= 1.0 * DT_CTRL # m/s^2/s while trying to stop
|
||||
output_accel -= STOPPING_DECEL_RATE * DT_CTRL
|
||||
self.reset()
|
||||
|
||||
else: # LongCtrlState.pid
|
||||
|
||||
@@ -35,9 +35,12 @@ def get_max_accel(v_ego):
|
||||
def get_coast_accel(pitch):
|
||||
return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
|
||||
|
||||
def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle):
|
||||
max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
|
||||
|
||||
def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle,
|
||||
max_accel_override=None):
|
||||
if max_accel_override is not None:
|
||||
max_accel = max_accel_override
|
||||
else:
|
||||
max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
|
||||
if not e2e:
|
||||
a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
|
||||
a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
|
||||
@@ -84,7 +87,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
v_ego = sm['carState'].vEgo
|
||||
v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
|
||||
v_cruise = v_cruise_kph * CV.KPH_TO_MS
|
||||
if sm['controlsState'].forceDecel:
|
||||
force_decel = sm['controlsState'].forceDecel
|
||||
if force_decel:
|
||||
v_cruise = 0.0
|
||||
|
||||
long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
|
||||
@@ -118,6 +122,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
|
||||
self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
|
||||
self.update_dec(sm)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -140,9 +145,17 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
|
||||
is_e2e = self.is_e2e(sm)
|
||||
|
||||
self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego,
|
||||
self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
|
||||
accel_coast, self.allow_throttle)
|
||||
max_accel_override = self.get_max_accel_override(v_ego)
|
||||
v_cruise = self.get_cruise_target_override(v_ego, v_cruise, force_decel)
|
||||
a_cruise_prev = self.a_cruise
|
||||
gated_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego, a_cruise_prev, steer_angle_without_offset,
|
||||
self.CP, self.dt, accel_coast, self.allow_throttle, max_accel_override)
|
||||
ungated_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego, a_cruise_prev, steer_angle_without_offset,
|
||||
self.CP, self.dt, accel_coast, True, max_accel_override)
|
||||
self.a_cruise = self.arbitrate_cruise_candidate(
|
||||
sm, gated_cruise, ungated_cruise, output_a_target_mpc, self.mpc.source,
|
||||
allow_throttle=self.allow_throttle, e2e=is_e2e, force_decel=force_decel,
|
||||
)
|
||||
cruise_should_stop = should_stop(v_ego, self.a_cruise)
|
||||
|
||||
candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
|
||||
@@ -153,6 +166,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
|
||||
self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
|
||||
self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)
|
||||
self.accel_controller_active = self.is_accel_controller_active(force_decel)
|
||||
|
||||
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0
|
||||
|
||||
@@ -177,6 +191,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
longitudinalPlan.aTarget = float(self.output_a_target)
|
||||
longitudinalPlan.shouldStop = bool(self.output_should_stop)
|
||||
longitudinalPlan.allowBrake = True
|
||||
# Raw model throttle intent used for path visualization; lead MPC can still request positive acceleration.
|
||||
longitudinalPlan.allowThrottle = bool(self.allow_throttle)
|
||||
|
||||
pm.send('longitudinalPlan', plan_send)
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.cereal import custom
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import STOPPING_SPEED, should_stop
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import STOPPING_DECEL_RATE, LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
class TestLongControlStateTransition(OpenpilotTestCase):
|
||||
@@ -42,3 +43,13 @@ class TestLongControlStateTransition(OpenpilotTestCase):
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
class TestTerminalStop(OpenpilotTestCase):
|
||||
def test_stopping_tune_is_gentler_than_upstream_default(self):
|
||||
# Upstream #38394 hardcoded a 1.0 m/s^2/s ramp and a 0.3 m/s latch. comma's own one-stopping-tune uses
|
||||
# 0.3 / 0.25, and every stop recorded on this car was driven with that pair. Both must stay on the less
|
||||
# braking side, or a future edit re-deepens the terminal brake unnoticed - which already happened once.
|
||||
assert 0.0 < STOPPING_DECEL_RATE <= 1.0
|
||||
assert 0.0 < STOPPING_SPEED <= 0.3
|
||||
assert should_stop(STOPPING_SPEED - 0.01, 0.0)
|
||||
assert not should_stop(0.29, 0.0) # the band upstream would latch in and we do not
|
||||
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
|
||||
out_5744499419236567507[0] = delta_x[0] + nom_x[0];
|
||||
out_5744499419236567507[1] = delta_x[1] + nom_x[1];
|
||||
out_5744499419236567507[2] = delta_x[2] + nom_x[2];
|
||||
out_5744499419236567507[3] = delta_x[3] + nom_x[3];
|
||||
out_5744499419236567507[4] = delta_x[4] + nom_x[4];
|
||||
out_5744499419236567507[5] = delta_x[5] + nom_x[5];
|
||||
out_5744499419236567507[6] = delta_x[6] + nom_x[6];
|
||||
out_5744499419236567507[7] = delta_x[7] + nom_x[7];
|
||||
out_5744499419236567507[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_205475353292099530) {
|
||||
out_205475353292099530[0] = delta_x[0] + nom_x[0];
|
||||
out_205475353292099530[1] = delta_x[1] + nom_x[1];
|
||||
out_205475353292099530[2] = delta_x[2] + nom_x[2];
|
||||
out_205475353292099530[3] = delta_x[3] + nom_x[3];
|
||||
out_205475353292099530[4] = delta_x[4] + nom_x[4];
|
||||
out_205475353292099530[5] = delta_x[5] + nom_x[5];
|
||||
out_205475353292099530[6] = delta_x[6] + nom_x[6];
|
||||
out_205475353292099530[7] = delta_x[7] + nom_x[7];
|
||||
out_205475353292099530[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
|
||||
out_1184805137205037163[0] = -nom_x[0] + true_x[0];
|
||||
out_1184805137205037163[1] = -nom_x[1] + true_x[1];
|
||||
out_1184805137205037163[2] = -nom_x[2] + true_x[2];
|
||||
out_1184805137205037163[3] = -nom_x[3] + true_x[3];
|
||||
out_1184805137205037163[4] = -nom_x[4] + true_x[4];
|
||||
out_1184805137205037163[5] = -nom_x[5] + true_x[5];
|
||||
out_1184805137205037163[6] = -nom_x[6] + true_x[6];
|
||||
out_1184805137205037163[7] = -nom_x[7] + true_x[7];
|
||||
out_1184805137205037163[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6859088956493527341) {
|
||||
out_6859088956493527341[0] = -nom_x[0] + true_x[0];
|
||||
out_6859088956493527341[1] = -nom_x[1] + true_x[1];
|
||||
out_6859088956493527341[2] = -nom_x[2] + true_x[2];
|
||||
out_6859088956493527341[3] = -nom_x[3] + true_x[3];
|
||||
out_6859088956493527341[4] = -nom_x[4] + true_x[4];
|
||||
out_6859088956493527341[5] = -nom_x[5] + true_x[5];
|
||||
out_6859088956493527341[6] = -nom_x[6] + true_x[6];
|
||||
out_6859088956493527341[7] = -nom_x[7] + true_x[7];
|
||||
out_6859088956493527341[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_2752971634021862652) {
|
||||
out_2752971634021862652[0] = 1.0;
|
||||
out_2752971634021862652[1] = 0.0;
|
||||
out_2752971634021862652[2] = 0.0;
|
||||
out_2752971634021862652[3] = 0.0;
|
||||
out_2752971634021862652[4] = 0.0;
|
||||
out_2752971634021862652[5] = 0.0;
|
||||
out_2752971634021862652[6] = 0.0;
|
||||
out_2752971634021862652[7] = 0.0;
|
||||
out_2752971634021862652[8] = 0.0;
|
||||
out_2752971634021862652[9] = 0.0;
|
||||
out_2752971634021862652[10] = 1.0;
|
||||
out_2752971634021862652[11] = 0.0;
|
||||
out_2752971634021862652[12] = 0.0;
|
||||
out_2752971634021862652[13] = 0.0;
|
||||
out_2752971634021862652[14] = 0.0;
|
||||
out_2752971634021862652[15] = 0.0;
|
||||
out_2752971634021862652[16] = 0.0;
|
||||
out_2752971634021862652[17] = 0.0;
|
||||
out_2752971634021862652[18] = 0.0;
|
||||
out_2752971634021862652[19] = 0.0;
|
||||
out_2752971634021862652[20] = 1.0;
|
||||
out_2752971634021862652[21] = 0.0;
|
||||
out_2752971634021862652[22] = 0.0;
|
||||
out_2752971634021862652[23] = 0.0;
|
||||
out_2752971634021862652[24] = 0.0;
|
||||
out_2752971634021862652[25] = 0.0;
|
||||
out_2752971634021862652[26] = 0.0;
|
||||
out_2752971634021862652[27] = 0.0;
|
||||
out_2752971634021862652[28] = 0.0;
|
||||
out_2752971634021862652[29] = 0.0;
|
||||
out_2752971634021862652[30] = 1.0;
|
||||
out_2752971634021862652[31] = 0.0;
|
||||
out_2752971634021862652[32] = 0.0;
|
||||
out_2752971634021862652[33] = 0.0;
|
||||
out_2752971634021862652[34] = 0.0;
|
||||
out_2752971634021862652[35] = 0.0;
|
||||
out_2752971634021862652[36] = 0.0;
|
||||
out_2752971634021862652[37] = 0.0;
|
||||
out_2752971634021862652[38] = 0.0;
|
||||
out_2752971634021862652[39] = 0.0;
|
||||
out_2752971634021862652[40] = 1.0;
|
||||
out_2752971634021862652[41] = 0.0;
|
||||
out_2752971634021862652[42] = 0.0;
|
||||
out_2752971634021862652[43] = 0.0;
|
||||
out_2752971634021862652[44] = 0.0;
|
||||
out_2752971634021862652[45] = 0.0;
|
||||
out_2752971634021862652[46] = 0.0;
|
||||
out_2752971634021862652[47] = 0.0;
|
||||
out_2752971634021862652[48] = 0.0;
|
||||
out_2752971634021862652[49] = 0.0;
|
||||
out_2752971634021862652[50] = 1.0;
|
||||
out_2752971634021862652[51] = 0.0;
|
||||
out_2752971634021862652[52] = 0.0;
|
||||
out_2752971634021862652[53] = 0.0;
|
||||
out_2752971634021862652[54] = 0.0;
|
||||
out_2752971634021862652[55] = 0.0;
|
||||
out_2752971634021862652[56] = 0.0;
|
||||
out_2752971634021862652[57] = 0.0;
|
||||
out_2752971634021862652[58] = 0.0;
|
||||
out_2752971634021862652[59] = 0.0;
|
||||
out_2752971634021862652[60] = 1.0;
|
||||
out_2752971634021862652[61] = 0.0;
|
||||
out_2752971634021862652[62] = 0.0;
|
||||
out_2752971634021862652[63] = 0.0;
|
||||
out_2752971634021862652[64] = 0.0;
|
||||
out_2752971634021862652[65] = 0.0;
|
||||
out_2752971634021862652[66] = 0.0;
|
||||
out_2752971634021862652[67] = 0.0;
|
||||
out_2752971634021862652[68] = 0.0;
|
||||
out_2752971634021862652[69] = 0.0;
|
||||
out_2752971634021862652[70] = 1.0;
|
||||
out_2752971634021862652[71] = 0.0;
|
||||
out_2752971634021862652[72] = 0.0;
|
||||
out_2752971634021862652[73] = 0.0;
|
||||
out_2752971634021862652[74] = 0.0;
|
||||
out_2752971634021862652[75] = 0.0;
|
||||
out_2752971634021862652[76] = 0.0;
|
||||
out_2752971634021862652[77] = 0.0;
|
||||
out_2752971634021862652[78] = 0.0;
|
||||
out_2752971634021862652[79] = 0.0;
|
||||
out_2752971634021862652[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8201686483145055601) {
|
||||
out_8201686483145055601[0] = 1.0;
|
||||
out_8201686483145055601[1] = 0.0;
|
||||
out_8201686483145055601[2] = 0.0;
|
||||
out_8201686483145055601[3] = 0.0;
|
||||
out_8201686483145055601[4] = 0.0;
|
||||
out_8201686483145055601[5] = 0.0;
|
||||
out_8201686483145055601[6] = 0.0;
|
||||
out_8201686483145055601[7] = 0.0;
|
||||
out_8201686483145055601[8] = 0.0;
|
||||
out_8201686483145055601[9] = 0.0;
|
||||
out_8201686483145055601[10] = 1.0;
|
||||
out_8201686483145055601[11] = 0.0;
|
||||
out_8201686483145055601[12] = 0.0;
|
||||
out_8201686483145055601[13] = 0.0;
|
||||
out_8201686483145055601[14] = 0.0;
|
||||
out_8201686483145055601[15] = 0.0;
|
||||
out_8201686483145055601[16] = 0.0;
|
||||
out_8201686483145055601[17] = 0.0;
|
||||
out_8201686483145055601[18] = 0.0;
|
||||
out_8201686483145055601[19] = 0.0;
|
||||
out_8201686483145055601[20] = 1.0;
|
||||
out_8201686483145055601[21] = 0.0;
|
||||
out_8201686483145055601[22] = 0.0;
|
||||
out_8201686483145055601[23] = 0.0;
|
||||
out_8201686483145055601[24] = 0.0;
|
||||
out_8201686483145055601[25] = 0.0;
|
||||
out_8201686483145055601[26] = 0.0;
|
||||
out_8201686483145055601[27] = 0.0;
|
||||
out_8201686483145055601[28] = 0.0;
|
||||
out_8201686483145055601[29] = 0.0;
|
||||
out_8201686483145055601[30] = 1.0;
|
||||
out_8201686483145055601[31] = 0.0;
|
||||
out_8201686483145055601[32] = 0.0;
|
||||
out_8201686483145055601[33] = 0.0;
|
||||
out_8201686483145055601[34] = 0.0;
|
||||
out_8201686483145055601[35] = 0.0;
|
||||
out_8201686483145055601[36] = 0.0;
|
||||
out_8201686483145055601[37] = 0.0;
|
||||
out_8201686483145055601[38] = 0.0;
|
||||
out_8201686483145055601[39] = 0.0;
|
||||
out_8201686483145055601[40] = 1.0;
|
||||
out_8201686483145055601[41] = 0.0;
|
||||
out_8201686483145055601[42] = 0.0;
|
||||
out_8201686483145055601[43] = 0.0;
|
||||
out_8201686483145055601[44] = 0.0;
|
||||
out_8201686483145055601[45] = 0.0;
|
||||
out_8201686483145055601[46] = 0.0;
|
||||
out_8201686483145055601[47] = 0.0;
|
||||
out_8201686483145055601[48] = 0.0;
|
||||
out_8201686483145055601[49] = 0.0;
|
||||
out_8201686483145055601[50] = 1.0;
|
||||
out_8201686483145055601[51] = 0.0;
|
||||
out_8201686483145055601[52] = 0.0;
|
||||
out_8201686483145055601[53] = 0.0;
|
||||
out_8201686483145055601[54] = 0.0;
|
||||
out_8201686483145055601[55] = 0.0;
|
||||
out_8201686483145055601[56] = 0.0;
|
||||
out_8201686483145055601[57] = 0.0;
|
||||
out_8201686483145055601[58] = 0.0;
|
||||
out_8201686483145055601[59] = 0.0;
|
||||
out_8201686483145055601[60] = 1.0;
|
||||
out_8201686483145055601[61] = 0.0;
|
||||
out_8201686483145055601[62] = 0.0;
|
||||
out_8201686483145055601[63] = 0.0;
|
||||
out_8201686483145055601[64] = 0.0;
|
||||
out_8201686483145055601[65] = 0.0;
|
||||
out_8201686483145055601[66] = 0.0;
|
||||
out_8201686483145055601[67] = 0.0;
|
||||
out_8201686483145055601[68] = 0.0;
|
||||
out_8201686483145055601[69] = 0.0;
|
||||
out_8201686483145055601[70] = 1.0;
|
||||
out_8201686483145055601[71] = 0.0;
|
||||
out_8201686483145055601[72] = 0.0;
|
||||
out_8201686483145055601[73] = 0.0;
|
||||
out_8201686483145055601[74] = 0.0;
|
||||
out_8201686483145055601[75] = 0.0;
|
||||
out_8201686483145055601[76] = 0.0;
|
||||
out_8201686483145055601[77] = 0.0;
|
||||
out_8201686483145055601[78] = 0.0;
|
||||
out_8201686483145055601[79] = 0.0;
|
||||
out_8201686483145055601[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_7658700760911629364) {
|
||||
out_7658700760911629364[0] = state[0];
|
||||
out_7658700760911629364[1] = state[1];
|
||||
out_7658700760911629364[2] = state[2];
|
||||
out_7658700760911629364[3] = state[3];
|
||||
out_7658700760911629364[4] = state[4];
|
||||
out_7658700760911629364[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_7658700760911629364[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_7658700760911629364[7] = state[7];
|
||||
out_7658700760911629364[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_2204957494938772746) {
|
||||
out_2204957494938772746[0] = state[0];
|
||||
out_2204957494938772746[1] = state[1];
|
||||
out_2204957494938772746[2] = state[2];
|
||||
out_2204957494938772746[3] = state[3];
|
||||
out_2204957494938772746[4] = state[4];
|
||||
out_2204957494938772746[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_2204957494938772746[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_2204957494938772746[7] = state[7];
|
||||
out_2204957494938772746[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6351856658156694456) {
|
||||
out_6351856658156694456[0] = 1;
|
||||
out_6351856658156694456[1] = 0;
|
||||
out_6351856658156694456[2] = 0;
|
||||
out_6351856658156694456[3] = 0;
|
||||
out_6351856658156694456[4] = 0;
|
||||
out_6351856658156694456[5] = 0;
|
||||
out_6351856658156694456[6] = 0;
|
||||
out_6351856658156694456[7] = 0;
|
||||
out_6351856658156694456[8] = 0;
|
||||
out_6351856658156694456[9] = 0;
|
||||
out_6351856658156694456[10] = 1;
|
||||
out_6351856658156694456[11] = 0;
|
||||
out_6351856658156694456[12] = 0;
|
||||
out_6351856658156694456[13] = 0;
|
||||
out_6351856658156694456[14] = 0;
|
||||
out_6351856658156694456[15] = 0;
|
||||
out_6351856658156694456[16] = 0;
|
||||
out_6351856658156694456[17] = 0;
|
||||
out_6351856658156694456[18] = 0;
|
||||
out_6351856658156694456[19] = 0;
|
||||
out_6351856658156694456[20] = 1;
|
||||
out_6351856658156694456[21] = 0;
|
||||
out_6351856658156694456[22] = 0;
|
||||
out_6351856658156694456[23] = 0;
|
||||
out_6351856658156694456[24] = 0;
|
||||
out_6351856658156694456[25] = 0;
|
||||
out_6351856658156694456[26] = 0;
|
||||
out_6351856658156694456[27] = 0;
|
||||
out_6351856658156694456[28] = 0;
|
||||
out_6351856658156694456[29] = 0;
|
||||
out_6351856658156694456[30] = 1;
|
||||
out_6351856658156694456[31] = 0;
|
||||
out_6351856658156694456[32] = 0;
|
||||
out_6351856658156694456[33] = 0;
|
||||
out_6351856658156694456[34] = 0;
|
||||
out_6351856658156694456[35] = 0;
|
||||
out_6351856658156694456[36] = 0;
|
||||
out_6351856658156694456[37] = 0;
|
||||
out_6351856658156694456[38] = 0;
|
||||
out_6351856658156694456[39] = 0;
|
||||
out_6351856658156694456[40] = 1;
|
||||
out_6351856658156694456[41] = 0;
|
||||
out_6351856658156694456[42] = 0;
|
||||
out_6351856658156694456[43] = 0;
|
||||
out_6351856658156694456[44] = 0;
|
||||
out_6351856658156694456[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_6351856658156694456[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6351856658156694456[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6351856658156694456[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6351856658156694456[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_6351856658156694456[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6351856658156694456[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6351856658156694456[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6351856658156694456[53] = -9.8100000000000005*dt;
|
||||
out_6351856658156694456[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_6351856658156694456[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6351856658156694456[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6351856658156694456[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6351856658156694456[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_6351856658156694456[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6351856658156694456[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_6351856658156694456[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6351856658156694456[62] = 0;
|
||||
out_6351856658156694456[63] = 0;
|
||||
out_6351856658156694456[64] = 0;
|
||||
out_6351856658156694456[65] = 0;
|
||||
out_6351856658156694456[66] = 0;
|
||||
out_6351856658156694456[67] = 0;
|
||||
out_6351856658156694456[68] = 0;
|
||||
out_6351856658156694456[69] = 0;
|
||||
out_6351856658156694456[70] = 1;
|
||||
out_6351856658156694456[71] = 0;
|
||||
out_6351856658156694456[72] = 0;
|
||||
out_6351856658156694456[73] = 0;
|
||||
out_6351856658156694456[74] = 0;
|
||||
out_6351856658156694456[75] = 0;
|
||||
out_6351856658156694456[76] = 0;
|
||||
out_6351856658156694456[77] = 0;
|
||||
out_6351856658156694456[78] = 0;
|
||||
out_6351856658156694456[79] = 0;
|
||||
out_6351856658156694456[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2327939745960551937) {
|
||||
out_2327939745960551937[0] = 1;
|
||||
out_2327939745960551937[1] = 0;
|
||||
out_2327939745960551937[2] = 0;
|
||||
out_2327939745960551937[3] = 0;
|
||||
out_2327939745960551937[4] = 0;
|
||||
out_2327939745960551937[5] = 0;
|
||||
out_2327939745960551937[6] = 0;
|
||||
out_2327939745960551937[7] = 0;
|
||||
out_2327939745960551937[8] = 0;
|
||||
out_2327939745960551937[9] = 0;
|
||||
out_2327939745960551937[10] = 1;
|
||||
out_2327939745960551937[11] = 0;
|
||||
out_2327939745960551937[12] = 0;
|
||||
out_2327939745960551937[13] = 0;
|
||||
out_2327939745960551937[14] = 0;
|
||||
out_2327939745960551937[15] = 0;
|
||||
out_2327939745960551937[16] = 0;
|
||||
out_2327939745960551937[17] = 0;
|
||||
out_2327939745960551937[18] = 0;
|
||||
out_2327939745960551937[19] = 0;
|
||||
out_2327939745960551937[20] = 1;
|
||||
out_2327939745960551937[21] = 0;
|
||||
out_2327939745960551937[22] = 0;
|
||||
out_2327939745960551937[23] = 0;
|
||||
out_2327939745960551937[24] = 0;
|
||||
out_2327939745960551937[25] = 0;
|
||||
out_2327939745960551937[26] = 0;
|
||||
out_2327939745960551937[27] = 0;
|
||||
out_2327939745960551937[28] = 0;
|
||||
out_2327939745960551937[29] = 0;
|
||||
out_2327939745960551937[30] = 1;
|
||||
out_2327939745960551937[31] = 0;
|
||||
out_2327939745960551937[32] = 0;
|
||||
out_2327939745960551937[33] = 0;
|
||||
out_2327939745960551937[34] = 0;
|
||||
out_2327939745960551937[35] = 0;
|
||||
out_2327939745960551937[36] = 0;
|
||||
out_2327939745960551937[37] = 0;
|
||||
out_2327939745960551937[38] = 0;
|
||||
out_2327939745960551937[39] = 0;
|
||||
out_2327939745960551937[40] = 1;
|
||||
out_2327939745960551937[41] = 0;
|
||||
out_2327939745960551937[42] = 0;
|
||||
out_2327939745960551937[43] = 0;
|
||||
out_2327939745960551937[44] = 0;
|
||||
out_2327939745960551937[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_2327939745960551937[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2327939745960551937[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2327939745960551937[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2327939745960551937[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_2327939745960551937[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2327939745960551937[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2327939745960551937[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2327939745960551937[53] = -9.8100000000000005*dt;
|
||||
out_2327939745960551937[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_2327939745960551937[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2327939745960551937[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2327939745960551937[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2327939745960551937[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_2327939745960551937[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2327939745960551937[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_2327939745960551937[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2327939745960551937[62] = 0;
|
||||
out_2327939745960551937[63] = 0;
|
||||
out_2327939745960551937[64] = 0;
|
||||
out_2327939745960551937[65] = 0;
|
||||
out_2327939745960551937[66] = 0;
|
||||
out_2327939745960551937[67] = 0;
|
||||
out_2327939745960551937[68] = 0;
|
||||
out_2327939745960551937[69] = 0;
|
||||
out_2327939745960551937[70] = 1;
|
||||
out_2327939745960551937[71] = 0;
|
||||
out_2327939745960551937[72] = 0;
|
||||
out_2327939745960551937[73] = 0;
|
||||
out_2327939745960551937[74] = 0;
|
||||
out_2327939745960551937[75] = 0;
|
||||
out_2327939745960551937[76] = 0;
|
||||
out_2327939745960551937[77] = 0;
|
||||
out_2327939745960551937[78] = 0;
|
||||
out_2327939745960551937[79] = 0;
|
||||
out_2327939745960551937[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_2115125997200973707) {
|
||||
out_2115125997200973707[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8734450240234959528) {
|
||||
out_8734450240234959528[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6275952284011354329) {
|
||||
out_6275952284011354329[0] = 0;
|
||||
out_6275952284011354329[1] = 0;
|
||||
out_6275952284011354329[2] = 0;
|
||||
out_6275952284011354329[3] = 0;
|
||||
out_6275952284011354329[4] = 0;
|
||||
out_6275952284011354329[5] = 0;
|
||||
out_6275952284011354329[6] = 1;
|
||||
out_6275952284011354329[7] = 0;
|
||||
out_6275952284011354329[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6133161197384342845) {
|
||||
out_6133161197384342845[0] = 0;
|
||||
out_6133161197384342845[1] = 0;
|
||||
out_6133161197384342845[2] = 0;
|
||||
out_6133161197384342845[3] = 0;
|
||||
out_6133161197384342845[4] = 0;
|
||||
out_6133161197384342845[5] = 0;
|
||||
out_6133161197384342845[6] = 1;
|
||||
out_6133161197384342845[7] = 0;
|
||||
out_6133161197384342845[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7937179482135297626) {
|
||||
out_7937179482135297626[0] = state[4];
|
||||
out_7937179482135297626[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8806581475742121932) {
|
||||
out_8806581475742121932[0] = state[4];
|
||||
out_8806581475742121932[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_8612866190895874151) {
|
||||
out_8612866190895874151[0] = 0;
|
||||
out_8612866190895874151[1] = 0;
|
||||
out_8612866190895874151[2] = 0;
|
||||
out_8612866190895874151[3] = 0;
|
||||
out_8612866190895874151[4] = 1;
|
||||
out_8612866190895874151[5] = 0;
|
||||
out_8612866190895874151[6] = 0;
|
||||
out_8612866190895874151[7] = 0;
|
||||
out_8612866190895874151[8] = 0;
|
||||
out_8612866190895874151[9] = 0;
|
||||
out_8612866190895874151[10] = 0;
|
||||
out_8612866190895874151[11] = 0;
|
||||
out_8612866190895874151[12] = 0;
|
||||
out_8612866190895874151[13] = 0;
|
||||
out_8612866190895874151[14] = 1;
|
||||
out_8612866190895874151[15] = 0;
|
||||
out_8612866190895874151[16] = 0;
|
||||
out_8612866190895874151[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5738011069733690670) {
|
||||
out_5738011069733690670[0] = 0;
|
||||
out_5738011069733690670[1] = 0;
|
||||
out_5738011069733690670[2] = 0;
|
||||
out_5738011069733690670[3] = 0;
|
||||
out_5738011069733690670[4] = 1;
|
||||
out_5738011069733690670[5] = 0;
|
||||
out_5738011069733690670[6] = 0;
|
||||
out_5738011069733690670[7] = 0;
|
||||
out_5738011069733690670[8] = 0;
|
||||
out_5738011069733690670[9] = 0;
|
||||
out_5738011069733690670[10] = 0;
|
||||
out_5738011069733690670[11] = 0;
|
||||
out_5738011069733690670[12] = 0;
|
||||
out_5738011069733690670[13] = 0;
|
||||
out_5738011069733690670[14] = 1;
|
||||
out_5738011069733690670[15] = 0;
|
||||
out_5738011069733690670[16] = 0;
|
||||
out_5738011069733690670[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8646825364085210282) {
|
||||
out_8646825364085210282[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_971184983414287087) {
|
||||
out_971184983414287087[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_6146613336868114259) {
|
||||
out_6146613336868114259[0] = 0;
|
||||
out_6146613336868114259[1] = 0;
|
||||
out_6146613336868114259[2] = 0;
|
||||
out_6146613336868114259[3] = 0;
|
||||
out_6146613336868114259[4] = 1;
|
||||
out_6146613336868114259[5] = 0;
|
||||
out_6146613336868114259[6] = 0;
|
||||
out_6146613336868114259[7] = 0;
|
||||
out_6146613336868114259[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_5396892534833592016) {
|
||||
out_5396892534833592016[0] = 0;
|
||||
out_5396892534833592016[1] = 0;
|
||||
out_5396892534833592016[2] = 0;
|
||||
out_5396892534833592016[3] = 0;
|
||||
out_5396892534833592016[4] = 1;
|
||||
out_5396892534833592016[5] = 0;
|
||||
out_5396892534833592016[6] = 0;
|
||||
out_5396892534833592016[7] = 0;
|
||||
out_5396892534833592016[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7195513388815643683) {
|
||||
out_7195513388815643683[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1416855028350640224) {
|
||||
out_1416855028350640224[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2534448965137298105) {
|
||||
out_2534448965137298105[0] = 0;
|
||||
out_2534448965137298105[1] = 0;
|
||||
out_2534448965137298105[2] = 0;
|
||||
out_2534448965137298105[3] = 0;
|
||||
out_2534448965137298105[4] = 0;
|
||||
out_2534448965137298105[5] = 0;
|
||||
out_2534448965137298105[6] = 0;
|
||||
out_2534448965137298105[7] = 1;
|
||||
out_2534448965137298105[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_2391657878510286621) {
|
||||
out_2391657878510286621[0] = 0;
|
||||
out_2391657878510286621[1] = 0;
|
||||
out_2391657878510286621[2] = 0;
|
||||
out_2391657878510286621[3] = 0;
|
||||
out_2391657878510286621[4] = 0;
|
||||
out_2391657878510286621[5] = 0;
|
||||
out_2391657878510286621[6] = 0;
|
||||
out_2391657878510286621[7] = 1;
|
||||
out_2391657878510286621[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3029764065914673830) {
|
||||
out_3029764065914673830[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5511166866350839857) {
|
||||
out_5511166866350839857[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_3971850025067689348) {
|
||||
out_3971850025067689348[0] = 0;
|
||||
out_3971850025067689348[1] = 0;
|
||||
out_3971850025067689348[2] = 0;
|
||||
out_3971850025067689348[3] = 1;
|
||||
out_3971850025067689348[4] = 0;
|
||||
out_3971850025067689348[5] = 0;
|
||||
out_3971850025067689348[6] = 0;
|
||||
out_3971850025067689348[7] = 0;
|
||||
out_3971850025067689348[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_7571655846634016927) {
|
||||
out_7571655846634016927[0] = 0;
|
||||
out_7571655846634016927[1] = 0;
|
||||
out_7571655846634016927[2] = 0;
|
||||
out_7571655846634016927[3] = 1;
|
||||
out_7571655846634016927[4] = 0;
|
||||
out_7571655846634016927[5] = 0;
|
||||
out_7571655846634016927[6] = 0;
|
||||
out_7571655846634016927[7] = 0;
|
||||
out_7571655846634016927[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_4733501190905998611) {
|
||||
out_4733501190905998611[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5235972804066333968) {
|
||||
out_5235972804066333968[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6656844681182506443) {
|
||||
out_6656844681182506443[0] = 0;
|
||||
out_6656844681182506443[1] = 1;
|
||||
out_6656844681182506443[2] = 0;
|
||||
out_6656844681182506443[3] = 0;
|
||||
out_6656844681182506443[4] = 0;
|
||||
out_6656844681182506443[5] = 0;
|
||||
out_6656844681182506443[6] = 0;
|
||||
out_6656844681182506443[7] = 0;
|
||||
out_6656844681182506443[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_9161725500205983656) {
|
||||
out_9161725500205983656[0] = 0;
|
||||
out_9161725500205983656[1] = 1;
|
||||
out_9161725500205983656[2] = 0;
|
||||
out_9161725500205983656[3] = 0;
|
||||
out_9161725500205983656[4] = 0;
|
||||
out_9161725500205983656[5] = 0;
|
||||
out_9161725500205983656[6] = 0;
|
||||
out_9161725500205983656[7] = 0;
|
||||
out_9161725500205983656[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6095421901546968827) {
|
||||
out_6095421901546968827[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_7891338238985058206) {
|
||||
out_7891338238985058206[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_2823911718871392259) {
|
||||
out_2823911718871392259[0] = 1;
|
||||
out_2823911718871392259[1] = 0;
|
||||
out_2823911718871392259[2] = 0;
|
||||
out_2823911718871392259[3] = 0;
|
||||
out_2823911718871392259[4] = 0;
|
||||
out_2823911718871392259[5] = 0;
|
||||
out_2823911718871392259[6] = 0;
|
||||
out_2823911718871392259[7] = 0;
|
||||
out_2823911718871392259[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_4079326483136453082) {
|
||||
out_4079326483136453082[0] = 1;
|
||||
out_4079326483136453082[1] = 0;
|
||||
out_4079326483136453082[2] = 0;
|
||||
out_4079326483136453082[3] = 0;
|
||||
out_4079326483136453082[4] = 0;
|
||||
out_4079326483136453082[5] = 0;
|
||||
out_4079326483136453082[6] = 0;
|
||||
out_4079326483136453082[7] = 0;
|
||||
out_4079326483136453082[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_6524751479517568177) {
|
||||
out_6524751479517568177[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8694811794428211892) {
|
||||
out_8694811794428211892[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6306598245888314757) {
|
||||
out_6306598245888314757[0] = 0;
|
||||
out_6306598245888314757[1] = 0;
|
||||
out_6306598245888314757[2] = 0;
|
||||
out_6306598245888314757[3] = 0;
|
||||
out_6306598245888314757[4] = 0;
|
||||
out_6306598245888314757[5] = 0;
|
||||
out_6306598245888314757[6] = 0;
|
||||
out_6306598245888314757[7] = 0;
|
||||
out_6306598245888314757[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6163807159261303273) {
|
||||
out_6163807159261303273[0] = 0;
|
||||
out_6163807159261303273[1] = 0;
|
||||
out_6163807159261303273[2] = 0;
|
||||
out_6163807159261303273[3] = 0;
|
||||
out_6163807159261303273[4] = 0;
|
||||
out_6163807159261303273[5] = 0;
|
||||
out_6163807159261303273[6] = 0;
|
||||
out_6163807159261303273[7] = 0;
|
||||
out_6163807159261303273[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
|
||||
err_fun(nom_x, delta_x, out_5744499419236567507);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_205475353292099530) {
|
||||
err_fun(nom_x, delta_x, out_205475353292099530);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
|
||||
inv_err_fun(nom_x, true_x, out_1184805137205037163);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6859088956493527341) {
|
||||
inv_err_fun(nom_x, true_x, out_6859088956493527341);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2752971634021862652) {
|
||||
H_mod_fun(state, out_2752971634021862652);
|
||||
void car_H_mod_fun(double *state, double *out_8201686483145055601) {
|
||||
H_mod_fun(state, out_8201686483145055601);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7658700760911629364) {
|
||||
f_fun(state, dt, out_7658700760911629364);
|
||||
void car_f_fun(double *state, double dt, double *out_2204957494938772746) {
|
||||
f_fun(state, dt, out_2204957494938772746);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6351856658156694456) {
|
||||
F_fun(state, dt, out_6351856658156694456);
|
||||
void car_F_fun(double *state, double dt, double *out_2327939745960551937) {
|
||||
F_fun(state, dt, out_2327939745960551937);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_2115125997200973707) {
|
||||
h_25(state, unused, out_2115125997200973707);
|
||||
void car_h_25(double *state, double *unused, double *out_8734450240234959528) {
|
||||
h_25(state, unused, out_8734450240234959528);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6275952284011354329) {
|
||||
H_25(state, unused, out_6275952284011354329);
|
||||
void car_H_25(double *state, double *unused, double *out_6133161197384342845) {
|
||||
H_25(state, unused, out_6133161197384342845);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7937179482135297626) {
|
||||
h_24(state, unused, out_7937179482135297626);
|
||||
void car_h_24(double *state, double *unused, double *out_8806581475742121932) {
|
||||
h_24(state, unused, out_8806581475742121932);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_8612866190895874151) {
|
||||
H_24(state, unused, out_8612866190895874151);
|
||||
void car_H_24(double *state, double *unused, double *out_5738011069733690670) {
|
||||
H_24(state, unused, out_5738011069733690670);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8646825364085210282) {
|
||||
h_30(state, unused, out_8646825364085210282);
|
||||
void car_h_30(double *state, double *unused, double *out_971184983414287087) {
|
||||
h_30(state, unused, out_971184983414287087);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_6146613336868114259) {
|
||||
H_30(state, unused, out_6146613336868114259);
|
||||
void car_H_30(double *state, double *unused, double *out_5396892534833592016) {
|
||||
H_30(state, unused, out_5396892534833592016);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7195513388815643683) {
|
||||
h_26(state, unused, out_7195513388815643683);
|
||||
void car_h_26(double *state, double *unused, double *out_1416855028350640224) {
|
||||
h_26(state, unused, out_1416855028350640224);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2534448965137298105) {
|
||||
H_26(state, unused, out_2534448965137298105);
|
||||
void car_H_26(double *state, double *unused, double *out_2391657878510286621) {
|
||||
H_26(state, unused, out_2391657878510286621);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3029764065914673830) {
|
||||
h_27(state, unused, out_3029764065914673830);
|
||||
void car_h_27(double *state, double *unused, double *out_5511166866350839857) {
|
||||
h_27(state, unused, out_5511166866350839857);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_3971850025067689348) {
|
||||
H_27(state, unused, out_3971850025067689348);
|
||||
void car_H_27(double *state, double *unused, double *out_7571655846634016927) {
|
||||
H_27(state, unused, out_7571655846634016927);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_4733501190905998611) {
|
||||
h_29(state, unused, out_4733501190905998611);
|
||||
void car_h_29(double *state, double *unused, double *out_5235972804066333968) {
|
||||
h_29(state, unused, out_5235972804066333968);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6656844681182506443) {
|
||||
H_29(state, unused, out_6656844681182506443);
|
||||
void car_H_29(double *state, double *unused, double *out_9161725500205983656) {
|
||||
H_29(state, unused, out_9161725500205983656);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6095421901546968827) {
|
||||
h_28(state, unused, out_6095421901546968827);
|
||||
void car_h_28(double *state, double *unused, double *out_7891338238985058206) {
|
||||
h_28(state, unused, out_7891338238985058206);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_2823911718871392259) {
|
||||
H_28(state, unused, out_2823911718871392259);
|
||||
void car_H_28(double *state, double *unused, double *out_4079326483136453082) {
|
||||
H_28(state, unused, out_4079326483136453082);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_6524751479517568177) {
|
||||
h_31(state, unused, out_6524751479517568177);
|
||||
void car_h_31(double *state, double *unused, double *out_8694811794428211892) {
|
||||
h_31(state, unused, out_8694811794428211892);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6306598245888314757) {
|
||||
H_31(state, unused, out_6306598245888314757);
|
||||
void car_H_31(double *state, double *unused, double *out_6163807159261303273) {
|
||||
H_31(state, unused, out_6163807159261303273);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163);
|
||||
void car_H_mod_fun(double *state, double *out_2752971634021862652);
|
||||
void car_f_fun(double *state, double dt, double *out_7658700760911629364);
|
||||
void car_F_fun(double *state, double dt, double *out_6351856658156694456);
|
||||
void car_h_25(double *state, double *unused, double *out_2115125997200973707);
|
||||
void car_H_25(double *state, double *unused, double *out_6275952284011354329);
|
||||
void car_h_24(double *state, double *unused, double *out_7937179482135297626);
|
||||
void car_H_24(double *state, double *unused, double *out_8612866190895874151);
|
||||
void car_h_30(double *state, double *unused, double *out_8646825364085210282);
|
||||
void car_H_30(double *state, double *unused, double *out_6146613336868114259);
|
||||
void car_h_26(double *state, double *unused, double *out_7195513388815643683);
|
||||
void car_H_26(double *state, double *unused, double *out_2534448965137298105);
|
||||
void car_h_27(double *state, double *unused, double *out_3029764065914673830);
|
||||
void car_H_27(double *state, double *unused, double *out_3971850025067689348);
|
||||
void car_h_29(double *state, double *unused, double *out_4733501190905998611);
|
||||
void car_H_29(double *state, double *unused, double *out_6656844681182506443);
|
||||
void car_h_28(double *state, double *unused, double *out_6095421901546968827);
|
||||
void car_H_28(double *state, double *unused, double *out_2823911718871392259);
|
||||
void car_h_31(double *state, double *unused, double *out_6524751479517568177);
|
||||
void car_H_31(double *state, double *unused, double *out_6306598245888314757);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_205475353292099530);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6859088956493527341);
|
||||
void car_H_mod_fun(double *state, double *out_8201686483145055601);
|
||||
void car_f_fun(double *state, double dt, double *out_2204957494938772746);
|
||||
void car_F_fun(double *state, double dt, double *out_2327939745960551937);
|
||||
void car_h_25(double *state, double *unused, double *out_8734450240234959528);
|
||||
void car_H_25(double *state, double *unused, double *out_6133161197384342845);
|
||||
void car_h_24(double *state, double *unused, double *out_8806581475742121932);
|
||||
void car_H_24(double *state, double *unused, double *out_5738011069733690670);
|
||||
void car_h_30(double *state, double *unused, double *out_971184983414287087);
|
||||
void car_H_30(double *state, double *unused, double *out_5396892534833592016);
|
||||
void car_h_26(double *state, double *unused, double *out_1416855028350640224);
|
||||
void car_H_26(double *state, double *unused, double *out_2391657878510286621);
|
||||
void car_h_27(double *state, double *unused, double *out_5511166866350839857);
|
||||
void car_H_27(double *state, double *unused, double *out_7571655846634016927);
|
||||
void car_h_29(double *state, double *unused, double *out_5235972804066333968);
|
||||
void car_H_29(double *state, double *unused, double *out_9161725500205983656);
|
||||
void car_h_28(double *state, double *unused, double *out_7891338238985058206);
|
||||
void car_H_28(double *state, double *unused, double *out_4079326483136453082);
|
||||
void car_h_31(double *state, double *unused, double *out_8694811794428211892);
|
||||
void car_H_31(double *state, double *unused, double *out_6163807159261303273);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7899872685628621531);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1215289726053279423);
|
||||
void pose_H_mod_fun(double *state, double *out_420741753375595218);
|
||||
void pose_f_fun(double *state, double dt, double *out_5996963235034927992);
|
||||
void pose_F_fun(double *state, double dt, double *out_78320000076568703);
|
||||
void pose_h_4(double *state, double *unused, double *out_2403402202974529453);
|
||||
void pose_H_4(double *state, double *unused, double *out_5573260138414675953);
|
||||
void pose_h_10(double *state, double *unused, double *out_1415940429779603810);
|
||||
void pose_H_10(double *state, double *unused, double *out_5540918162512642087);
|
||||
void pose_h_13(double *state, double *unused, double *out_8116494657900557165);
|
||||
void pose_H_13(double *state, double *unused, double *out_8785533963747008754);
|
||||
void pose_h_14(double *state, double *unused, double *out_2556692697037776409);
|
||||
void pose_H_14(double *state, double *unused, double *out_8910243078955391134);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7491504487925958906);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8173082431785614969);
|
||||
void pose_H_mod_fun(double *state, double *out_3955896825213980969);
|
||||
void pose_f_fun(double *state, double dt, double *out_6226431844178190638);
|
||||
void pose_F_fun(double *state, double dt, double *out_5590858509180719260);
|
||||
void pose_h_4(double *state, double *unused, double *out_8311116516369893334);
|
||||
void pose_H_4(double *state, double *unused, double *out_1196621559825099766);
|
||||
void pose_h_10(double *state, double *unused, double *out_8024633733467632830);
|
||||
void pose_H_10(double *state, double *unused, double *out_9211636060607930666);
|
||||
void pose_h_13(double *state, double *unused, double *out_5246243153983473200);
|
||||
void pose_H_13(double *state, double *unused, double *out_4408895385157432567);
|
||||
void pose_h_14(double *state, double *unused, double *out_2666716766060469740);
|
||||
void pose_H_14(double *state, double *unused, double *out_5159862416164584295);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
@@ -37,12 +37,17 @@ from tinygrad.engine.jit import TinyJit
|
||||
|
||||
|
||||
NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
|
||||
MODELD_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
|
||||
WARP_INPUTS = ['tfm', 'big_tfm']
|
||||
POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
WARP_DEV = os.getenv('WARP_DEV')
|
||||
|
||||
|
||||
def nv12_copy_size(stride: int, y_height: int, uv_height: int) -> int:
|
||||
# Retain the padded Y and UV plane storage, but skip the trailing kernel/guard allocation.
|
||||
return stride * (y_height + uv_height)
|
||||
def make_random_images(keys, shape, device=None):
|
||||
return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
|
||||
@@ -94,7 +99,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=Device.DEFAULT)
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
@@ -113,43 +118,49 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_warp_input_queues(vision_input_shapes, frame_skip, device):
|
||||
img = vision_input_shapes['img'] # (1, 12, 128, 256)
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
npy = {
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
|
||||
}
|
||||
return input_queues, npy
|
||||
|
||||
|
||||
def get_policy_npy_shapes(input_shapes):
|
||||
dp = input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
tc = input_shapes['traffic_convention'] # (1, 2)
|
||||
at = input_shapes['action_t'] # (1, 2)
|
||||
fb = input_shapes['features_buffer'] # (1, T-1, ...) e.g. (1, 24, 32, 512) with spatial features
|
||||
feat_dim = math.prod(fb[2:])
|
||||
fb = input_shapes['features_buffer'] # (1, 24, 512)
|
||||
# TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
|
||||
shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], feat_dim)}
|
||||
shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], fb[2])}
|
||||
return shapes, [math.prod(s) for s in shapes.values()]
|
||||
|
||||
|
||||
def make_input_queues(input_shapes, frame_skip, device, frame_copy_size):
|
||||
img = input_shapes['img'] # (1, 12, 128, 256)
|
||||
fb = input_shapes['features_buffer'] # (1, T-1, ...), past features only; the model appends the current frame's feature
|
||||
feat_dim = math.prod(fb[2:])
|
||||
dp = input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
def make_input_queues(input_shapes, frame_skip, device):
|
||||
input_queues, npy = make_warp_input_queues(input_shapes, frame_skip, device)
|
||||
|
||||
policy_shapes, _ = get_policy_npy_shapes(input_shapes)
|
||||
shapes = {'tfm': (3, 3), 'big_tfm': (3, 3)} | policy_shapes
|
||||
sizes = [math.prod(s) for s in shapes.values()]
|
||||
packed_npy_size = sum(sizes) * np.dtype(np.float32).itemsize
|
||||
packed_input = np.zeros(packed_npy_size + 2 * frame_copy_size, dtype=np.uint8)
|
||||
packed_npy_inputs = packed_input[:packed_npy_size].view(np.float32)
|
||||
frames = packed_input[packed_npy_size:]
|
||||
frame_views = {'img': frames[:frame_copy_size], 'big_img': frames[frame_copy_size:]}
|
||||
fb = input_shapes['features_buffer'] # (1, 24, 512), past features only; the model appends the current frame's feature
|
||||
dp = input_shapes['desire_pulse'] # (1, 25, 8)
|
||||
|
||||
shapes, sizes = get_policy_npy_shapes(input_shapes)
|
||||
packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
|
||||
# views into the packed inputs, to be refilled at runtime
|
||||
npy = {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)}
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], feat_dim), dtype=np.float32), device=device).contiguous().realize(),
|
||||
npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
|
||||
input_queues.update({
|
||||
'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
'packed_npy_inputs': Tensor(packed_input, device='NPY').realize(),
|
||||
}
|
||||
return input_queues, npy, frame_views
|
||||
'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
|
||||
})
|
||||
return input_queues, npy
|
||||
|
||||
|
||||
def shift_and_sample(buf, new_val, sample_fn):
|
||||
@@ -165,15 +176,13 @@ def sample_desire(buf, frame_skip):
|
||||
return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
|
||||
|
||||
|
||||
def make_warp(nv12, model_w, model_h):
|
||||
def make_warp(nv12, model_w, model_h, frame_skip):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
|
||||
def warp(tfm, big_tfm, frame, big_frame):
|
||||
tfm = tfm.to(Device.DEFAULT)
|
||||
big_tfm = big_tfm.to(Device.DEFAULT)
|
||||
frame = frame.to(Device.DEFAULT)
|
||||
big_frame = big_frame.to(Device.DEFAULT)
|
||||
Tensor.realize(tfm, big_tfm, frame, big_frame)
|
||||
tfm = tfm.to(WARP_DEV)
|
||||
big_tfm = big_tfm.to(WARP_DEV)
|
||||
Tensor.realize(tfm, big_tfm)
|
||||
|
||||
warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
|
||||
warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
|
||||
@@ -186,10 +195,10 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
|
||||
model_input_dtypes = {name: spec.dtype for name, spec in model_runner.graph_inputs.items()}
|
||||
|
||||
def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
|
||||
packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
|
||||
warped = warped.to(Device.DEFAULT)
|
||||
Tensor.realize(packed_npy_inputs, warped)
|
||||
|
||||
img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
|
||||
@@ -202,50 +211,33 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
|
||||
inputs = {
|
||||
'img': img,
|
||||
'big_img': big_img,
|
||||
'features_buffer': feat_buf.reshape(model_metadata['input_shapes']['features_buffer']),
|
||||
'features_buffer': feat_buf,
|
||||
'desire_pulse': desire_buf,
|
||||
'traffic_convention': traffic_convention,
|
||||
'action_t': action_t,
|
||||
}
|
||||
inputs = {name: value.cast(model_input_dtypes[name]) for name, value in inputs.items()}
|
||||
out = next(iter(model_runner(inputs).values())).cast('float32')
|
||||
return out,
|
||||
return run_policy
|
||||
|
||||
|
||||
def make_run_model(warp, run_policy, model_metadata, frame_copy_size):
|
||||
_, policy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
|
||||
packed_npy_size = (18 + sum(policy_sizes)) * np.dtype(np.float32).itemsize
|
||||
|
||||
def run_model(img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
|
||||
packed_input = packed_npy_inputs.to(Device.DEFAULT)
|
||||
Tensor.realize(packed_input)
|
||||
packed_npy_inputs = packed_input[:packed_npy_size].bitcast('float32')
|
||||
frame = packed_input[packed_npy_size:packed_npy_size + frame_copy_size]
|
||||
big_frame = packed_input[packed_npy_size + frame_copy_size:]
|
||||
tfm, big_tfm, policy_inputs = packed_npy_inputs.split([9, 9, sum(policy_sizes)])
|
||||
warped = warp(tfm.reshape(3, 3), big_tfm.reshape(3, 3), frame, big_frame)
|
||||
return run_policy(warped, img_q, big_img_q, feat_q, desire_q, policy_inputs)
|
||||
return run_model
|
||||
|
||||
|
||||
def compile_jit(jit, input_keys, make_queues, benchmark_runs):
|
||||
if benchmark_runs < 1:
|
||||
raise ValueError("benchmark_runs must be at least 1")
|
||||
|
||||
def compile_jit(jit, make_random_inputs, input_keys, make_queues):
|
||||
SEED = 42
|
||||
def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy, frame_views = make_queues(Device.DEFAULT)
|
||||
def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_queues(Device.DEFAULT)
|
||||
rng = np.random.default_rng(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
testing = test_val is not None or test_buffers is not None
|
||||
n_runs = 1 if testing else 3
|
||||
|
||||
for i in range(n_runs):
|
||||
for v in npy.values():
|
||||
v[:] = rng.standard_normal(v.shape).astype(v.dtype)
|
||||
for v in frame_views.values():
|
||||
v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
|
||||
Device.default.synchronize()
|
||||
random_inputs = make_random_inputs()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**{k: input_queues[k] for k in input_keys})
|
||||
outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
@@ -264,15 +256,14 @@ def compile_jit(jit, input_keys, make_queues, benchmark_runs):
|
||||
return val, buffers
|
||||
|
||||
print('capture + replay')
|
||||
test_val, test_buffers = random_inputs_run(jit, SEED, 3)
|
||||
print(f'pickle round trip ({benchmark_runs} runs per seed)')
|
||||
test_val, test_buffers = random_inputs_run(jit, SEED)
|
||||
print('pickle round trip')
|
||||
with tempfile.TemporaryFile(dir=".") as f:
|
||||
dump_oob(jit, f)
|
||||
f.seek(0)
|
||||
loaded_jit = load_oob(f)
|
||||
random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
|
||||
# Keep the original so per-resolution JITs share model weight buffers in the final pickle.
|
||||
jit = load_oob(f)
|
||||
random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
|
||||
return jit
|
||||
|
||||
|
||||
@@ -301,31 +292,27 @@ if __name__ == "__main__":
|
||||
p.add_argument('--onnx', required=True)
|
||||
p.add_argument('--output', required=True)
|
||||
p.add_argument('--frame-skip', type=int, required=True)
|
||||
p.add_argument('--benchmark-runs', type=int, default=1,
|
||||
help='timed loaded-JIT runs for each correctness seed')
|
||||
args = p.parse_args()
|
||||
|
||||
model_path = read_file_chunked_to_disk(args.onnx)
|
||||
model_w, model_h = args.model_size
|
||||
|
||||
model_runner = OnnxRunner(model_path)
|
||||
out = {
|
||||
'metadata': make_metadata_dict(model_path),
|
||||
'input_devices': {'model': Device.DEFAULT},
|
||||
'run_model': {},
|
||||
}
|
||||
out = {'metadata': make_metadata_dict(model_path)}
|
||||
|
||||
run_policy = make_run_policy(model_runner, out['metadata'], args.frame_skip)
|
||||
run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
|
||||
|
||||
make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
|
||||
make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]), device=WARP_DEV)
|
||||
out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
|
||||
make_policy_queues)
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
frame_copy_size = nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
|
||||
make_model_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip,
|
||||
frame_copy_size=frame_copy_size)
|
||||
warp = make_warp(nv12, model_w, model_h)
|
||||
run_model_jit = TinyJit(make_run_model(warp, run_policy, out['metadata'], frame_copy_size), prune=True)
|
||||
out['run_model'][(cam_w,cam_h)] = compile_jit(run_model_jit, MODELD_INPUTS, make_model_queues,
|
||||
args.benchmark_runs)
|
||||
make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
|
||||
warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
|
||||
make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
|
||||
out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
|
||||
|
||||
with open(args.output, "wb") as f:
|
||||
dump_oob(out, f)
|
||||
|
||||
@@ -64,7 +64,6 @@ def fill_driving_model_data(msg: capnp._DynamicStructBuilder, modelv2_send: capn
|
||||
driving_model_data.frameIdExtra = modelV2.frameIdExtra
|
||||
driving_model_data.frameDropPerc = modelV2.frameDropPerc
|
||||
driving_model_data.modelExecutionTime = modelV2.modelExecutionTime
|
||||
driving_model_data.big = modelV2.big
|
||||
driving_model_data.action = modelV2.action
|
||||
driving_model_data.meta.laneChangeState = modelV2.meta.laneChangeState
|
||||
driving_model_data.meta.laneChangeDirection = modelV2.meta.laneChangeDirection
|
||||
|
||||
@@ -7,12 +7,10 @@ import tempfile
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.common.file_chunker import get_manifest_path
|
||||
from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
|
||||
from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_IDS, USB_DEVICES_PATH
|
||||
|
||||
MODELS_DIR = Path(__file__).resolve().parent / 'models'
|
||||
TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
|
||||
CHESTNUT_POWERED_VOLTAGE = 5000
|
||||
CHESTNUT_PCIE_READY = 0x78
|
||||
|
||||
|
||||
def get_tg_input_devices(process_name: str, chestnut: bool):
|
||||
@@ -52,7 +50,7 @@ def chestnut_present() -> bool:
|
||||
try:
|
||||
usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
|
||||
product = (d / "product").read_text().strip()
|
||||
if is_chestnut_usb_id(*usb_id) and product == CHESTNUT_USB_PRODUCT:
|
||||
if usb_id in CHESTNUT_USB_IDS and product == f"custom {CHESTNUT_FW_VERSION}-CLEAN":
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
@@ -60,7 +58,3 @@ def chestnut_present() -> bool:
|
||||
|
||||
def chestnut_compiled() -> bool:
|
||||
return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
|
||||
|
||||
|
||||
def chestnut_ready(state) -> bool:
|
||||
return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY
|
||||
|
||||
@@ -4,8 +4,8 @@ import ctypes
|
||||
from functools import cached_property
|
||||
import os
|
||||
os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.device import Device
|
||||
import usb1
|
||||
import struct
|
||||
import threading
|
||||
import time
|
||||
@@ -28,17 +28,17 @@ from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, nv12_copy_size, MODELD_INPUTS
|
||||
from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.common.hardware.usb import CHESTNUT_USB_IDS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, chestnut_ready, modeld_pkl_path, load_oob
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
|
||||
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
@@ -83,37 +83,6 @@ class ChestnutState:
|
||||
self.valid = True
|
||||
self.sends = 0
|
||||
self.metrics = {}
|
||||
self._asm_usb = None
|
||||
|
||||
def _close_asm_usb(self) -> None:
|
||||
if self._asm_usb is not None:
|
||||
self._asm_usb.close()
|
||||
self._asm_usb = None
|
||||
|
||||
def _open_asm_usb(self):
|
||||
context = usb1.USBContext()
|
||||
for vendor_id, product_id in CHESTNUT_USB_IDS:
|
||||
if (handle := context.openByVendorIDAndProductID(vendor_id, product_id, skip_on_error=True)) is not None:
|
||||
return handle
|
||||
context.close()
|
||||
|
||||
def _read_ina(self) -> tuple[int, int, bool]:
|
||||
if "AMD" in Device._opened_devices and self._asm_usb is None:
|
||||
try:
|
||||
raw = Device["AMD"].iface.pci_dev.usb.usb.control_read(0xC0, 5)
|
||||
return struct.unpack('<Hh?', bytes(raw))
|
||||
except Exception:
|
||||
pass
|
||||
if self._asm_usb is None:
|
||||
self._asm_usb = self._open_asm_usb()
|
||||
if self._asm_usb is None:
|
||||
raise usb1.USBErrorNoDevice
|
||||
try:
|
||||
raw = self._asm_usb.controlRead(0xC0, 0xC0, 0, 0, 5, timeout=100)
|
||||
except usb1.USBError:
|
||||
self._close_asm_usb()
|
||||
raise
|
||||
return struct.unpack('<Hh?', bytes(raw))
|
||||
|
||||
@cached_property
|
||||
def power_limit(self) -> int:
|
||||
@@ -149,15 +118,13 @@ class ChestnutState:
|
||||
setattr(state, k, v)
|
||||
|
||||
asm_valid = False
|
||||
try:
|
||||
# ASM runs on USB-C power, these still read without a gpu
|
||||
state.supplyVoltage, state.supplyCurrent, state.supplyFault = self._read_ina()
|
||||
asm_valid = True
|
||||
except Exception:
|
||||
pass
|
||||
if "AMD" in Device._opened_devices:
|
||||
try:
|
||||
state.pcieLtssm = Device["AMD"].iface.pci_dev.usb.read(0xB450, 1)[0]
|
||||
# ASM runs on USB-C power, these still read without a gpu
|
||||
asm = Device["AMD"].iface.pci_dev.usb
|
||||
state.pcieLtssm = asm.read(0xB450, 1)[0]
|
||||
state.supplyVoltage, state.supplyCurrent = struct.unpack('<Hh', bytes(asm.usb.control_read(0xC0, 5))[:4])
|
||||
asm_valid = True
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
@@ -180,9 +147,9 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
|
||||
ModelStateBase.__init__(self)
|
||||
input_devices = get_tg_input_devices(PROCESS_NAME, chestnut)
|
||||
self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
|
||||
jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
|
||||
input_devices = jits['input_devices']
|
||||
self.model_device = input_devices['model']
|
||||
metadata = jits['metadata']
|
||||
self.input_shapes = metadata['input_shapes']
|
||||
self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
|
||||
@@ -192,11 +159,13 @@ class ModelState(ModelStateBase):
|
||||
self.chestnut = chestnut
|
||||
|
||||
self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
self.frame_copy_size = nv12_copy_size(*get_nv12_info(cam_w, cam_h)[:3])
|
||||
self.input_queues, self.npy, self.frame_views = make_input_queues(
|
||||
self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
|
||||
self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
|
||||
self.full_frames: dict[str, Tensor] = {}
|
||||
self._blob_cache: dict[tuple[str, int], Tensor] = {}
|
||||
self.parser = Parser()
|
||||
self.run_model = jits['run_model'][(cam_w,cam_h)]
|
||||
self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
|
||||
self.run_policy = jits['run_policy']
|
||||
self.warp = jits[(cam_w,cam_h)]
|
||||
|
||||
def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
|
||||
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
|
||||
@@ -204,8 +173,14 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray]:
|
||||
for key, buf in bufs.items():
|
||||
np.copyto(self.frame_views[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_copy_size))
|
||||
for key in bufs.keys():
|
||||
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
|
||||
yuv_size = self.frame_buf_params[key][3]
|
||||
# There is a ringbuffer of imgs, just cache tensors pointing to all of them
|
||||
cache_key = (key, ptr)
|
||||
if cache_key not in self._blob_cache:
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
|
||||
self.full_frames[key] = self._blob_cache[cache_key]
|
||||
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
@@ -216,7 +191,11 @@ class ModelState(ModelStateBase):
|
||||
self.npy['tfm'][:,:] = transforms['img'][:,:]
|
||||
self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
|
||||
|
||||
outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
|
||||
warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
|
||||
|
||||
outs, = self.run_policy(
|
||||
**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
|
||||
)
|
||||
if after_enqueue is not None:
|
||||
after_enqueue()
|
||||
model_output = outs.numpy()[0]
|
||||
@@ -230,37 +209,25 @@ class ModelState(ModelStateBase):
|
||||
return outputs_dict
|
||||
|
||||
def warmup(self) -> None:
|
||||
dummy_frames = {k: np.zeros(self.frame_copy_size, dtype=np.uint8) for k in self.vision_input_names}
|
||||
dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self.vision_input_names}
|
||||
eye = np.eye(3, dtype=np.float32)
|
||||
dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
|
||||
self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
|
||||
self.input_queues, self.npy, self.frame_views = make_input_queues(
|
||||
self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
|
||||
self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
|
||||
self.prev_desire[:] = 0
|
||||
self.full_frames.clear()
|
||||
self._blob_cache.clear()
|
||||
|
||||
|
||||
def main(demo=False):
|
||||
cloudlog.warning("modeld init")
|
||||
|
||||
chestnut_available = chestnut_present() and chestnut_compiled()
|
||||
CHESTNUT = False
|
||||
if chestnut_available:
|
||||
poller = messaging.Poller()
|
||||
sock = messaging.sub_sock("chestnutState", poller=poller, conflate=True)
|
||||
deadline = time.monotonic() + 4. / SERVICE_LIST['deviceState'].frequency
|
||||
while not CHESTNUT and (remaining := deadline - time.monotonic()) > 0.:
|
||||
if not poller.poll(round(remaining * 1000)):
|
||||
break
|
||||
msg = messaging.recv_one_or_none(sock)
|
||||
CHESTNUT = msg is not None and msg.valid and chestnut_ready(msg.chestnutState)
|
||||
CHESTNUT = chestnut_present() and chestnut_compiled()
|
||||
if CHESTNUT:
|
||||
os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
|
||||
params = Params()
|
||||
params.put_bool("ChestnutLoading", CHESTNUT)
|
||||
if chestnut_available and not CHESTNUT:
|
||||
params.put_bool("ChestnutActive", False)
|
||||
else:
|
||||
params.remove("ChestnutActive")
|
||||
params.remove("ChestnutActive")
|
||||
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
@@ -304,11 +271,7 @@ def main(demo=False):
|
||||
loader.start()
|
||||
loader.join(BIG_MODEL_TIMEOUT)
|
||||
model = big_model
|
||||
if model is None:
|
||||
params.put_bool("ChestnutModelError", True)
|
||||
params.put_bool("ChestnutActive", model is not None)
|
||||
if model is not None:
|
||||
params.remove("ChestnutModelError")
|
||||
|
||||
small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
|
||||
if model is None:
|
||||
@@ -442,7 +405,6 @@ def main(demo=False):
|
||||
raise
|
||||
# fallback to small model
|
||||
cloudlog.exception("big model failed, fall back to small")
|
||||
params.put_bool("ChestnutModelError", True)
|
||||
params.put_bool("ChestnutActive", False)
|
||||
assert small_model is not None
|
||||
model = small_model
|
||||
@@ -469,11 +431,12 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
fill_driving_model_data(drivingdata_send, modelv2_send)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
{"openpilot.selfdrive.modeld.dmonitoringmodeld": {"default": {"DEV": "QCOM"}}}
|
||||
{"openpilot.selfdrive.modeld.modeld": {"default": {"WARP_DEV": "QCOM", "QUEUE_DEV": "QCOM"}, "chestnut": {"WARP_DEV": "QCOM", "QUEUE_DEV": "AMD"}}, "openpilot.selfdrive.modeld.dmonitoringmodeld": {"default": {"DEV": "QCOM"}}}
|
||||
|
||||
Binary file not shown.
@@ -123,22 +123,22 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
|
||||
ps.setUptime(health.uptime_pkt);
|
||||
ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
|
||||
ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
|
||||
ps.setIgnitionLine((health.flags_pkt & HEALTH_FLAG_IGNITION_LINE) != 0U);
|
||||
ps.setIgnitionCan((health.flags_pkt & HEALTH_FLAG_IGNITION_CAN) != 0U);
|
||||
ps.setControlsAllowed((health.flags_pkt & HEALTH_FLAG_CONTROLS_ALLOWED) != 0U);
|
||||
ps.setIgnitionLine(health.ignition_line_pkt);
|
||||
ps.setIgnitionCan(health.ignition_can_pkt);
|
||||
ps.setControlsAllowed(health.controls_allowed_pkt);
|
||||
ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
|
||||
ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
|
||||
ps.setPandaType(hw_type);
|
||||
ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
|
||||
ps.setSafetyParam(health.safety_param_pkt);
|
||||
ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
|
||||
ps.setPowerSaveEnabled((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U);
|
||||
ps.setHeartbeatLost((health.flags_pkt & HEALTH_FLAG_HEARTBEAT_LOST) != 0U);
|
||||
ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
|
||||
ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
|
||||
ps.setAlternativeExperience(health.alternative_experience_pkt);
|
||||
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt);
|
||||
ps.setFanPower(health.fan_power);
|
||||
ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
|
||||
ps.setSpiErrorCount(health.spi_error_count_pkt);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
|
||||
@@ -198,10 +198,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
|
||||
}
|
||||
|
||||
if (spoofing_started) {
|
||||
health.flags_pkt |= HEALTH_FLAG_IGNITION_LINE;
|
||||
health.ignition_line_pkt = 1;
|
||||
}
|
||||
|
||||
bool ignition_local = ((health.flags_pkt & (HEALTH_FLAG_IGNITION_LINE | HEALTH_FLAG_IGNITION_CAN)) != 0U) && !always_offroad;
|
||||
bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
|
||||
|
||||
// Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
|
||||
if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
|
||||
@@ -209,7 +209,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
|
||||
}
|
||||
|
||||
bool power_save_desired = !ignition_local;
|
||||
if (((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U) != power_save_desired) {
|
||||
if (health.power_save_enabled_pkt != power_save_desired) {
|
||||
panda->set_power_saving(power_save_desired);
|
||||
}
|
||||
|
||||
|
||||
@@ -29,12 +29,6 @@ enum SpiError {
|
||||
|
||||
const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
|
||||
const std::string SPI_DEVICE = "/dev/spidev0.0";
|
||||
// TODO: fix SPI turnaround synchronization at the protocol level.
|
||||
static uint64_t spi_last_bus_activity_ns = 0; // protected by hw_lock
|
||||
|
||||
static void wait_for_spi_turnaround(uint64_t start_ns) {
|
||||
while ((nanos_since_boot() - start_ns) < 400000) {}
|
||||
}
|
||||
|
||||
class LockEx {
|
||||
public:
|
||||
@@ -325,8 +319,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
assert(tx_len < SPI_BUF_SIZE);
|
||||
assert(max_rx_len < SPI_BUF_SIZE);
|
||||
|
||||
wait_for_spi_turnaround(spi_last_bus_activity_ns);
|
||||
|
||||
xfer_count++;
|
||||
header = {
|
||||
.sync = SPI_SYNC,
|
||||
@@ -355,7 +347,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
if (ret < 0) {
|
||||
goto fail;
|
||||
}
|
||||
wait_for_spi_turnaround(nanos_since_boot());
|
||||
|
||||
// Send data
|
||||
if (tx_data != NULL) {
|
||||
@@ -398,7 +389,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
memcpy(rx_data, rx_buf + 3, rx_data_len);
|
||||
}
|
||||
|
||||
spi_last_bus_activity_ns = nanos_since_boot();
|
||||
return rx_data_len;
|
||||
|
||||
fail:
|
||||
@@ -413,7 +403,6 @@ fail:
|
||||
}
|
||||
}
|
||||
|
||||
spi_last_bus_activity_ns = nanos_since_boot();
|
||||
if (ret >= 0) ret = -1;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -19,30 +19,6 @@
|
||||
},
|
||||
"Offroad_ChestnutBranch": {
|
||||
"text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
|
||||
"severity": -1
|
||||
},
|
||||
"Offroad_ChestnutNotDetected": {
|
||||
"text": "Chestnut not detected. Check USB and 12V connections.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutOverheated": {
|
||||
"text": "Chestnut overheated. Ensure good airflow. Current GPU temperature is %1.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutPcieUnavailable": {
|
||||
"text": "%1",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUncompiled": {
|
||||
"text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUpdateFailed": {
|
||||
"text": "Chestnut update failed. Check the USB cable.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUsbSlow": {
|
||||
"text": "Chestnut USB link is slow. Check the USB cable. The current speed is %1.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_UnregisteredHardware": {
|
||||
|
||||
@@ -198,7 +198,6 @@ class SelfdriveD(CruiseHelper):
|
||||
loading = self.params.get_bool("ChestnutLoading")
|
||||
if self.big_model_loading and not loading:
|
||||
self.big_model_ready_t = time.monotonic()
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.bigModelReady)
|
||||
self.big_model_loading = loading
|
||||
if self.big_model_loading:
|
||||
self.events.add(EventName.bigModelLoading)
|
||||
|
||||
@@ -11,6 +11,15 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPl
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
|
||||
|
||||
class PlannerSM(dict):
|
||||
def __init__(self, radar_frame: int, services: dict):
|
||||
super().__init__(services)
|
||||
self.frame = radar_frame
|
||||
self.logMonoTime = {"radarState": radar_frame}
|
||||
self.valid = {"radarState": True}
|
||||
self.alive = {"radarState": True}
|
||||
|
||||
|
||||
class Plant:
|
||||
messaging_initialized = False
|
||||
|
||||
@@ -132,7 +141,7 @@ class Plant:
|
||||
car_control.carControl.orientationNED = [0., float(pitch), 0.]
|
||||
|
||||
# ******** get controlsState messages for plotting ***
|
||||
sm = {'radarState': radar.radarState,
|
||||
sm = PlannerSM(self.rk.frame, {'radarState': radar.radarState,
|
||||
'carState': car_state.carState,
|
||||
'carControl': car_control.carControl,
|
||||
'controlsState': control.controlsState,
|
||||
@@ -141,7 +150,7 @@ class Plant:
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation}
|
||||
'gpsLocation': gps_data.gpsLocation})
|
||||
self.planner.update(sm)
|
||||
self.acceleration = self.planner.output_a_target
|
||||
if self.planner.output_should_stop:
|
||||
|
||||
@@ -152,7 +152,7 @@ def migrate_drivingModelData(msgs):
|
||||
add_ops = []
|
||||
for _, msg in msgs:
|
||||
dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
|
||||
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "big", "action"]:
|
||||
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
|
||||
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
|
||||
for meta_field in ["laneChangeState", "laneChangeState"]:
|
||||
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
|
||||
|
||||
@@ -33,9 +33,9 @@ MODEL_REPLAY_BUCKET="model_replay_master"
|
||||
GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
|
||||
|
||||
EXEC_TIMINGS = [
|
||||
# model, instant max, average max, chestnut average max
|
||||
("modelV2", 0.05, 0.03, 0.05),
|
||||
("driverStateV2", 0.05, 0.018, 0.018),
|
||||
# model, instant max, average max
|
||||
("modelV2", 0.05, 0.028),
|
||||
("driverStateV2", 0.05, 0.018),
|
||||
]
|
||||
|
||||
def get_log_fn(test_route, ref="master"):
|
||||
@@ -169,13 +169,11 @@ def model_replay(lr, frs):
|
||||
dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
|
||||
|
||||
msgs = modeld_msgs + dmonitoringmodeld_msgs
|
||||
chestnut = any(m.modelV2.big for m in modeld_msgs if m.which() == "modelV2")
|
||||
|
||||
header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
|
||||
rows = []
|
||||
timings_ok = True
|
||||
for (s, instant_max, avg_max, chestnut_avg_max) in EXEC_TIMINGS:
|
||||
avg_max = chestnut_avg_max if chestnut else avg_max
|
||||
for (s, instant_max, avg_max) in EXEC_TIMINGS:
|
||||
ts = [getattr(m, s).modelExecutionTime for m in msgs if m.which() == s]
|
||||
# TODO some init can happen in first iteration
|
||||
ts = ts[1:]
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import time
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
@@ -26,8 +26,8 @@ class BodyLayout(Widget):
|
||||
self._last_input_time = time.monotonic()
|
||||
self._was_active = False
|
||||
self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
|
||||
spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButto
|
||||
from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
|
||||
from openpilot.selfdrive.ui.widgets.setup import SetupWidget
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.multilang import tr, trn
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -178,7 +178,7 @@ class HomeLayout(Widget):
|
||||
|
||||
version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
|
||||
version_text_width, self.header_rect.height)
|
||||
gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=TextAlignment.RIGHT)
|
||||
gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
|
||||
def _render_home_content(self):
|
||||
self._render_left_column()
|
||||
|
||||
@@ -5,7 +5,7 @@ from enum import IntEnum
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.system.ui.lib.application import FontWeight, TextAlignment, gui_app
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import Button, ButtonStyle
|
||||
@@ -115,9 +115,9 @@ class TermsPage(Widget):
|
||||
self._on_accept = on_accept
|
||||
self._on_decline = on_decline
|
||||
|
||||
self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.LEFT)
|
||||
self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
|
||||
self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
|
||||
|
||||
self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
|
||||
self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
|
||||
@@ -150,7 +150,7 @@ class DeclinePage(Widget):
|
||||
def __init__(self, back_callback=None):
|
||||
super().__init__()
|
||||
self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
|
||||
font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
|
||||
self._back_btn = Button(tr("Back"), click_callback=back_callback)
|
||||
self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
|
||||
click_callback=self._on_uninstall_clicked)
|
||||
|
||||
@@ -199,9 +199,6 @@ class SoftwareLayout(Widget):
|
||||
selection = self._branch_dialog.selection
|
||||
ui_state.params.put("UpdaterTargetBranch", selection, block=True)
|
||||
self._branch_btn.action_item.set_value(selection)
|
||||
self._download_btn.action_item.set_enabled(False)
|
||||
self._waiting_for_updater = True
|
||||
self._waiting_start_ts = time.monotonic()
|
||||
subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
|
||||
self._branch_dialog = None
|
||||
|
||||
|
||||
@@ -27,6 +27,12 @@ DESCRIPTIONS = {
|
||||
"In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
|
||||
"your steering wheel distance button."
|
||||
),
|
||||
"AccelPersonalityEnabled": tr_noop(
|
||||
"Lets you choose how sunnypilot starts, catches up, and settles at the cruise speed. Emergency braking and stopping are unchanged."
|
||||
),
|
||||
"AccelPersonality": tr_noop(
|
||||
"Eco is gentlest, Normal balances a prompt start with smooth catch-up, and Sport is more responsive."
|
||||
),
|
||||
"IsLdwEnabled": tr_noop(
|
||||
"Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
|
||||
"without a turn signal activated while driving over 31 mph (50 km/h)."
|
||||
@@ -106,6 +112,24 @@ class TogglesLayout(Widget):
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._accel_controller_enabled = toggle_item(
|
||||
lambda: tr("Enable Accel Controller"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
|
||||
self._params.get_bool("AccelPersonalityEnabled"),
|
||||
callback=self._set_accel_controller_enabled,
|
||||
icon="speed_limit.png",
|
||||
)
|
||||
|
||||
self._accel_personality_setting = multiple_button_item(
|
||||
lambda: tr("Acceleration Profile"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonality"]),
|
||||
buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
|
||||
button_width=300,
|
||||
callback=self._set_accel_personality,
|
||||
selected_index=self._params.get("AccelPersonality", return_default=True),
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._toggles = {}
|
||||
self._locked_toggles = set()
|
||||
for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
|
||||
@@ -135,9 +159,11 @@ class TogglesLayout(Widget):
|
||||
|
||||
self._toggles[param] = toggle
|
||||
|
||||
# insert longitudinal personality after NDOG toggle
|
||||
# insert longitudinal personality and Accel Controller settings after NDOG toggle
|
||||
if param == "DisengageOnAccelerator":
|
||||
self._toggles["LongitudinalPersonality"] = self._long_personality_setting
|
||||
self._toggles["AccelPersonalityEnabled"] = self._accel_controller_enabled
|
||||
self._toggles["AccelPersonality"] = self._accel_personality_setting
|
||||
|
||||
self._update_experimental_mode_icon()
|
||||
self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
|
||||
@@ -158,6 +184,7 @@ class TogglesLayout(Widget):
|
||||
|
||||
def _update_toggles(self):
|
||||
ui_state.update_params()
|
||||
accel_controller_enabled = self._params.get_bool("AccelPersonalityEnabled")
|
||||
|
||||
e2e_description = tr(
|
||||
"sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
|
||||
@@ -176,11 +203,15 @@ class TogglesLayout(Widget):
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(True)
|
||||
self._toggles["ExperimentalMode"].set_description(e2e_description)
|
||||
self._long_personality_setting.action_item.set_enabled(True)
|
||||
self._accel_controller_enabled.action_item.set_enabled(True)
|
||||
self._accel_personality_setting.action_item.set_enabled(True)
|
||||
else:
|
||||
# no long for now
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(False)
|
||||
self._toggles["ExperimentalMode"].action_item.set_state(False)
|
||||
self._long_personality_setting.action_item.set_enabled(False)
|
||||
self._accel_controller_enabled.action_item.set_enabled(False)
|
||||
self._accel_personality_setting.action_item.set_enabled(False)
|
||||
self._params.remove("ExperimentalMode")
|
||||
|
||||
unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
|
||||
@@ -203,6 +234,8 @@ class TogglesLayout(Widget):
|
||||
# refresh toggles from params to mirror external changes
|
||||
for param in self._toggle_defs:
|
||||
self._toggles[param].action_item.set_state(self._params.get_bool(param))
|
||||
self._accel_controller_enabled.action_item.set_state(accel_controller_enabled)
|
||||
self._accel_personality_setting.action_item.set_selected_button(self._params.get("AccelPersonality", return_default=True))
|
||||
|
||||
# these toggles need restart, block while engaged
|
||||
for toggle_def in self._toggle_defs:
|
||||
@@ -247,3 +280,9 @@ class TogglesLayout(Widget):
|
||||
|
||||
def _set_longitudinal_personality(self, button_index: int):
|
||||
self._params.put("LongitudinalPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_personality(self, button_index: int):
|
||||
self._params.put("AccelPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_controller_enabled(self, state: bool):
|
||||
self._params.put_bool("AccelPersonalityEnabled", state, block=True)
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
import datetime
|
||||
import math
|
||||
import time
|
||||
|
||||
from openpilot.cereal import log
|
||||
@@ -9,7 +8,7 @@ from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.layouts import HBoxLayout
|
||||
from openpilot.system.ui.widgets.icon_widget import IconWidget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
|
||||
from openpilot.common.version import RELEASE_BRANCHES
|
||||
|
||||
@@ -70,8 +69,8 @@ class AlertsPill(Widget):
|
||||
|
||||
count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
|
||||
gui_label(count_rect, str(alert_count), font_size=36,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
|
||||
class NetworkIcon(Widget):
|
||||
@@ -140,9 +139,7 @@ class MiciHomeLayout(Widget):
|
||||
self._version_text = self._get_version_text()
|
||||
|
||||
self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
|
||||
self._usb_icon = IconWidget("icons_mici/usb.png", (62, 40))
|
||||
self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (68, 40))
|
||||
self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
|
||||
self._chestnut_failed_icon = IconWidget("icons_mici/chestnut_orange.png", (68, 40))
|
||||
self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
|
||||
self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
|
||||
@@ -153,15 +150,13 @@ class MiciHomeLayout(Widget):
|
||||
IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
|
||||
NetworkIcon(),
|
||||
self._experimental_icon,
|
||||
self._usb_icon,
|
||||
self._chestnut_icon,
|
||||
self._chestnut_loading_icon,
|
||||
self._chestnut_failed_icon,
|
||||
self._body_icon,
|
||||
self._mic_icon,
|
||||
], spacing=18)
|
||||
|
||||
self._openpilot_label = UnifiedLabel("openpilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
|
||||
self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
|
||||
self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
|
||||
self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
|
||||
self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
|
||||
@@ -252,20 +247,12 @@ class MiciHomeLayout(Widget):
|
||||
self._version_commit_label.render()
|
||||
|
||||
# ***** Center-aligned bottom section icons *****
|
||||
usb_connected = ui_state.usb_connected
|
||||
usb_unknown = ui_state.usb_unknown
|
||||
chestnut_state = ui_state.chestnut_state
|
||||
self._experimental_icon.set_visible(ui_state.experimental_mode)
|
||||
if gui_app.sunnypilot_ui():
|
||||
self._set_chestnut_visibility()
|
||||
else:
|
||||
self._usb_icon.set_visible(usb_connected and usb_unknown)
|
||||
self._chestnut_icon.set_visible(not usb_unknown and chestnut_state not in
|
||||
(ChestnutState.LOADING, ChestnutState.UNCOMPILED, ChestnutState.FAILED) and
|
||||
(usb_connected or chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE)))
|
||||
self._chestnut_loading_icon.set_visible(not usb_unknown and chestnut_state == ChestnutState.LOADING)
|
||||
self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
|
||||
self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
|
||||
self._chestnut_icon.set_visible(ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.LOADING, ChestnutState.ACTIVE))
|
||||
self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
|
||||
self._mic_icon.set_visible(ui_state.recording_audio)
|
||||
self._body_icon.set_visible(bool(ui_state.is_body))
|
||||
|
||||
|
||||
@@ -14,6 +14,7 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView
|
||||
|
||||
ONROAD_DELAY = 2.5 # seconds
|
||||
|
||||
@@ -72,6 +73,9 @@ class MiciMainLayout(Scroller):
|
||||
# For scroll_to
|
||||
return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
|
||||
|
||||
def _should_auto_scroll_to_onroad(self) -> bool:
|
||||
return True
|
||||
|
||||
def _setup_callbacks(self):
|
||||
self._home_layout.set_callbacks(
|
||||
on_settings=lambda: gui_app.push_widget(self._settings_layout),
|
||||
@@ -122,13 +126,15 @@ class MiciMainLayout(Scroller):
|
||||
|
||||
# FIXME: these two pops can interrupt user interacting in the settings
|
||||
if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
self._onroad_time_delay = None
|
||||
|
||||
# When car leaves standstill, pop nav stack and scroll to onroad
|
||||
CS = ui_state.sm["carState"]
|
||||
if not CS.standstill and self._prev_standstill:
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
self._prev_standstill = CS.standstill
|
||||
|
||||
def _on_interactive_timeout(self):
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.common.hardware import HARDWARE
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
|
||||
REFRESH_INTERVAL = 5.0 # seconds
|
||||
@@ -62,12 +62,12 @@ class AlertItem(Widget):
|
||||
self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", self.ICON_SIZE, self.ICON_SIZE)
|
||||
|
||||
self._title_label = UnifiedLabel(text="", font_size=32, font_weight=FontWeight.SEMI_BOLD, text_color=self.TEXT_COLOR,
|
||||
alignment=TextAlignment.LEFT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP, line_height=0.95)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, line_height=0.95)
|
||||
|
||||
self._body_label = UnifiedLabel(text="", font_size=28, font_weight=FontWeight.ROMAN, text_color=self.TEXT_COLOR,
|
||||
alignment=TextAlignment.LEFT,
|
||||
alignment_vertical=TextAlignmentVertical.BOTTOM, line_height=0.95)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.95)
|
||||
|
||||
self._title_text = ""
|
||||
self._body_text = ""
|
||||
@@ -200,8 +200,8 @@ class MiciOffroadAlerts(Scroller):
|
||||
|
||||
# Create empty state label
|
||||
self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
# Build initial alert list
|
||||
self._build_alerts()
|
||||
|
||||
@@ -4,7 +4,7 @@ import pyray as rl
|
||||
from collections.abc import Callable
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.qrcode import make_texture
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, TextAlignment
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import SmallCircleIconButton
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
|
||||
@@ -35,7 +35,7 @@ class DriverCameraSetupDialog(BaseCabinCameraDialog):
|
||||
|
||||
if not self._camera_view.frame:
|
||||
gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
|
||||
alignment=TextAlignment.CENTER)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
|
||||
rl.end_scissor_mode()
|
||||
return
|
||||
|
||||
|
||||
@@ -74,10 +74,6 @@ class SoftwareInfoLayoutMici(Widget):
|
||||
|
||||
|
||||
class CheckUpdateButton(BigButton):
|
||||
UPDATER_PROC = "openpilot.system.updated.updated"
|
||||
CHECK_FOR_UPDATE = "SIGUSR1"
|
||||
DOWNLOAD_UPDATE = "SIGHUP"
|
||||
|
||||
def __init__(self):
|
||||
self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
|
||||
self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
|
||||
@@ -101,20 +97,15 @@ class CheckUpdateButton(BigButton):
|
||||
gui_app.push_widget(dlg)
|
||||
return
|
||||
|
||||
self._signal_updater(self.DOWNLOAD_UPDATE if self.get_value() == "download update" else self.CHECK_FOR_UPDATE)
|
||||
|
||||
def check_for_update(self):
|
||||
self._signal_updater(self.CHECK_FOR_UPDATE)
|
||||
|
||||
def _signal_updater(self, sig: str):
|
||||
self.set_enabled(False)
|
||||
self._state = UpdaterState.WAITING_FOR_UPDATER
|
||||
self._hide_value_t = None
|
||||
self.set_value("")
|
||||
self.set_icon(self._txt_update_icon)
|
||||
|
||||
def run():
|
||||
subprocess.run(f"pkill -{sig} -f {self.UPDATER_PROC}", shell=True)
|
||||
if self.get_value() == "download update":
|
||||
subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
|
||||
else:
|
||||
subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
|
||||
|
||||
threading.Thread(target=run, daemon=True).start()
|
||||
|
||||
@@ -193,7 +184,7 @@ class CheckUpdateButton(BigButton):
|
||||
|
||||
class InstallUpdateButton(BigButton):
|
||||
def __init__(self):
|
||||
super().__init__("install now", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
|
||||
super().__init__("install update", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
|
||||
self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable"))
|
||||
|
||||
def _update_state(self):
|
||||
@@ -241,9 +232,8 @@ class BranchSelectPage(NavScroller):
|
||||
|
||||
|
||||
class TargetBranchButton(BigButton):
|
||||
def __init__(self, check_update_btn: CheckUpdateButton):
|
||||
def __init__(self):
|
||||
super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "")
|
||||
self._check_update_btn = check_update_btn
|
||||
self.set_click_callback(self._on_click)
|
||||
self.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
|
||||
self.set_enabled(lambda: ui_state.is_offroad())
|
||||
@@ -256,15 +246,12 @@ class TargetBranchButton(BigButton):
|
||||
self.set_value(target)
|
||||
|
||||
def _on_click(self):
|
||||
if not ui_state.params.get("UpdaterAvailableBranches"):
|
||||
gui_app.push_widget(BigDialog("", tr("Failed to get available branches. Ensure you're connected to the internet and try again.")))
|
||||
return
|
||||
gui_app.push_widget(BranchSelectPage(self._on_select))
|
||||
|
||||
def _on_select(self, branch: str):
|
||||
ui_state.params.put("UpdaterTargetBranch", branch, block=True)
|
||||
self.set_value(branch)
|
||||
self._check_update_btn.check_for_update()
|
||||
subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
|
||||
|
||||
|
||||
class SoftwareLayoutMici(NavScroller):
|
||||
@@ -278,11 +265,10 @@ class SoftwareLayoutMici(NavScroller):
|
||||
gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
|
||||
uninstall_openpilot_callback, exit_on_confirm=False)
|
||||
|
||||
check_update_btn = CheckUpdateButton()
|
||||
self._scroller.add_widgets([
|
||||
SoftwareInfoLayoutMici(),
|
||||
check_update_btn,
|
||||
CheckUpdateButton(),
|
||||
InstallUpdateButton(),
|
||||
TargetBranchButton(check_update_btn),
|
||||
TargetBranchButton(),
|
||||
uninstall_openpilot_btn,
|
||||
])
|
||||
|
||||
@@ -42,6 +42,8 @@ class TogglesLayoutMici(NavScroller):
|
||||
super().__init__()
|
||||
|
||||
self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
|
||||
self._accel_controller_enabled = BigParamControl("enable accel controller", "AccelPersonalityEnabled")
|
||||
self._accel_personality_toggle = BigMultiParamToggle("acceleration profile", "AccelPersonality", ["eco", "normal", "sport"])
|
||||
self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
|
||||
toggle_callback=self._on_experimental_mode)
|
||||
is_metric_toggle = BigParamControl("use metric units", "IsMetric")
|
||||
@@ -53,6 +55,8 @@ class TogglesLayoutMici(NavScroller):
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self._personality_toggle,
|
||||
self._accel_controller_enabled,
|
||||
self._accel_personality_toggle,
|
||||
self._experimental_btn,
|
||||
is_metric_toggle,
|
||||
ldw_toggle,
|
||||
@@ -65,6 +69,7 @@ class TogglesLayoutMici(NavScroller):
|
||||
# Toggle lists
|
||||
self._refresh_toggles = (
|
||||
("ExperimentalMode", self._experimental_btn),
|
||||
("AccelPersonalityEnabled", self._accel_controller_enabled),
|
||||
("IsMetric", is_metric_toggle),
|
||||
("IsLdwEnabled", ldw_toggle),
|
||||
("AlwaysOnDM", always_on_dm_toggle),
|
||||
@@ -104,17 +109,23 @@ class TogglesLayoutMici(NavScroller):
|
||||
if ui_state.has_longitudinal_control:
|
||||
self._experimental_btn.set_visible(True)
|
||||
self._personality_toggle.set_visible(True)
|
||||
self._accel_controller_enabled.set_visible(True)
|
||||
self._accel_personality_toggle.set_visible(True)
|
||||
else:
|
||||
# no long for now
|
||||
self._experimental_btn.set_visible(False)
|
||||
self._experimental_btn.set_checked(False)
|
||||
self._personality_toggle.set_visible(False)
|
||||
self._accel_controller_enabled.set_visible(False)
|
||||
self._accel_personality_toggle.set_visible(False)
|
||||
ui_state.params.remove("ExperimentalMode")
|
||||
|
||||
# Refresh toggles from params to mirror external changes
|
||||
for key, item in self._refresh_toggles:
|
||||
item.set_checked(ui_state.params.get_bool(key))
|
||||
|
||||
self._accel_personality_toggle.refresh()
|
||||
|
||||
def _on_experimental_mode(self, state: bool):
|
||||
if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
|
||||
# Don't show enabled state until confirm
|
||||
|
||||
@@ -10,7 +10,7 @@ from opendbc.car.structs import car
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
@@ -333,7 +333,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self._alert_text1_label.set_text(alert_text1)
|
||||
self._alert_text1_label.set_text_color(color)
|
||||
self._alert_text1_label.set_font_size(font_size)
|
||||
self._alert_text1_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
|
||||
self._alert_text1_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
self._alert_text1_label.render(text_rect1)
|
||||
|
||||
alert_text2 = alert.text2.lower()
|
||||
@@ -365,5 +365,5 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
self._alert_text2_label.set_text(alert_text2)
|
||||
self._alert_text2_label.set_text_color(color)
|
||||
self._alert_text2_label.set_font_size(small_font_size)
|
||||
self._alert_text2_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
|
||||
self._alert_text2_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
self._alert_text2_label.render(text_rect2)
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
|
||||
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.common.filter_simple import BounceFilter
|
||||
@@ -158,8 +158,8 @@ class AugmentedRoadView(CameraView):
|
||||
self._confidence_ball = ConfidenceBall()
|
||||
self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
|
||||
text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.MIDDLE)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
|
||||
from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.nav_widget import NavWidget
|
||||
@@ -76,7 +76,7 @@ class BaseCabinCameraDialog(Widget):
|
||||
|
||||
if not self._camera_view.frame:
|
||||
gui_label(rect, tr("camera starting"), font_size=54, font_weight=FontWeight.BOLD,
|
||||
alignment=TextAlignment.CENTER)
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
|
||||
rl.end_scissor_mode()
|
||||
self._publish_alert_sound(None)
|
||||
return
|
||||
@@ -124,12 +124,12 @@ class BaseCabinCameraDialog(Widget):
|
||||
awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
|
||||
gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
|
||||
f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
alignment=TextAlignment.RIGHT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
color=rl.Color(0, 0, 0, 180))
|
||||
gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
|
||||
alignment=TextAlignment.RIGHT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
|
||||
if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
|
||||
@@ -137,16 +137,16 @@ class BaseCabinCameraDialog(Widget):
|
||||
|
||||
# Show alert level
|
||||
alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
|
||||
alignment = TextAlignment.RIGHT if self.driver_state_renderer.is_rhd else TextAlignment.LEFT
|
||||
alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
|
||||
|
||||
shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
|
||||
gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
alignment=alignment,
|
||||
alignment_vertical=TextAlignmentVertical.BOTTOM,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
|
||||
color=rl.Color(0, 0, 0, 180))
|
||||
gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
alignment=alignment,
|
||||
alignment_vertical=TextAlignmentVertical.BOTTOM,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
|
||||
def _load_eye_textures(self):
|
||||
|
||||
@@ -154,8 +154,8 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
self._draw_lane_lines()
|
||||
self._draw_path(sm)
|
||||
|
||||
# if render_lead_indicator and radar_state:
|
||||
# self._draw_lead_indicator()
|
||||
if render_lead_indicator and radar_state:
|
||||
self._draw_lead_indicator()
|
||||
|
||||
def _update_raw_points(self, model):
|
||||
"""Update raw 3D points from model data"""
|
||||
|
||||
@@ -6,7 +6,7 @@ from collections.abc import Callable
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import DO_ZOOM
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.common.filter_simple import BounceFilter
|
||||
|
||||
if TYPE_CHECKING:
|
||||
@@ -125,10 +125,10 @@ class BigButton(Widget):
|
||||
self._rotate_icon_t: float | None = None
|
||||
|
||||
self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
|
||||
text_color=LABEL_COLOR, alignment_vertical=TextAlignmentVertical.BOTTOM, scroll=scroll,
|
||||
text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
|
||||
line_height=0.9)
|
||||
self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
|
||||
text_color=COMPLICATION_GREY, alignment_vertical=TextAlignmentVertical.BOTTOM)
|
||||
text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
|
||||
self._update_label_layout()
|
||||
|
||||
self._load_images()
|
||||
@@ -167,9 +167,9 @@ class BigButton(Widget):
|
||||
def _update_label_layout(self):
|
||||
self._label.set_font_size(self._get_label_font_size())
|
||||
if self.value:
|
||||
self._label.set_alignment_vertical(TextAlignmentVertical.TOP)
|
||||
self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
else:
|
||||
self._label.set_alignment_vertical(TextAlignmentVertical.BOTTOM)
|
||||
self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
|
||||
|
||||
def set_text(self, text: str):
|
||||
self.text = text
|
||||
@@ -356,8 +356,8 @@ class GreyBigButton(BigButton):
|
||||
self._sub_label.set_font_size(36)
|
||||
self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
|
||||
self._sub_label.set_alignment_vertical(TextAlignmentVertical.MIDDLE if not self._label.text else
|
||||
TextAlignmentVertical.BOTTOM)
|
||||
self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
|
||||
rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
|
||||
self._sub_label.set_line_height(0.95)
|
||||
|
||||
@property
|
||||
@@ -383,13 +383,18 @@ class BigMultiParamToggle(BigMultiToggle):
|
||||
self._load_value()
|
||||
|
||||
def _load_value(self):
|
||||
self.set_value(self._options[self._params.get(self._param) or 0])
|
||||
value = self._params.get(self._param, return_default=True)
|
||||
index = value if isinstance(value, int) else 0
|
||||
self.set_value(self._options[max(0, min(index, len(self._options) - 1))])
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
new_idx = self._options.index(self.value)
|
||||
self._params.put(self._param, new_idx)
|
||||
|
||||
def refresh(self):
|
||||
self._load_value()
|
||||
|
||||
|
||||
class BigParamControl(BigToggle):
|
||||
def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
|
||||
|
||||
@@ -4,7 +4,7 @@ from dataclasses import dataclass
|
||||
from openpilot.cereal import messaging, log
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -76,10 +76,10 @@ class AlertRenderer(Widget):
|
||||
self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
|
||||
# font size is set dynamically
|
||||
self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.CENTER,
|
||||
text_alignment_vertical=TextAlignmentVertical.TOP)
|
||||
self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=TextAlignment.CENTER,
|
||||
text_alignment_vertical=TextAlignmentVertical.TOP)
|
||||
self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
|
||||
def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
|
||||
"""Generate the current alert based on selfdrive state."""
|
||||
|
||||
@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.onroad.cameraview import CameraView
|
||||
from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
|
||||
@@ -38,7 +38,7 @@ class CabinCameraDialog(CameraView):
|
||||
tr("camera starting"),
|
||||
font_size=100,
|
||||
font_weight=FontWeight.BOLD,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
)
|
||||
return -1
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.multilang import tr, trn
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
@@ -59,7 +59,7 @@ class HomeLayoutSP(HomeLayout):
|
||||
desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
|
||||
desc_width = desc_size.x
|
||||
desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
|
||||
gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=TextAlignment.RIGHT)
|
||||
gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
|
||||
brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
|
||||
spacing = BRAND_DESC_SPACING if description else 0
|
||||
|
||||
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import FontWeight, TextAlignment
|
||||
from openpilot.system.ui.lib.application import FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import Button, ButtonStyle
|
||||
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
|
||||
self._done_callback = done_callback
|
||||
self._step = 0
|
||||
|
||||
self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=TextAlignment.LEFT))
|
||||
self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
|
||||
|
||||
self._content = [
|
||||
{
|
||||
@@ -43,7 +43,7 @@ class SunnylinkConsentPage(Widget):
|
||||
self._primary_btn = self._child(Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")))
|
||||
self._secondary_btn = self._child(Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")))
|
||||
self._danger_btn = self._child(Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")))
|
||||
self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT))
|
||||
self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
|
||||
|
||||
def _handle_choice(self, choice):
|
||||
if choice == "enable":
|
||||
|
||||
@@ -143,7 +143,8 @@ class CruiseLayout(Widget):
|
||||
self.icbm_toggle.show_description(True)
|
||||
|
||||
if has_long or has_icbm:
|
||||
self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
|
||||
software_cruise_speed = has_long and (not ui_state.CP.pcmCruise or not ui_state.CP_SP.pcmCruiseSpeed)
|
||||
self.custom_acc_toggle.action_item.set_enabled((software_cruise_speed or has_icbm) and ui_state.is_offroad())
|
||||
self.dec_toggle.action_item.set_enabled(has_long)
|
||||
self.scc_v_toggle.action_item.set_enabled(True)
|
||||
self.scc_m_toggle.action_item.set_enabled(True)
|
||||
@@ -169,7 +170,7 @@ class CruiseLayout(Widget):
|
||||
show_custom_acc_desc = True
|
||||
else:
|
||||
if has_long or has_icbm:
|
||||
if has_long and ui_state.CP.pcmCruise:
|
||||
if has_long and ui_state.CP.pcmCruise and ui_state.CP_SP.pcmCruiseSpeed:
|
||||
new_custom_acc_desc = tr(ACC_PCMCRUISE_DISABLED_DESCRIPTION)
|
||||
show_custom_acc_desc = True
|
||||
else:
|
||||
|
||||
@@ -9,7 +9,7 @@ from openpilot.cereal import custom
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
@@ -32,8 +32,8 @@ class SunnylinkHeader(Widget):
|
||||
font_size=90,
|
||||
font_weight=FontWeight.AUDIOWIDE,
|
||||
text_color=rl.WHITE,
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=False,
|
||||
elide=False
|
||||
)
|
||||
@@ -43,8 +43,8 @@ class SunnylinkHeader(Widget):
|
||||
font_size=40,
|
||||
font_weight=FontWeight.NORMAL,
|
||||
text_color=rl.Color(0, 255, 0, 255), # Green
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=True,
|
||||
elide=False
|
||||
)
|
||||
@@ -55,8 +55,8 @@ class SunnylinkHeader(Widget):
|
||||
font_size=35,
|
||||
font_weight=FontWeight.NORMAL,
|
||||
text_color=rl.Color(255, 165, 0, 255), # Orange
|
||||
alignment=TextAlignment.CENTER,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=True,
|
||||
elide=False
|
||||
)
|
||||
@@ -109,8 +109,8 @@ class SunnylinkDescriptionItem(Widget):
|
||||
font_size=40,
|
||||
font_weight=FontWeight.NORMAL,
|
||||
text_color=rl.WHITE,
|
||||
alignment=TextAlignment.LEFT,
|
||||
alignment_vertical=TextAlignmentVertical.TOP,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=True,
|
||||
elide=False,
|
||||
)
|
||||
|
||||
@@ -23,7 +23,7 @@ DESCRIPTIONS = {
|
||||
'stop_and_go_hack': tr_noop(
|
||||
'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
|
||||
'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
|
||||
)
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -11,6 +11,7 @@ import pyray as rl
|
||||
from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
|
||||
from openpilot.system.ui.lib.application import FontWeight
|
||||
from openpilot.system.ui.widgets.icon_widget import IconWidget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
|
||||
@@ -18,16 +19,16 @@ class MiciHomeLayoutSP(MiciHomeLayout):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
|
||||
self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
|
||||
self._chestnut_loading_icon.set_visible(False)
|
||||
failed_idx = self._status_bar_layout.widgets.index(self._chestnut_failed_icon)
|
||||
self._status_bar_layout.widgets.insert(failed_idx + 1, self._chestnut_loading_icon)
|
||||
|
||||
def _set_chestnut_visibility(self):
|
||||
usb_connected = ui_state.usb_connected
|
||||
usb_unknown = ui_state.usb_unknown
|
||||
chestnut_state = ui_state.chestnut_state
|
||||
loading = chestnut_state == ChestnutState.LOADING
|
||||
|
||||
self._usb_icon.set_visible(usb_connected and usb_unknown)
|
||||
self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
|
||||
self._chestnut_loading_icon.set_visible(not usb_unknown and loading)
|
||||
self._chestnut_icon.set_visible(not usb_unknown and not loading and
|
||||
chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
|
||||
self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
|
||||
# stock has no loading tier: it shows green from the moment a big model is available. keep the
|
||||
# pulse so the status bar and the onroad HUD agree on what loading looks like.
|
||||
loading = ui_state.chestnut_state == ChestnutState.LOADING
|
||||
self._chestnut_loading_icon._opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
|
||||
self._chestnut_loading_icon.set_visible(loading)
|
||||
self._chestnut_icon.set_visible(not loading and ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
|
||||
self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class MiciMainLayoutSP(MiciMainLayout):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
scroller = self._scroller
|
||||
scroller.scroll_panel = GuiScrollPanel2SP(scroller._horizontal, handle_out_of_bounds=not scroller._snap_items)
|
||||
|
||||
def _should_auto_scroll_to_onroad(self) -> bool:
|
||||
return not self._onroad_layout.is_on_info_panel()
|
||||
@@ -0,0 +1,64 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from collections.abc import Callable
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
|
||||
|
||||
CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
|
||||
HORIZONTAL_SETTLE_PX = 5
|
||||
HORIZONTAL_RESET_RATIO = 0.5
|
||||
|
||||
|
||||
class OnroadViewContainerSP(ScrollerSP):
|
||||
def __init__(self, bookmark_callback=None):
|
||||
super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
|
||||
self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
|
||||
self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self.road_view,
|
||||
self.onroad_info_panel,
|
||||
])
|
||||
self._scroller.set_reset_scroll_at_show(False)
|
||||
self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
|
||||
|
||||
for child in (self.road_view, self.onroad_info_panel):
|
||||
inner_touch_valid = child._touch_valid_callback
|
||||
child.set_touch_valid_callback(
|
||||
lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
|
||||
)
|
||||
|
||||
def set_rect(self, rect: rl.Rectangle):
|
||||
super().set_rect(rect)
|
||||
self.road_view.set_rect(rect)
|
||||
self.onroad_info_panel.set_rect(rect)
|
||||
return self
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
|
||||
|
||||
def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
|
||||
self.road_view.set_click_callback(click_callback)
|
||||
self.onroad_info_panel.set_click_callback(click_callback)
|
||||
|
||||
def is_on_info_panel(self) -> bool:
|
||||
"""True when scrolled past halfway toward onroad_info_panel (used by main layout
|
||||
to skip auto-pop-back-to-camera while user is reading the info panel)."""
|
||||
return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
|
||||
self._scroller.scroll_panel.set_offset(0)
|
||||
|
||||
vertical_offset = self._scroller.scroll_panel.get_offset()
|
||||
show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
|
||||
self.road_view.set_show_confidence_ball(show_ball)
|
||||
|
||||
super()._render(rect)
|
||||
@@ -0,0 +1,403 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pyray as rl
|
||||
from dataclasses import dataclass, field
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
|
||||
|
||||
METER_TO_KM = 0.001
|
||||
METER_TO_MILE = 0.000621371
|
||||
|
||||
CONTENT_MARGIN = 16
|
||||
SPEED_LIMIT_SIGN_WIDTH = 146
|
||||
VIENNA_SIGN_SIZE = 146
|
||||
MUTCD_SIGN_HEIGHT = 178
|
||||
OFFSET_BADGE_SIZE = 50
|
||||
OFFSET_BADGE_PANEL_PADDING = 4
|
||||
MUTCD_OFFSET_SIGN_Y_SHIFT = 6
|
||||
VIENNA_BADGE_X_RATIO = 0.80
|
||||
VIENNA_BADGE_UPCOMING_X_RATIO = 0.70
|
||||
VIENNA_BADGE_Y_RATIO = -0.82
|
||||
UPCOMING_SIGN_SIZE_RATIO = 0.76
|
||||
UPCOMING_SIGN_OVERLAP_RATIO = 0.05
|
||||
UNIT_FONT_SIZE = 40
|
||||
SPEED_FONT_SIZE = 114
|
||||
ROAD_FONT_SIZE = 32
|
||||
SCC_TAG_WIDTH = 78
|
||||
SCC_TAG_HEIGHT = 30
|
||||
SCC_TAG_GAP = 5
|
||||
COLUMN_GAP = 12
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class OnroadInfoPanelColors:
|
||||
white: rl.Color = rl.WHITE
|
||||
black: rl.Color = rl.BLACK
|
||||
red: rl.Color = field(default_factory=lambda: rl.Color(255, 0, 0, 255))
|
||||
green: rl.Color = field(default_factory=lambda: rl.Color(0, 255, 0, 255))
|
||||
grey: rl.Color = field(default_factory=lambda: rl.Color(190, 195, 190, 255))
|
||||
light_grey: rl.Color = field(default_factory=lambda: rl.Color(200, 200, 200, 255))
|
||||
dark_grey: rl.Color = field(default_factory=lambda: rl.Color(100, 100, 100, 255))
|
||||
bg_dark: rl.Color = field(default_factory=lambda: rl.Color(0, 0, 0, 255))
|
||||
card_bg: rl.Color = field(default_factory=lambda: rl.Color(50, 50, 50, 200))
|
||||
badge_bg: rl.Color = field(default_factory=lambda: rl.Color(60, 60, 60, 255))
|
||||
|
||||
|
||||
COLORS = OnroadInfoPanelColors()
|
||||
|
||||
|
||||
class OnroadInfoPanel(Widget):
|
||||
def __init__(self, bookmark_callback=None):
|
||||
super().__init__()
|
||||
self.speed_limit: float = 0.0
|
||||
self.speed_limit_valid: bool = False
|
||||
self.speed_limit_offset: float = 0.0
|
||||
self.next_speed_limit: float = 0.0
|
||||
self.next_speed_limit_distance: float = 0.0
|
||||
self.road_name: str = ""
|
||||
self.current_speed: float = 0.0
|
||||
self.set_speed: float = 0.0
|
||||
self.cruise_enabled: bool = False
|
||||
|
||||
self._sign_slide: float = 0.0
|
||||
|
||||
self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
|
||||
self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
|
||||
|
||||
self._marquee_offset: float = 0.0
|
||||
self._marquee_direction: int = 1
|
||||
self._marquee_pause_timer: float = 0.0
|
||||
self._marquee_speed: float = 40.0
|
||||
self._marquee_pause_duration: float = 1.5
|
||||
|
||||
self._alert_renderer = AlertRenderer()
|
||||
self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
|
||||
|
||||
self._bookmark_icon = BookmarkIcon(bookmark_callback)
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
return self._bookmark_icon.is_swiping_left()
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
|
||||
# Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
|
||||
if not self._bookmark_icon.interacting():
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _update_state(self) -> None:
|
||||
sm = ui_state.sm
|
||||
speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
|
||||
|
||||
if sm.valid["longitudinalPlanSP"]:
|
||||
lp_sp = sm["longitudinalPlanSP"]
|
||||
resolver = lp_sp.speedLimit.resolver
|
||||
self.speed_limit = resolver.speedLimit * speed_conv
|
||||
self.speed_limit_valid = resolver.speedLimitValid
|
||||
self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
|
||||
|
||||
if sm.valid["liveMapDataSP"]:
|
||||
lmd = sm["liveMapDataSP"]
|
||||
self.next_speed_limit = lmd.speedLimitAhead * speed_conv
|
||||
self.next_speed_limit_distance = lmd.speedLimitAheadDistance
|
||||
self.road_name = lmd.roadName
|
||||
|
||||
if sm.updated["carState"]:
|
||||
self.current_speed = sm["carState"].vEgo * speed_conv
|
||||
|
||||
if sm.valid["carState"] and sm.valid["controlsState"]:
|
||||
self.cruise_enabled = sm["carState"].cruiseState.enabled
|
||||
v_cruise_cluster = sm["carState"].vCruiseCluster
|
||||
set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
self._update_state()
|
||||
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
|
||||
|
||||
left_x = rect.x + CONTENT_MARGIN
|
||||
|
||||
if self.cruise_enabled:
|
||||
unit = tr("MAX")
|
||||
display_speed = self.set_speed
|
||||
else:
|
||||
unit = tr("km/h") if ui_state.is_metric else tr("MPH")
|
||||
display_speed = self.current_speed
|
||||
|
||||
display_speed_text = str(round(display_speed))
|
||||
if self.speed_limit_valid and display_speed > self.speed_limit:
|
||||
speed_color = COLORS.red
|
||||
else:
|
||||
speed_color = COLORS.white
|
||||
|
||||
sign_width = min(SPEED_LIMIT_SIGN_WIDTH, rect.width * 0.30)
|
||||
sign_height = VIENNA_SIGN_SIZE if ui_state.is_metric else MUTCD_SIGN_HEIGHT
|
||||
|
||||
has_upcoming_limit = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
|
||||
target_sign_slide = 1.0 if has_upcoming_limit else 0.0
|
||||
slide_speed = 3.0 * rl.get_frame_time()
|
||||
if self._sign_slide < target_sign_slide:
|
||||
self._sign_slide = min(self._sign_slide + slide_speed, target_sign_slide)
|
||||
elif self._sign_slide > target_sign_slide:
|
||||
self._sign_slide = max(self._sign_slide - slide_speed, target_sign_slide)
|
||||
|
||||
upcoming_width = int(sign_width * UPCOMING_SIGN_SIZE_RATIO)
|
||||
upcoming_height = int(sign_height * UPCOMING_SIGN_SIZE_RATIO)
|
||||
upcoming_reserved_width = int(upcoming_width * 0.85) + 5
|
||||
sign_x_without_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN
|
||||
sign_x_with_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN - upcoming_reserved_width
|
||||
sign_x = sign_x_without_upcoming + (sign_x_with_upcoming - sign_x_without_upcoming) * self._sign_slide
|
||||
sign_y = rect.y + (rect.height - sign_height) / 2
|
||||
if not ui_state.is_metric and self.speed_limit_offset != 0 and self.speed_limit_valid:
|
||||
sign_y += MUTCD_OFFSET_SIGN_Y_SHIFT
|
||||
|
||||
readout_right = sign_x - COLUMN_GAP
|
||||
readout_width = max(1, readout_right - left_x)
|
||||
road_y = rect.y + rect.height - 44
|
||||
|
||||
unit_font_size = self._fit_font_size(self._font_semi_bold, unit, readout_width, 46, UNIT_FONT_SIZE, 28)
|
||||
speed_font_size = self._fit_font_size(self._font_bold, display_speed_text, readout_width, road_y - (rect.y + 54) - 8,
|
||||
SPEED_FONT_SIZE, 76)
|
||||
speed_size = measure_text_cached(self._font_bold, display_speed_text, speed_font_size)
|
||||
speed_y = min(rect.y + 54, road_y - speed_size.y - 8)
|
||||
unit_y = max(rect.y + 14, speed_y - unit_font_size - 6)
|
||||
|
||||
rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, unit_y), unit_font_size, 0, COLORS.grey)
|
||||
rl.draw_text_ex(self._font_bold, display_speed_text, rl.Vector2(left_x, speed_y), speed_font_size, 0, speed_color)
|
||||
self._draw_road_name(left_x, road_y, readout_width)
|
||||
|
||||
if has_upcoming_limit and self._sign_slide > 0.01:
|
||||
upcoming_speed_text = str(round(self.next_speed_limit))
|
||||
distance_text = self._format_distance(self.next_speed_limit_distance)
|
||||
upcoming_x = sign_x + sign_width - int(upcoming_width * UPCOMING_SIGN_OVERLAP_RATIO)
|
||||
upcoming_y = sign_y + (sign_height - upcoming_height) / 2
|
||||
|
||||
upcoming_speed_color = COLORS.black
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
|
||||
else:
|
||||
self._draw_mutcd_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
|
||||
|
||||
distance_font_size = self._fit_font_size(self._font_medium, distance_text, upcoming_width, 30, 24, 16)
|
||||
distance_size = measure_text_cached(self._font_medium, distance_text, distance_font_size)
|
||||
rl.draw_text_ex(self._font_medium, distance_text, rl.Vector2(upcoming_x + upcoming_width / 2 - distance_size.x / 2, upcoming_y + upcoming_height),
|
||||
distance_font_size, 0, COLORS.grey)
|
||||
|
||||
self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
|
||||
|
||||
if self.speed_limit_offset != 0 and self.speed_limit_valid:
|
||||
offset_text = str(abs(round(self.speed_limit_offset)))
|
||||
badge_size = OFFSET_BADGE_SIZE
|
||||
badge_rect = self._offset_badge_rect(rect, sign_x, sign_y, sign_width, sign_height, badge_size, has_upcoming_limit)
|
||||
|
||||
if ui_state.is_metric:
|
||||
badge_radius = badge_size / 2
|
||||
badge_center_x = badge_rect.x + badge_radius
|
||||
badge_center_y = badge_rect.y + badge_radius
|
||||
rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius + 2, COLORS.dark_grey)
|
||||
rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius, COLORS.badge_bg)
|
||||
self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_center_x, badge_center_y), COLORS.white,
|
||||
badge_size - 10, badge_size - 8, min_size=24)
|
||||
else:
|
||||
rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
|
||||
rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
|
||||
self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_rect.x + badge_size / 2, badge_rect.y + badge_size / 2),
|
||||
COLORS.white, badge_size - 10, badge_size - 8, min_size=24)
|
||||
|
||||
scc_tag_x = min(left_x + speed_size.x + COLUMN_GAP, readout_right - SCC_TAG_WIDTH)
|
||||
scc_tag_y = speed_y + (speed_size.y - (SCC_TAG_HEIGHT * 2 + SCC_TAG_GAP)) / 2
|
||||
if scc_tag_x >= left_x + speed_size.x + 8:
|
||||
self._draw_scc_icons(scc_tag_x, scc_tag_y, readout_right)
|
||||
|
||||
self._bookmark_icon.render(rect)
|
||||
|
||||
if ui_state.started:
|
||||
alert_obj, no_alert = self._alert_renderer.will_render()
|
||||
self._alert_alpha_filter.update(0 if no_alert else 1)
|
||||
alpha = self._alert_alpha_filter.x
|
||||
if alpha > 0.01:
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
|
||||
self._alert_renderer.render(rect)
|
||||
|
||||
def _draw_scc_icons(self, x: float, y: float, right_limit: float) -> None:
|
||||
sm = ui_state.sm
|
||||
if not sm.valid["longitudinalPlanSP"]:
|
||||
return
|
||||
scc = sm["longitudinalPlanSP"].smartCruiseControl
|
||||
|
||||
drawn = 0
|
||||
|
||||
for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
|
||||
if not active:
|
||||
continue
|
||||
tag_x = x
|
||||
if tag_x + SCC_TAG_WIDTH > right_limit:
|
||||
return
|
||||
tag_y = y + drawn * (SCC_TAG_HEIGHT + SCC_TAG_GAP)
|
||||
rl.draw_rectangle_rounded(rl.Rectangle(tag_x, tag_y, SCC_TAG_WIDTH, SCC_TAG_HEIGHT), 0.3, 10, COLORS.green)
|
||||
self._draw_text_centered_fit(self._font_bold, label, 18, rl.Vector2(tag_x + SCC_TAG_WIDTH / 2, tag_y + SCC_TAG_HEIGHT / 2), COLORS.black,
|
||||
SCC_TAG_WIDTH - 10, SCC_TAG_HEIGHT - 4, min_size=14)
|
||||
drawn += 1
|
||||
|
||||
def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
|
||||
speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
|
||||
speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
|
||||
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
else:
|
||||
self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
|
||||
def _draw_road_name(self, x: float, y: float, width: float) -> None:
|
||||
if width <= 0:
|
||||
return
|
||||
|
||||
road_display = self.road_name if self.road_name else "--"
|
||||
font_size = self._fit_font_size(self._font_semi_bold, road_display, width, 38, ROAD_FONT_SIZE, 28)
|
||||
road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
|
||||
text_width = road_size.x
|
||||
|
||||
if text_width <= width:
|
||||
self._marquee_offset = 0.0
|
||||
self._marquee_direction = 1
|
||||
self._marquee_pause_timer = 0.0
|
||||
rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
|
||||
else:
|
||||
overflow = text_width - width
|
||||
dt = rl.get_frame_time()
|
||||
|
||||
if self._marquee_pause_timer > 0:
|
||||
self._marquee_pause_timer -= dt
|
||||
else:
|
||||
self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
|
||||
|
||||
if self._marquee_offset >= overflow:
|
||||
self._marquee_offset = overflow
|
||||
self._marquee_direction = -1
|
||||
self._marquee_pause_timer = self._marquee_pause_duration
|
||||
elif self._marquee_offset <= 0:
|
||||
self._marquee_offset = 0
|
||||
self._marquee_direction = 1
|
||||
self._marquee_pause_timer = self._marquee_pause_duration
|
||||
|
||||
rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
|
||||
text_pos = rl.Vector2(x - self._marquee_offset, y)
|
||||
rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
|
||||
rl.end_scissor_mode()
|
||||
|
||||
def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
center = rl.Vector2(x + width / 2, y + height / 2)
|
||||
outer_radius = min(width, height) / 2
|
||||
|
||||
rl.draw_circle_v(center, outer_radius, COLORS.white)
|
||||
ring_width = outer_radius * 0.18
|
||||
rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
|
||||
|
||||
font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
|
||||
self._draw_text_centered_fit(self._font_bold, speed_str, int(font_size), center, speed_color, width * 0.72, height * 0.50, min_size=24)
|
||||
|
||||
def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
sign_rect = rl.Rectangle(x, y, width, height)
|
||||
rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
|
||||
|
||||
inset = max(4, width * 0.05)
|
||||
inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
|
||||
outer_radius = 0.35 * width / 2.0
|
||||
inner_radius = outer_radius - inset
|
||||
inner_roundness = inner_radius / (inner_rect.width / 2.0)
|
||||
rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
|
||||
|
||||
mid_x = x + width / 2
|
||||
label_size = max(18, int(width * 0.26))
|
||||
if is_upcoming:
|
||||
self._draw_text_centered_fit(self._font_bold, tr("AHEAD"), int(width * 0.34), rl.Vector2(mid_x, y + height * 0.28), COLORS.black,
|
||||
width * 0.94, height * 0.32, min_size=20)
|
||||
else:
|
||||
self._draw_text_centered_fit(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black,
|
||||
width * 0.84, height * 0.24, min_size=16)
|
||||
self._draw_text_centered_fit(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black,
|
||||
width * 0.84, height * 0.24, min_size=16)
|
||||
|
||||
speed_font_size = int(width * 0.60) if len(speed_str) >= 3 else int(width * 0.72)
|
||||
self._draw_text_centered_fit(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color,
|
||||
width * 0.90, height * 0.52, min_size=32)
|
||||
|
||||
def _draw_text_centered(self, font, text, size, pos_center, color):
|
||||
sz = measure_text_cached(font, text, size)
|
||||
rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
|
||||
|
||||
def _draw_text_centered_fit(self, font, text, size, pos_center, color, max_width: float, max_height: float, min_size: int = 10):
|
||||
size = self._fit_font_size(font, text, max_width, max_height, size, min_size)
|
||||
self._draw_text_centered(font, text, size, pos_center, color)
|
||||
|
||||
def _fit_font_size(self, font, text: str, max_width: float, max_height: float, max_size: int | float, min_size: int) -> int:
|
||||
size = int(max_size)
|
||||
while size > min_size:
|
||||
text_size = measure_text_cached(font, text, size)
|
||||
if text_size.x <= max_width and text_size.y <= max_height:
|
||||
return size
|
||||
size -= 2
|
||||
return min_size
|
||||
|
||||
def _offset_badge_rect(self, panel_rect: rl.Rectangle, sign_x: float, sign_y: float, sign_width: float, sign_height: float,
|
||||
badge_size: float, has_upcoming_limit: bool) -> rl.Rectangle:
|
||||
if ui_state.is_metric:
|
||||
radius = min(sign_width, sign_height) / 2
|
||||
center_x = sign_x + sign_width / 2
|
||||
center_y = sign_y + sign_height / 2
|
||||
badge_x_ratio = VIENNA_BADGE_UPCOMING_X_RATIO if has_upcoming_limit else VIENNA_BADGE_X_RATIO
|
||||
badge_center_x = center_x + radius * badge_x_ratio
|
||||
badge_center_y = center_y + radius * VIENNA_BADGE_Y_RATIO
|
||||
badge_x = badge_center_x - badge_size / 2
|
||||
badge_y = badge_center_y - badge_size / 2
|
||||
else:
|
||||
badge_x = sign_x + sign_width - badge_size * 0.45
|
||||
badge_y = sign_y - badge_size * 0.75
|
||||
|
||||
return rl.Rectangle(
|
||||
self._clamp(
|
||||
badge_x,
|
||||
panel_rect.x + OFFSET_BADGE_PANEL_PADDING,
|
||||
panel_rect.x + panel_rect.width - badge_size - OFFSET_BADGE_PANEL_PADDING,
|
||||
),
|
||||
self._clamp(
|
||||
badge_y,
|
||||
panel_rect.y + OFFSET_BADGE_PANEL_PADDING,
|
||||
panel_rect.y + panel_rect.height - badge_size - OFFSET_BADGE_PANEL_PADDING,
|
||||
),
|
||||
badge_size,
|
||||
badge_size,
|
||||
)
|
||||
|
||||
@staticmethod
|
||||
def _clamp(value: float, min_value: float, max_value: float) -> float:
|
||||
return max(min_value, min(max_value, value))
|
||||
|
||||
def _format_distance(self, distance: float) -> str:
|
||||
if ui_state.is_metric:
|
||||
if distance < 50:
|
||||
return tr("Near")
|
||||
if distance >= 1000:
|
||||
return f"{distance * METER_TO_KM:.1f}" + tr("km")
|
||||
if distance < 200:
|
||||
rounded = max(10, int(distance / 10) * 10)
|
||||
else:
|
||||
rounded = int(distance / 100) * 100
|
||||
return str(rounded) + tr("m")
|
||||
else:
|
||||
distance_mi = distance * METER_TO_MILE
|
||||
if distance_mi < 0.1:
|
||||
return tr("Near")
|
||||
return f"{distance_mi:.1f}" + tr("mi")
|
||||
@@ -0,0 +1,29 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
|
||||
|
||||
|
||||
class _SuppressedConfidenceBall:
|
||||
def render(self, *_):
|
||||
pass
|
||||
|
||||
|
||||
class AugmentedRoadViewSP(AugmentedRoadView):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._show_confidence_ball: bool = True
|
||||
self._real_confidence_ball = self._confidence_ball
|
||||
self._confidence_ball = _SuppressedConfidenceBall()
|
||||
|
||||
def set_show_confidence_ball(self, show: bool) -> None:
|
||||
self._show_confidence_ball = show
|
||||
|
||||
def _render(self, _) -> None:
|
||||
super()._render(_)
|
||||
if self._show_confidence_ball:
|
||||
self._real_confidence_ball.render(self.rect)
|
||||
@@ -0,0 +1,83 @@
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.system.ui.lib.application import MouseEvent, MousePos, gui_app
|
||||
from openpilot.system.ui.lib.scroll_panel2 import ScrollState
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets import scroller as scroller_mod
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class DummyScrollIndicator:
|
||||
def update(self, *_) -> None:
|
||||
pass
|
||||
|
||||
def render(self) -> None:
|
||||
pass
|
||||
|
||||
|
||||
class DummyWidget(Widget):
|
||||
def __init__(self, rect: rl.Rectangle):
|
||||
super().__init__()
|
||||
self.set_rect(rect)
|
||||
|
||||
def _render(self, _) -> None:
|
||||
pass
|
||||
|
||||
|
||||
def _mouse_event(x: float, y: float, *, pressed: bool = False, released: bool = False,
|
||||
down: bool = True, t: float = 0.0) -> MouseEvent:
|
||||
return MouseEvent(MousePos(x, y), 0, pressed, released, down, t)
|
||||
|
||||
|
||||
class TestScrollerSP(OpenpilotTestCase):
|
||||
def test_vertical_snap_items_are_supported(self, monkeypatch):
|
||||
monkeypatch.setattr(scroller_mod, "ScrollIndicator", DummyScrollIndicator)
|
||||
|
||||
scroller = scroller_mod._Scroller([], horizontal=False, snap_items=True, scroll_indicator=False)
|
||||
scroller.set_rect(rl.Rectangle(0, 0, 100, 100))
|
||||
scroller.scroll_panel.set_offset(-60)
|
||||
|
||||
captured_snap_target = None
|
||||
|
||||
def update(_, __, snap_target=None):
|
||||
nonlocal captured_snap_target
|
||||
captured_snap_target = snap_target
|
||||
return scroller.scroll_panel.get_offset()
|
||||
|
||||
monkeypatch.setattr(scroller.scroll_panel, "update", update)
|
||||
|
||||
visible_items: list[Widget] = [
|
||||
DummyWidget(rl.Rectangle(0, -60, 100, 100)),
|
||||
DummyWidget(rl.Rectangle(0, 40, 100, 100)),
|
||||
]
|
||||
scroller._get_scroll(visible_items, 200)
|
||||
|
||||
assert captured_snap_target == -100
|
||||
|
||||
def test_scroll_panel_sp_rejects_orthogonal_drags(self, monkeypatch):
|
||||
panel = GuiScrollPanel2SP(horizontal=True)
|
||||
bounds = rl.Rectangle(0, 0, 100, 100)
|
||||
|
||||
monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(10, 10, pressed=True, t=1.0)])
|
||||
panel.update(bounds, 200)
|
||||
assert panel.state == ScrollState.PRESSED
|
||||
|
||||
monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(23, 60, t=1.1)])
|
||||
panel.update(bounds, 200)
|
||||
|
||||
assert panel.state == ScrollState.STEADY
|
||||
assert panel.get_offset() == 0
|
||||
|
||||
def test_scroll_panel_sp_can_disable_out_of_bounds_handling(self, monkeypatch):
|
||||
panel = GuiScrollPanel2SP(horizontal=False, handle_out_of_bounds=False)
|
||||
bounds = rl.Rectangle(0, 0, 100, 100)
|
||||
monkeypatch.setattr(gui_app, "_mouse_events", [])
|
||||
|
||||
panel.set_offset(20)
|
||||
panel.update(bounds, 200)
|
||||
assert panel.get_offset() == 0
|
||||
|
||||
panel.set_offset(-150)
|
||||
panel.update(bounds, 200)
|
||||
assert panel.get_offset() == -100
|
||||
@@ -0,0 +1,33 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import MouseEvent
|
||||
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
|
||||
|
||||
|
||||
class GuiScrollPanel2SP(GuiScrollPanel2):
|
||||
"""Scroll panel behavior for nested Mici pagers."""
|
||||
|
||||
def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
|
||||
super().__init__(horizontal, handle_out_of_bounds=handle_out_of_bounds)
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
|
||||
content_size: float) -> None:
|
||||
state_before_update = self._state
|
||||
super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
|
||||
|
||||
if self._state == ScrollState.MANUAL_SCROLL and state_before_update == ScrollState.PRESSED and \
|
||||
self._initial_click_event is not None:
|
||||
drag_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
|
||||
drag_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
|
||||
primary_drag = drag_x if self._horizontal else drag_y
|
||||
cross_drag = drag_y if self._horizontal else drag_x
|
||||
if cross_drag > primary_drag:
|
||||
self._state = ScrollState.STEADY
|
||||
self._velocity = 0.0
|
||||
self._velocity_buffer.clear()
|
||||
@@ -0,0 +1,16 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class ScrollerSP(Scroller):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
inner = self._scroller
|
||||
inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)
|
||||
@@ -10,6 +10,9 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
|
||||
|
||||
BIG_UI = gui_app.big_ui()
|
||||
|
||||
|
||||
|
||||
@@ -12,7 +12,6 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.lib.prime_state import PrimeState
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.common.hardware import HARDWARE, PC
|
||||
from openpilot.common.hardware.usb import TYPEC_CC_ORIENTATION_PATH, get_usb_state, is_chestnut_usb_id, read_int
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_compiled
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
|
||||
@@ -96,10 +95,6 @@ class UIState(UIStateSP):
|
||||
self.chestnut_compiled: bool = chestnut_compiled()
|
||||
self.chestnut_active: bool | None = None
|
||||
self.chestnut_loading: bool = False
|
||||
self.usb_connected: bool = False
|
||||
self.usb_connected_ts: float | None = None
|
||||
self.usb_disconnected_ts: float | None = None
|
||||
self.usb_unknown: bool = False
|
||||
self.chestnut_state = ChestnutState.DISCONNECTED
|
||||
self.started: bool = False
|
||||
self.ignition: bool = False
|
||||
@@ -259,23 +254,6 @@ class UIState(UIStateSP):
|
||||
self.chestnut_compiled = chestnut_compiled()
|
||||
self.chestnut_active = self.params.get("ChestnutActive")
|
||||
self.chestnut_loading = self.params.get_bool("ChestnutLoading")
|
||||
now = time.monotonic()
|
||||
if read_int(TYPEC_CC_ORIENTATION_PATH) != 0:
|
||||
self.usb_disconnected_ts = None
|
||||
if not self.usb_connected:
|
||||
self.usb_connected = True
|
||||
self.usb_connected_ts = now
|
||||
self.usb_unknown = False
|
||||
elif self.usb_connected_ts is not None and now - self.usb_connected_ts > 10.:
|
||||
self.usb_unknown = not any(is_chestnut_usb_id(d["vendorId"], d["productId"], True) for d in get_usb_state())
|
||||
self.usb_connected_ts = None
|
||||
elif self.usb_connected:
|
||||
if self.usb_disconnected_ts is None:
|
||||
self.usb_disconnected_ts = now
|
||||
elif now - self.usb_disconnected_ts > PARAM_UPDATE_TIME:
|
||||
self.usb_connected = False
|
||||
self.usb_connected_ts = None
|
||||
self.usb_unknown = False
|
||||
|
||||
UIStateSP.update_params(self)
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user