mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-08 23:04:19 +08:00
Compare commits
1 Commits
model-test
...
mapd-sp
| Author | SHA1 | Date | |
|---|---|---|---|
|
2ae27a5d1c |
@@ -3,4 +3,3 @@ REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
FOF
|
||||
NoO
|
||||
|
||||
8
.github/workflows/auto_pr_review.yaml
vendored
8
.github/workflows/auto_pr_review.yaml
vendored
@@ -40,10 +40,10 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
|
||||
env:
|
||||
PR_LABEL: 'dev'
|
||||
PR_LABEL: 'dev-c3'
|
||||
TRUST_FORK_PR_LABEL: 'trust-fork-pr'
|
||||
steps:
|
||||
- name: Check if PR has dev label
|
||||
- name: Check if PR has dev-c3 label
|
||||
id: check-labels
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
@@ -62,11 +62,11 @@ jobs:
|
||||
console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
|
||||
console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
|
||||
|
||||
core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
|
||||
|
||||
- name: Remove trust-fork-pr label if present
|
||||
if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
105
.github/workflows/post-to-discourse/action.yml
vendored
105
.github/workflows/post-to-discourse/action.yml
vendored
@@ -1,105 +0,0 @@
|
||||
name: 'Post to Discourse'
|
||||
description: 'Posts a message to a Discourse topic (existing or new)'
|
||||
|
||||
inputs:
|
||||
discourse-url:
|
||||
description: 'Discourse instance URL (e.g., https://discourse.example.com)'
|
||||
required: true
|
||||
api-key:
|
||||
description: 'Discourse API key'
|
||||
required: true
|
||||
api-username:
|
||||
description: 'Discourse API username'
|
||||
required: true
|
||||
topic-id:
|
||||
description: 'Discourse topic ID to post to (use this OR category-id + title)'
|
||||
required: false
|
||||
category-id:
|
||||
description: 'Category ID for new topic (required if topic-id not provided)'
|
||||
required: false
|
||||
title:
|
||||
description: 'Title for new topic (required if topic-id not provided)'
|
||||
required: false
|
||||
message:
|
||||
description: 'Message content (markdown supported)'
|
||||
required: true
|
||||
|
||||
outputs:
|
||||
post-number:
|
||||
description: 'The post number in the topic'
|
||||
value: ${{ steps.post.outputs.post_number }}
|
||||
post-url:
|
||||
description: 'Direct URL to the post'
|
||||
value: ${{ steps.post.outputs.post_url }}
|
||||
topic-id:
|
||||
description: 'The topic ID (useful when creating a new topic)'
|
||||
value: ${{ steps.post.outputs.topic_id }}
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- name: Post to Discourse
|
||||
id: post
|
||||
shell: bash
|
||||
run: |
|
||||
# Validate inputs
|
||||
if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
|
||||
echo "❌ Error: Must provide either topic-id OR both category-id and title"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
|
||||
echo "⚠️ Warning: Both topic-id and category-id/title provided. Will post to existing topic."
|
||||
fi
|
||||
|
||||
# Determine if creating new topic or posting to existing
|
||||
if [ -n "${{ inputs.topic-id }}" ]; then
|
||||
echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
|
||||
|
||||
# Create JSON payload for posting to existing topic
|
||||
PAYLOAD=$(jq -n \
|
||||
--arg content '${{ inputs.message }}' \
|
||||
--arg topic_id "${{ inputs.topic-id }}" \
|
||||
'{topic_id: $topic_id, raw: $content}')
|
||||
else
|
||||
echo "✨ Creating new topic: ${{ inputs.title }}"
|
||||
|
||||
# Create JSON payload for new topic
|
||||
PAYLOAD=$(jq -n \
|
||||
--arg content '${{ inputs.message }}' \
|
||||
--arg title "${{ inputs.title }}" \
|
||||
--arg category "${{ inputs.category-id }}" \
|
||||
'{title: $title, category: ($category | tonumber), raw: $content}')
|
||||
fi
|
||||
|
||||
# Post to Discourse
|
||||
RESPONSE=$(curl -s -w "\n%{http_code}" \
|
||||
-X POST "${{ inputs.discourse-url }}/posts.json" \
|
||||
-H "Content-Type: application/json" \
|
||||
-H "Api-Key: ${{ inputs.api-key }}" \
|
||||
-H "Api-Username: ${{ inputs.api-username }}" \
|
||||
-d "$PAYLOAD")
|
||||
|
||||
HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
|
||||
BODY=$(echo "$RESPONSE" | sed '$d')
|
||||
|
||||
if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
|
||||
echo "✅ Successfully posted to Discourse!"
|
||||
|
||||
POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
|
||||
TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
|
||||
POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
|
||||
|
||||
echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
|
||||
echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
|
||||
echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
|
||||
|
||||
echo "Topic ID: ${TOPIC_ID}"
|
||||
echo "Post number: ${POST_NUMBER}"
|
||||
echo "URL: ${POST_URL}"
|
||||
else
|
||||
echo "❌ Failed to post to Discourse"
|
||||
echo "HTTP Code: ${HTTP_CODE}"
|
||||
echo "Response: ${BODY}"
|
||||
exit 1
|
||||
fi
|
||||
1
.github/workflows/repo-maintenance.yaml
vendored
1
.github/workflows/repo-maintenance.yaml
vendored
@@ -43,7 +43,6 @@ jobs:
|
||||
with:
|
||||
submodules: true
|
||||
- name: uv lock
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
run: |
|
||||
python3 -m ensurepip --upgrade
|
||||
pip3 install uv
|
||||
|
||||
8
.github/workflows/selfdrive_tests.yaml
vendored
8
.github/workflows/selfdrive_tests.yaml
vendored
@@ -107,6 +107,7 @@ jobs:
|
||||
|
||||
build_mac:
|
||||
name: build macOS
|
||||
if: false # temp disable since homebrew install is getting stuck
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -115,9 +116,7 @@ jobs:
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
if: false # disabling the cache for now because it is breaking macos builds...
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
@@ -126,8 +125,8 @@ jobs:
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
PYTHONWARNINGS: default # package install has DeprecationWarnings
|
||||
HOMEBREW_DISPLAY_INSTALL_TIMES: 1
|
||||
# package install has DeprecationWarnings
|
||||
PYTHONWARNINGS: default
|
||||
- name: Save Homebrew cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
@@ -138,7 +137,6 @@ jobs:
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
|
||||
75
.github/workflows/sunnypilot-build-prebuilt.yaml
vendored
75
.github/workflows/sunnypilot-build-prebuilt.yaml
vendored
@@ -8,14 +8,14 @@ env:
|
||||
PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
|
||||
|
||||
# Branch configurations
|
||||
STAGING_SOURCE_BRANCH: 'master'
|
||||
STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
|
||||
|
||||
# Runtime configuration
|
||||
SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [ master, master-dev ]
|
||||
branches: [ master, master-dev-c3-new ]
|
||||
tags: [ 'release/*' ]
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
@@ -79,7 +79,7 @@ jobs:
|
||||
is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
|
||||
echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
|
||||
|
||||
stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
|
||||
stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
|
||||
echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
@@ -138,7 +138,7 @@ jobs:
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set environment variables
|
||||
@@ -302,51 +302,36 @@ jobs:
|
||||
git push -f origin ${TAG}
|
||||
|
||||
notify:
|
||||
needs:
|
||||
- prepare_strategy
|
||||
- build
|
||||
- publish
|
||||
needs: [ build, publish ]
|
||||
runs-on: ubuntu-24.04
|
||||
if: ${{ (always() && !cancelled() && !failure())
|
||||
&& needs.publish.result == 'success'
|
||||
&& (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
&& (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
|
||||
if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Prepare notification message
|
||||
id: message
|
||||
run: |
|
||||
TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
|
||||
export VERSION="${{ needs.prepare_strategy.outputs.version }}"
|
||||
export branch_name="${{ env.SOURCE_BRANCH }}"
|
||||
export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
|
||||
export commit_sha="${{ github.sha }}"
|
||||
export commit_short_sha="${{ github.sha }}"
|
||||
export commit_short_sha="${commit_short_sha:0:7}"
|
||||
export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
|
||||
export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
|
||||
|
||||
MESSAGE=$(cat << 'EOF' | envsubst
|
||||
${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
|
||||
EOF
|
||||
)
|
||||
|
||||
{
|
||||
echo 'content<<EOFMARKER'
|
||||
echo "$MESSAGE"
|
||||
echo 'EOFMARKER'
|
||||
} >> $GITHUB_OUTPUT
|
||||
shell: bash
|
||||
|
||||
- name: Post to Discourse
|
||||
uses: ./.github/workflows/post-to-discourse
|
||||
- name: Setup Alpine Linux environment
|
||||
uses: jirutka/setup-alpine@v1.2.0
|
||||
with:
|
||||
discourse-url: ${{ vars.DISCOURSE_URL }}
|
||||
api-key: ${{ secrets.DISCOURSE_API_KEY }}
|
||||
api-username: "system"
|
||||
topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
|
||||
message: ${{ steps.message.outputs.content }}
|
||||
packages: 'jq gettext curl'
|
||||
|
||||
- name: Send Discord Notification
|
||||
env:
|
||||
DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
|
||||
run: |
|
||||
TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
|
||||
export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
|
||||
export VERSION="${{ needs.build.outputs.version }}"
|
||||
export branch_name=${{ env.SOURCE_BRANCH }}
|
||||
export new_branch=${{ needs.build.outputs.new_branch }}
|
||||
export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
|
||||
echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
|
||||
curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
|
||||
|
||||
echo ""
|
||||
echo "---- ℹ️ To update the list of branches that notify to dev-feedback -----"
|
||||
echo ""
|
||||
echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
|
||||
echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
|
||||
echo "3. Update as needed (JSON array with no spaces)"
|
||||
shell: alpine.sh {0}
|
||||
|
||||
manage-pr-labels:
|
||||
name: Remove prebuilt label
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
name: Build dev
|
||||
name: Build dev-c3-new
|
||||
|
||||
env:
|
||||
DEFAULT_SOURCE_BRANCH: "master"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
|
||||
PR_LABEL: "dev-c3"
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
@@ -24,7 +25,7 @@ on:
|
||||
target_branch:
|
||||
description: 'Target branch to reset and squash into'
|
||||
required: true
|
||||
default: 'master-dev'
|
||||
default: 'master-dev-c3-new'
|
||||
type: string
|
||||
cancel_in_progress:
|
||||
description: 'Cancel any in-progress runs of this workflow'
|
||||
@@ -42,7 +43,7 @@ jobs:
|
||||
if: (
|
||||
(github.event_name == 'workflow_dispatch')
|
||||
|| (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -54,7 +55,7 @@ jobs:
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
if: (
|
||||
(github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
|
||||
)
|
||||
with:
|
||||
workflow: selfdrive_tests.yaml # The workflow file to monitor
|
||||
@@ -117,8 +118,8 @@ jobs:
|
||||
run: |
|
||||
# Use GitHub API to get PRs with specific label, ordered by creation date
|
||||
PR_LIST=$(gh api graphql -f query='
|
||||
query($search_query:String!) {
|
||||
search(query: $search_query, type:ISSUE, first:40) {
|
||||
query($label:String!) {
|
||||
search(query: $label, type:ISSUE, first:100) {
|
||||
nodes {
|
||||
... on PullRequest {
|
||||
number
|
||||
@@ -148,7 +149,7 @@ jobs:
|
||||
}
|
||||
}
|
||||
}
|
||||
}' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
|
||||
}' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
|
||||
|
||||
PR_LIST=${PR_LIST//\'/}
|
||||
echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
|
||||
78
.github/workflows/test-discourse.yaml.yml
vendored
78
.github/workflows/test-discourse.yaml.yml
vendored
@@ -1,78 +0,0 @@
|
||||
name: Debug Discourse Posting
|
||||
|
||||
on:
|
||||
push:
|
||||
|
||||
jobs:
|
||||
test-discourse-post:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Post test message to Discourse
|
||||
uses: ./.github/workflows/post-to-discourse
|
||||
with:
|
||||
discourse-url: ${{ vars.DISCOURSE_URL }}
|
||||
api-key: ${{ secrets.DISCOURSE_API_KEY }}
|
||||
api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
|
||||
topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
|
||||
message: |
|
||||
## 🧪 Test Post from GitHub Actions
|
||||
|
||||
**This is a test post to verify Discourse integration**
|
||||
|
||||
- **Workflow**: ${{ github.workflow }}
|
||||
- **Run Number**: #${{ github.run_number }}
|
||||
- **Branch**: `${{ github.ref_name }}`
|
||||
- **Commit**: ${{ github.sha }}
|
||||
- **Actor**: @${{ github.actor }}
|
||||
- **Timestamp**: ${{ github.event.head_commit.timestamp }}
|
||||
|
||||
---
|
||||
|
||||
### Fake Build Info (for testing)
|
||||
- **Version**: 0.9.8-test
|
||||
- **Build**: #42
|
||||
- **Branch**: release-test
|
||||
|
||||
[View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
|
||||
|
||||
*This is an automated test message. Drive safe! 🚗💨*
|
||||
|
||||
|
||||
- name: Create topic on Discourse
|
||||
uses: ./.github/workflows/post-to-discourse
|
||||
with:
|
||||
discourse-url: ${{ vars.DISCOURSE_URL }}
|
||||
api-key: ${{ secrets.DISCOURSE_API_KEY }}
|
||||
api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
|
||||
#topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
|
||||
category-id: 4
|
||||
title: "This is a test of a new topic instead of a reply"
|
||||
message: |
|
||||
## 🧪 Test Post from GitHub Actions
|
||||
|
||||
**This is a test post to verify Discourse integration**
|
||||
|
||||
- **Workflow**: ${{ github.workflow }}
|
||||
- **Run Number**: #${{ github.run_number }}
|
||||
- **Branch**: `${{ github.ref_name }}`
|
||||
- **Commit**: ${{ github.sha }}
|
||||
- **Actor**: @${{ github.actor }}
|
||||
- **Timestamp**: ${{ github.event.head_commit.timestamp }}
|
||||
|
||||
---
|
||||
|
||||
### Fake Build Info (for testing)
|
||||
- **Version**: 0.9.8-test
|
||||
- **Build**: #42
|
||||
- **Branch**: release-test
|
||||
|
||||
[View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
|
||||
|
||||
*This is an automated test message. Drive safe! 🚗💨*
|
||||
- name: Display results
|
||||
if: always()
|
||||
run: |
|
||||
echo "::notice::Discourse post test completed"
|
||||
echo "Check your Discourse topic to verify the post appeared correctly"
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -50,6 +50,7 @@ cereal/services.h
|
||||
cereal/gen
|
||||
cereal/messaging/bridge
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
system/proclogd/proclogd
|
||||
selfdrive/ui/translations/tmp
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
|
||||
41
.vscode/launch.json
vendored
41
.vscode/launch.json
vendored
@@ -23,11 +23,6 @@
|
||||
"id": "args",
|
||||
"description": "Arguments to pass to the process",
|
||||
"type": "promptString"
|
||||
},
|
||||
{
|
||||
"id": "replayArg",
|
||||
"type": "promptString",
|
||||
"description": "Enter route or segment to replay."
|
||||
}
|
||||
],
|
||||
"configurations": [
|
||||
@@ -45,41 +40,7 @@
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/${input:cpp_process}",
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
{
|
||||
"name": "Attach LLDB to Replay drive",
|
||||
"type": "lldb",
|
||||
"request": "attach",
|
||||
"pid": "${command:pickMyProcess}",
|
||||
"initCommands": [
|
||||
"script import time; time.sleep(3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Replay drive",
|
||||
"type": "debugpy",
|
||||
"request": "launch",
|
||||
"program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
|
||||
"args": [
|
||||
"${input:replayArg}"
|
||||
],
|
||||
"console": "integratedTerminal",
|
||||
"justMyCode": false,
|
||||
"env": {
|
||||
"PYTHONPATH": "${workspaceFolder}"
|
||||
},
|
||||
"subProcess": true,
|
||||
"stopOnEntry": false
|
||||
}
|
||||
],
|
||||
"compounds": [
|
||||
{
|
||||
"name": "Replay drive + Safety LLDB",
|
||||
"configurations": [
|
||||
"Replay drive",
|
||||
"Attach LLDB to Replay drive"
|
||||
]
|
||||
"cwd": "${workspaceFolder}",
|
||||
}
|
||||
]
|
||||
}
|
||||
1080
CHANGELOG.md
1080
CHANGELOG.md
File diff suppressed because it is too large
Load Diff
32
Jenkinsfile
vendored
32
Jenkinsfile
vendored
@@ -178,7 +178,7 @@ node {
|
||||
|
||||
try {
|
||||
if (env.BRANCH_NAME == 'devel-staging') {
|
||||
deviceStage("build release3-staging", "tizi-needs-can", [], [
|
||||
deviceStage("build release3-staging", "tici-needs-can", [], [
|
||||
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
}
|
||||
@@ -186,12 +186,12 @@ node {
|
||||
if (env.BRANCH_NAME == '__nightly') {
|
||||
parallel (
|
||||
'nightly': {
|
||||
deviceStage("build nightly", "tizi-needs-can", [], [
|
||||
deviceStage("build nightly", "tici-needs-can", [], [
|
||||
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
'nightly-dev': {
|
||||
deviceStage("build nightly-dev", "tizi-needs-can", [], [
|
||||
deviceStage("build nightly-dev", "tici-needs-can", [], [
|
||||
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
|
||||
])
|
||||
},
|
||||
@@ -200,30 +200,39 @@ node {
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
parallel (
|
||||
// tici tests
|
||||
'onroad tests': {
|
||||
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
|
||||
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("check dirty", "release/check-dirty.sh"),
|
||||
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
|
||||
])
|
||||
},
|
||||
'HW + Unit Tests': {
|
||||
deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
|
||||
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
|
||||
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad AR0231': {
|
||||
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
|
||||
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
@@ -237,13 +246,17 @@ node {
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
|
||||
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
|
||||
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
|
||||
])
|
||||
@@ -253,6 +266,7 @@ node {
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
// TODO: enable once new AGNOS is available
|
||||
// step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
|
||||
|
||||
36
README.md
36
README.md
@@ -3,9 +3,11 @@
|
||||
## 🌞 What is sunnypilot?
|
||||
[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
|
||||
|
||||
## 💭 Join our Community Forum
|
||||
Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
|
||||
* https://community.sunnypilot.ai/
|
||||
## 💭 Join our Discord
|
||||
Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
|
||||
* https://discord.gg/sunnypilot
|
||||
|
||||
 
|
||||
|
||||
## Documentation
|
||||
https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
|
||||
@@ -14,13 +16,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
|
||||
* A supported device to run this software
|
||||
* a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
|
||||
* This software
|
||||
* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
|
||||
* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
|
||||
|
||||
Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
|
||||
## Installation
|
||||
Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
|
||||
Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
|
||||
|
||||
### If you want to use our newest branches (our rewrite)
|
||||
> [!TIP]
|
||||
@@ -29,28 +31,28 @@ Please refer to [Recommended Branches](#recommended-branches) to find your prefe
|
||||
* sunnypilot not installed or you installed a version before 0.8.17?
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
|
||||
* sunnypilot already installed and you installed a version after 0.8.17?
|
||||
1. On the comma three/3X, go to `Settings` ▶️ `Software`.
|
||||
1. On the comma three, go to `Settings` ▶️ `Software`.
|
||||
2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
|
||||
3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `staging`
|
||||
4. Scroll to select the desired branch per Recommended Branches (see below). Example: `staging-c3-new`
|
||||
|
||||
### Recommended Branches
|
||||
| Branch | Installation URL |
|
||||
|:---------------:|:---------------------------------------------:|
|
||||
| `release` | `https://release.sunnypilot.ai` |
|
||||
| `staging` | `https://staging.sunnypilot.ai` |
|
||||
| `dev` | `https://dev.sunnypilot.ai` |
|
||||
| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:----------------:|:---------------------------------------------:|
|
||||
| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai` |
|
||||
| `dev-c3-new` | `https://dev-c3-new.sunnypilot.ai` |
|
||||
| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
|
||||
| `release-c3-new` | **Not yet available**. |
|
||||
|
||||
> [!TIP]
|
||||
> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
|
||||
> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
|
||||
|
||||
> [!NOTE]
|
||||
> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
|
||||
> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
|
||||
|
||||
<details>
|
||||
|
||||
10
RELEASES.md
10
RELEASES.md
@@ -1,13 +1,7 @@
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model
|
||||
* World Model: removed global localization inputs
|
||||
* World Model: 2x the number of parameters
|
||||
* World Model: trained on 4x the number of segments
|
||||
* Driving Vision Model: trained on 4x the number of segments
|
||||
* Honda City 2023 support thanks to vanillagorillaa and drFritz!
|
||||
* Honda N-Box 2018 support thanks to miettal!
|
||||
* Honda Odyssey 2021-25 support thanks to csouers and MVL!
|
||||
* Record driving feedback using LKAS button
|
||||
* Honda City 2023 support thanks to drFritz!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
|
||||
@@ -359,6 +359,11 @@ SConscript([
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/logcatd/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
@@ -25,26 +25,6 @@ struct ModularAssistiveDrivingSystem {
|
||||
}
|
||||
}
|
||||
|
||||
struct IntelligentCruiseButtonManagement {
|
||||
state @0 :IntelligentCruiseButtonManagementState;
|
||||
sendButton @1 :SendButtonState;
|
||||
vTarget @2 :Float32;
|
||||
|
||||
enum IntelligentCruiseButtonManagementState {
|
||||
inactive @0; # No button press or default state
|
||||
preActive @1; # Pre-active state before transitioning to increasing or decreasing
|
||||
increasing @2; # Increasing speed
|
||||
decreasing @3; # Decreasing speed
|
||||
holding @4; # Holding steady speed
|
||||
}
|
||||
|
||||
enum SendButtonState {
|
||||
none @0;
|
||||
increase @1;
|
||||
decrease @2;
|
||||
}
|
||||
}
|
||||
|
||||
# Same struct as Log.RadarState.LeadData
|
||||
struct LeadData {
|
||||
dRel @0 :Float32;
|
||||
@@ -68,49 +48,6 @@ struct LeadData {
|
||||
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
|
||||
# unused, these are reserved for upstream events so we don't collide
|
||||
reserved9 @9;
|
||||
reserved10 @10;
|
||||
reserved11 @11;
|
||||
reserved12 @12;
|
||||
reserved13 @13;
|
||||
reserved14 @14;
|
||||
reserved15 @15;
|
||||
reserved16 @16;
|
||||
reserved17 @17;
|
||||
reserved18 @18;
|
||||
reserved19 @19;
|
||||
reserved20 @20;
|
||||
reserved21 @21;
|
||||
reserved22 @22;
|
||||
reserved23 @23;
|
||||
reserved24 @24;
|
||||
reserved25 @25;
|
||||
reserved26 @26;
|
||||
reserved27 @27;
|
||||
reserved28 @28;
|
||||
reserved29 @29;
|
||||
reserved30 @30;
|
||||
|
||||
promptSingleLow @31;
|
||||
promptSingleHigh @32;
|
||||
}
|
||||
}
|
||||
|
||||
struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
@@ -185,13 +122,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
longitudinalPlanSource @1 :LongitudinalPlanSource;
|
||||
smartCruiseControl @2 :SmartCruiseControl;
|
||||
speedLimit @3 :SpeedLimit;
|
||||
vTarget @4 :Float32;
|
||||
aTarget @5 :Float32;
|
||||
events @6 :List(OnroadEventSP.Event);
|
||||
e2eAlerts @7 :E2eAlerts;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
@@ -203,97 +133,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
|
||||
struct SmartCruiseControl {
|
||||
vision @0 :Vision;
|
||||
map @1 :Map;
|
||||
|
||||
struct Vision {
|
||||
state @0 :VisionState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
currentLateralAccel @3 :Float32;
|
||||
maxPredictedLateralAccel @4 :Float32;
|
||||
enabled @5 :Bool;
|
||||
active @6 :Bool;
|
||||
}
|
||||
|
||||
struct Map {
|
||||
state @0 :MapState;
|
||||
vTarget @1 :Float32;
|
||||
aTarget @2 :Float32;
|
||||
enabled @3 :Bool;
|
||||
active @4 :Bool;
|
||||
}
|
||||
|
||||
enum VisionState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on vision range.
|
||||
entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
|
||||
turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
leaving @4; # Road ahead straightens. Start to allow positive acceleration.
|
||||
overriding @5; # System overriding with manual control.
|
||||
}
|
||||
|
||||
enum MapState {
|
||||
disabled @0; # System disabled or inactive.
|
||||
enabled @1; # No predicted substantial turn on map range.
|
||||
turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
overriding @3; # System overriding with manual control.
|
||||
}
|
||||
}
|
||||
|
||||
struct SpeedLimit {
|
||||
resolver @0 :Resolver;
|
||||
assist @1 :Assist;
|
||||
|
||||
struct Resolver {
|
||||
speedLimit @0 :Float32;
|
||||
distToSpeedLimit @1 :Float32;
|
||||
source @2 :Source;
|
||||
speedLimitOffset @3 :Float32;
|
||||
speedLimitLast @4 :Float32;
|
||||
speedLimitFinal @5 :Float32;
|
||||
speedLimitFinalLast @6 :Float32;
|
||||
speedLimitValid @7 :Bool;
|
||||
speedLimitLastValid @8 :Bool;
|
||||
}
|
||||
|
||||
struct Assist {
|
||||
state @0 :AssistState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
vTarget @3 :Float32;
|
||||
aTarget @4 :Float32;
|
||||
}
|
||||
|
||||
enum Source {
|
||||
none @0;
|
||||
car @1;
|
||||
map @2;
|
||||
}
|
||||
|
||||
enum AssistState {
|
||||
disabled @0;
|
||||
inactive @1; # No speed limit set or not enabled by parameter.
|
||||
preActive @2;
|
||||
pending @3; # Awaiting new speed limit.
|
||||
adapting @4; # Reducing speed to match new speed limit.
|
||||
active @5; # Cruising at speed limit.
|
||||
}
|
||||
}
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
sccVision @1;
|
||||
sccMap @2;
|
||||
speedLimitAssist @3;
|
||||
}
|
||||
|
||||
struct E2eAlerts {
|
||||
greenLightAlert @0 :Bool;
|
||||
leadDepartAlert @1 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct OnroadEventSP @0xda96579883444c35 {
|
||||
@@ -333,22 +172,12 @@ struct OnroadEventSP @0xda96579883444c35 {
|
||||
experimentalModeSwitched @14;
|
||||
wrongCarModeAlertOnly @15;
|
||||
pedalPressedAlertOnly @16;
|
||||
laneTurnLeft @17;
|
||||
laneTurnRight @18;
|
||||
speedLimitPreActive @19;
|
||||
speedLimitActive @20;
|
||||
speedLimitChanged @21;
|
||||
speedLimitPending @22;
|
||||
e2eChime @23;
|
||||
}
|
||||
}
|
||||
|
||||
struct CarParamsSP @0x80ae746ee2596b11 {
|
||||
flags @0 :UInt32; # flags for car specific quirks in sunnypilot
|
||||
safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
|
||||
pcmCruiseSpeed @3 :Bool;
|
||||
intelligentCruiseButtonManagementAvailable @4 :Bool;
|
||||
enableGasInterceptor @5 :Bool;
|
||||
|
||||
neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
|
||||
|
||||
@@ -368,24 +197,10 @@ struct CarControlSP @0xa5cd762cd951a455 {
|
||||
params @1 :List(Param);
|
||||
leadOne @2 :LeadData;
|
||||
leadTwo @3 :LeadData;
|
||||
intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
|
||||
|
||||
struct Param {
|
||||
key @0 :Text;
|
||||
type @2 :ParamType;
|
||||
value @3 :Data;
|
||||
|
||||
valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
|
||||
}
|
||||
|
||||
enum ParamType {
|
||||
string @0;
|
||||
bool @1;
|
||||
int @2;
|
||||
float @3;
|
||||
time @4;
|
||||
json @5;
|
||||
bytes @6;
|
||||
value @1 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -432,7 +247,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct CarStateSP @0xb86e6369214c01c8 {
|
||||
speedLimit @0 :Float32;
|
||||
}
|
||||
|
||||
struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
@@ -444,14 +258,7 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
|
||||
roadName @5 :Text;
|
||||
}
|
||||
|
||||
struct ModelDataV2SP @0xa1680744031fdb2d {
|
||||
laneTurnDirection @0 :TurnDirection;
|
||||
|
||||
enum TurnDirection {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
}
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
|
||||
@@ -585,6 +585,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
heartbeatLost @22 :Bool;
|
||||
interruptLoad @25 :Float32;
|
||||
fanPower @28 :UInt8;
|
||||
fanStallCount @34 :UInt8;
|
||||
|
||||
spiErrorCount @33 :UInt16;
|
||||
|
||||
@@ -713,7 +714,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
|
||||
safetyParamDEPRECATED @20 :Int16;
|
||||
safetyParam2DEPRECATED @26 :UInt32;
|
||||
fanStallCountDEPRECATED @34 :UInt8;
|
||||
}
|
||||
|
||||
struct PeripheralState {
|
||||
@@ -2631,7 +2631,7 @@ struct Event {
|
||||
backupManagerSP @113 :Custom.BackupManagerSP;
|
||||
carStateSP @114 :Custom.CarStateSP;
|
||||
liveMapDataSP @115 :Custom.LiveMapDataSP;
|
||||
modelDataV2SP @116 :Custom.ModelDataV2SP;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
customReserved10 @136 :Custom.CustomReserved10;
|
||||
customReserved11 @137 :Custom.CustomReserved11;
|
||||
customReserved12 @138 :Custom.CustomReserved12;
|
||||
@@ -2684,7 +2684,7 @@ struct Event {
|
||||
lateralPlanDEPRECATED @64 :LateralPlan;
|
||||
navModelDEPRECATED @104 :NavModelData;
|
||||
uiPlanDEPRECATED @106 :UiPlan;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
|
||||
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
|
||||
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
|
||||
}
|
||||
|
||||
@@ -33,7 +33,7 @@ MessageContext message_context;
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
float freq = 0.0f;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = false, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
|
||||
@@ -88,8 +88,6 @@ _services: dict[str, tuple] = {
|
||||
"carControlSP": (True, 100., 10),
|
||||
"carStateSP": (True, 100., 10),
|
||||
"liveMapDataSP": (True, 1., 1),
|
||||
"modelDataV2SP": (True, 20.),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
@@ -122,12 +120,12 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
|
||||
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %f, %d}},\n' % \
|
||||
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "TCPv3 + gWMv9 (Default)"
|
||||
#define DEFAULT_MODEL "Steam Powered (Default)"
|
||||
|
||||
@@ -94,6 +94,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
@@ -145,33 +146,18 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
|
||||
{"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
|
||||
{"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"LastGPSPositionLLK", {PERSISTENT, STRING}},
|
||||
{"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
|
||||
{"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
|
||||
{"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -197,8 +183,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
|
||||
{"SunnylinkDongleId", {PERSISTENT, STRING}},
|
||||
{"SunnylinkdPid", {PERSISTENT, INT}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
|
||||
{"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
|
||||
{"SunnylinkEnabled", {PERSISTENT, BOOL}},
|
||||
|
||||
// Backup Manager params
|
||||
{"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
|
||||
@@ -206,19 +191,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
|
||||
// sunnypilot car specific params
|
||||
{"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnypilot model params
|
||||
// model panel params
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
|
||||
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
@@ -239,25 +219,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"OsmStateTitle", {PERSISTENT, STRING}},
|
||||
{"OsmWayTest", {PERSISTENT, STRING}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"RoadNameToggle", {PERSISTENT, STRING}},
|
||||
|
||||
// Speed Limit
|
||||
{"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
|
||||
{"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
|
||||
{"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
|
||||
// Smart Cruise Control
|
||||
{"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
{"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Torque lateral control custom params
|
||||
{"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
};
|
||||
|
||||
@@ -15,8 +15,6 @@
|
||||
#include "common/version.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
class SwaglogState {
|
||||
public:
|
||||
SwaglogState() {
|
||||
@@ -58,7 +56,7 @@ public:
|
||||
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
|
||||
ctx_j["daemon"] = daemon_name;
|
||||
}
|
||||
ctx_j["version"] = SUNNYPILOT_VERSION;
|
||||
ctx_j["version"] = COMMA_VERSION;
|
||||
ctx_j["dirty"] = !getenv("CLEAN");
|
||||
ctx_j["device"] = Hardware::get_name();
|
||||
}
|
||||
|
||||
@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
|
||||
|
||||
class TestMarkdown:
|
||||
def test_all_release_notes(self):
|
||||
with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
|
||||
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
|
||||
@@ -9,8 +9,6 @@
|
||||
#include "system/hardware/hw.h"
|
||||
#include "third_party/json11/json11.hpp"
|
||||
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
std::string daemon_name = "testy";
|
||||
std::string dongle_id = "test_dongle_id";
|
||||
int LINE_NO = 0;
|
||||
@@ -55,7 +53,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
|
||||
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
|
||||
REQUIRE(ctx["dirty"].bool_value() == true);
|
||||
|
||||
REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
|
||||
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
|
||||
|
||||
std::string device = Hardware::get_name();
|
||||
REQUIRE(ctx["device"].string_value() == device);
|
||||
|
||||
@@ -36,7 +36,6 @@ const double MS_TO_KPH = 3.6;
|
||||
const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
|
||||
const double METER_TO_MILE = KM_TO_MILE / 1000.0;
|
||||
const double METER_TO_FOOT = 3.28084;
|
||||
const double METER_TO_KM = 1. / 1000.0;
|
||||
|
||||
#define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
|
||||
|
||||
|
||||
37
docs/CARS.md
37
docs/CARS.md
@@ -4,7 +4,7 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 339 Supported Cars
|
||||
# 334 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -21,10 +21,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
@@ -86,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
@@ -102,9 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
@@ -168,7 +163,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
@@ -239,20 +233,20 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -265,7 +259,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
@@ -311,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|
||||
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
|
||||
### First contribution
|
||||
|
||||
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
|
||||
There's lot of bounties that don't require a comma 3X or a car.
|
||||
There's lot of bounties that don't require a comma 3/3X or a car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
# Debugging Panda Safety with Replay Drive + LLDB
|
||||
|
||||
## 1. Start the debugger in VS Code
|
||||
|
||||
* Select **Replay drive + Safety LLDB**.
|
||||
* Enter the route or segment when prompted.
|
||||
[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
|
||||
|
||||
## 2. Attach LLDB
|
||||
|
||||
* When prompted, pick the running **`replay_drive` process**.
|
||||
* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
|
||||
|
||||
> [!TIP]
|
||||
> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
|
||||
|
||||
## 3. Set breakpoints in VS Code
|
||||
Breakpoints can be set directly in `modes/xxx.h` (or any C file).
|
||||
No extra LLDB commands are required — just place breakpoints in the editor.
|
||||
|
||||
## 4. Resume execution
|
||||
Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
|
||||
|
||||
> [!NOTE]
|
||||
> * Use short routes for quicker iteration.
|
||||
> * Pause `replay_drive` early to avoid wasting log messages.
|
||||
|
||||
## Video
|
||||
|
||||
View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578
|
||||
@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop, and in-vehicle tests before each software release.
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
@@ -29,18 +29,8 @@ ensuring two main safety requirements.
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
|
||||
|
||||
[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
||||
---
|
||||
[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
|
||||
|
||||
### Forks of openpilot
|
||||
|
||||
* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
|
||||
* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
|
||||
* If your fork modifies any of the code in `opendbc/safety/`:
|
||||
* your fork cannot use the openpilot trademark
|
||||
* your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
|
||||
|
||||
Failure to comply with these standards will get you and your users banned from comma.ai servers.
|
||||
|
||||
**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# connect to a comma 3X
|
||||
# connect to a comma 3/3X
|
||||
|
||||
A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
|
||||
## Serial Console
|
||||
|
||||
On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
|
||||
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
|
||||
|
||||
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
|
||||
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
|
||||
|
||||
> [!NOTE]
|
||||
> The default port for ADB is 5555 on the comma 3X.
|
||||
> The default port for ADB is 5555 on the comma 3/3X.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
|
||||
Just run `tools/replay/replay --demo`.
|
||||
|
||||
## Replaying CAN data
|
||||
*Hardware required: jungle and comma 3X*
|
||||
*Hardware required: jungle and comma 3/3X*
|
||||
|
||||
1. Connect your PC to a jungle.
|
||||
2.
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
|
||||
|
||||
And if you have a comma 3X, we'll deploy the change to your device for testing.
|
||||
And if you have a comma 3/3X, we'll deploy the change to your device for testing.
|
||||
|
||||
## 1. Set up your development environment
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="13.1"
|
||||
export AGNOS_VERSION="12.8"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
@@ -21,7 +21,7 @@ nav:
|
||||
- What is openpilot?: getting-started/what-is-openpilot.md
|
||||
- How-to:
|
||||
- Turn the speed blue: how-to/turn-the-speed-blue.md
|
||||
- Connect to a comma 3X: how-to/connect-to-comma.md
|
||||
- Connect to a comma 3/3X: how-to/connect-to-comma.md
|
||||
# - Make your first pull request: how-to/make-first-pr.md
|
||||
#- Replay a drive: how-to/replay-a-drive.md
|
||||
- Concepts:
|
||||
|
||||
Submodule opendbc_repo updated: c7126f8ba6...004fa8df07
2
panda
2
panda
Submodule panda updated: 69ab12ee2a...f10ddc6a89
@@ -36,9 +36,6 @@ dependencies = [
|
||||
"pyopenssl < 24.3.0",
|
||||
"pyaudio",
|
||||
|
||||
# ubloxd (TODO: just use struct)
|
||||
"kaitaistruct",
|
||||
|
||||
# panda
|
||||
"libusb1",
|
||||
"spidev; platform_system == 'Linux'",
|
||||
@@ -104,9 +101,8 @@ dev = [
|
||||
"av",
|
||||
"azure-identity",
|
||||
"azure-storage-blob",
|
||||
"dbus-next", # TODO: remove once we moved everything to jeepney
|
||||
"dbus-next",
|
||||
"dictdiffer",
|
||||
"jeepney",
|
||||
"matplotlib",
|
||||
"opencv-python-headless",
|
||||
"parameterized >=0.8, <0.9",
|
||||
@@ -124,7 +120,6 @@ dev = [
|
||||
|
||||
tools = [
|
||||
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
|
||||
"dearpygui>=2.1.0",
|
||||
]
|
||||
|
||||
[project.urls]
|
||||
@@ -162,6 +157,7 @@ testpaths = [
|
||||
"system/camerad",
|
||||
"system/hardware",
|
||||
"system/loggerd",
|
||||
"system/proclogd",
|
||||
"system/tests",
|
||||
"system/ubloxd",
|
||||
"system/webrtc",
|
||||
@@ -177,7 +173,7 @@ quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
|
||||
|
||||
[tool.mypy]
|
||||
python_version = "3.11"
|
||||
@@ -251,7 +247,6 @@ exclude = [
|
||||
"teleoprtc_repo",
|
||||
"third_party",
|
||||
"*.ipynb",
|
||||
"generated",
|
||||
]
|
||||
lint.flake8-implicit-str-concat.allow-multiline = false
|
||||
|
||||
|
||||
@@ -39,7 +39,7 @@ cd $BUILD_DIR
|
||||
rm -f panda/board/obj/panda.bin.signed
|
||||
rm -f panda/board/obj/panda_h7.bin.signed
|
||||
|
||||
VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-] '{print $2}')
|
||||
VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}')
|
||||
echo "[-] committing version $VERSION T=$SECONDS"
|
||||
git add -f .
|
||||
git commit -a -m "openpilot v$VERSION release"
|
||||
|
||||
@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
|
||||
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
|
||||
GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
|
||||
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
|
||||
VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
|
||||
VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
|
||||
|
||||
echo -n "$GIT_HASH" > git_src_commit
|
||||
echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
|
||||
|
||||
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
|
||||
fi
|
||||
|
||||
# "Tagging"
|
||||
echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
|
||||
echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
|
||||
|
||||
## set git identity
|
||||
#source $DIR/identity.sh
|
||||
@@ -55,7 +55,7 @@ git add -f .
|
||||
# include source commit hash and build date in commit
|
||||
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
|
||||
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
|
||||
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
|
||||
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
|
||||
|
||||
# Commit with detailed message
|
||||
git commit -a -m "sunnypilot v$VERSION
|
||||
|
||||
@@ -14,7 +14,7 @@ def setup_argument_parser():
|
||||
parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
|
||||
parser.add_argument('--source-branch', type=str, default='master',
|
||||
help='Source branch for merging')
|
||||
parser.add_argument('--target-branch', type=str, default='master-dev-test',
|
||||
parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
|
||||
help='Target branch for merging')
|
||||
parser.add_argument('--squash-script-path', type=str, required=True,
|
||||
help='Path to the squash_and_merge.py script')
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -71,7 +71,7 @@ class Car:
|
||||
|
||||
def __init__(self, CI=None, RI=None) -> None:
|
||||
self.can_sock = messaging.sub_sock('can', timeout=20)
|
||||
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
|
||||
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
|
||||
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
|
||||
|
||||
self.can_rcv_cum_timeout_counter = 0
|
||||
@@ -88,7 +88,6 @@ class Car:
|
||||
self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
|
||||
|
||||
is_release = self.params.get_bool("IsReleaseBranch")
|
||||
is_release_sp = self.params.get_bool("IsReleaseSpBranch")
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
@@ -111,7 +110,7 @@ class Car:
|
||||
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
|
||||
fixed_fingerprint, init_params_list_sp, is_release_sp)
|
||||
fixed_fingerprint, init_params_list_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
self.CP = self.CI.CP
|
||||
@@ -125,7 +124,7 @@ class Car:
|
||||
|
||||
self.CP.alternativeExperience = 0
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_alternative_experience(self.CP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
# Dynamic Experimental Control
|
||||
@@ -180,7 +179,7 @@ class Car:
|
||||
self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
|
||||
|
||||
self.mock_carstate = MockCarState()
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode")
|
||||
@@ -217,7 +216,6 @@ class Car:
|
||||
if can_rcv_valid and REPLAY:
|
||||
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
|
||||
|
||||
self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
|
||||
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
|
||||
# Use CarState w/ buttons from the step selfdrived enables on
|
||||
|
||||
@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {
|
||||
|
||||
|
||||
class VCruiseHelper(VCruiseHelperSP):
|
||||
def __init__(self, CP, CP_SP):
|
||||
VCruiseHelperSP.__init__(self, CP, CP_SP)
|
||||
def __init__(self, CP):
|
||||
VCruiseHelperSP.__init__(self)
|
||||
self.CP = CP
|
||||
self.v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_cluster_kph = V_CRUISE_UNSET
|
||||
@@ -46,14 +46,10 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
def update_v_cruise(self, CS, enabled, is_metric):
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
|
||||
self.get_minimum_set_speed(is_metric)
|
||||
|
||||
if CS.cruiseState.available:
|
||||
_enabled = self.update_enabled_state(CS, enabled)
|
||||
if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
|
||||
if not self.CP.pcmCruise:
|
||||
# if stock cruise is completely disabled, then we can use our own set speed logic
|
||||
self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
|
||||
self.update_speed_limit_assist_v_cruise_non_pcm()
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
self.update_button_timers(CS, enabled)
|
||||
else:
|
||||
@@ -105,12 +101,6 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
if not self.button_change_states[button_type]["enabled"]:
|
||||
return
|
||||
|
||||
# Speed Limit Assist for Non PCM long cars.
|
||||
# True: Disallow set speed changes when user confirmed the target set speed during preActive state
|
||||
# False: Allow set speed changes as SLA is not requesting user confirmation
|
||||
if self.update_speed_limit_assist_pre_active_confirmed(button_type):
|
||||
return
|
||||
|
||||
long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
|
||||
if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
|
||||
self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
|
||||
@@ -121,7 +111,7 @@ class VCruiseHelper(VCruiseHelperSP):
|
||||
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
|
||||
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
|
||||
|
||||
self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
|
||||
self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
|
||||
|
||||
def update_button_timers(self, CS, enabled):
|
||||
# increment timer for buttons still pressed
|
||||
|
||||
@@ -57,11 +57,8 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
|
||||
struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
|
||||
|
||||
struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
|
||||
# struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
|
||||
struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
|
||||
struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
|
||||
struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
|
||||
struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
|
||||
**remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
|
||||
)
|
||||
|
||||
return struct_dataclass
|
||||
|
||||
@@ -1,12 +1,15 @@
|
||||
import os
|
||||
import math
|
||||
import hypothesis.strategies as st
|
||||
from hypothesis import Phase, given, settings
|
||||
from parameterized import parameterized
|
||||
|
||||
from cereal import car, custom
|
||||
from opendbc.car import DT_CTRL
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
|
||||
from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
|
||||
from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.values import PLATFORMS
|
||||
from openpilot.selfdrive.car.helpers import convert_carControlSP
|
||||
@@ -18,6 +21,11 @@ from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
|
||||
ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
|
||||
ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
|
||||
|
||||
ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
|
||||
|
||||
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
|
||||
|
||||
|
||||
@@ -29,10 +37,43 @@ class TestCarInterfaces:
|
||||
phases=(Phase.reuse, Phase.generate, Phase.shrink))
|
||||
@given(data=st.data())
|
||||
def test_car_interfaces(self, car_name, data):
|
||||
car_interface = get_fuzzy_car_interface(car_name, data.draw)
|
||||
car_params = car_interface.CP.as_reader()
|
||||
car_params_sp = car_interface.CP_SP
|
||||
CarInterface = interfaces[car_name]
|
||||
|
||||
args = get_fuzzy_car_interface_args(data.draw)
|
||||
|
||||
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
|
||||
alpha_long=args['alpha_long'], is_release=False, docs=False)
|
||||
car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
|
||||
alpha_long=args['alpha_long'], docs=False)
|
||||
car_params = car_params.as_reader()
|
||||
car_interface = CarInterface(car_params, car_params_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(car_interface)
|
||||
assert car_params
|
||||
assert car_params_sp
|
||||
assert car_interface
|
||||
|
||||
assert car_params.mass > 1
|
||||
assert car_params.wheelbase > 0
|
||||
# centerToFront is center of gravity to front wheels, assert a reasonable range
|
||||
assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
|
||||
assert car_params.maxLateralAccel > 0
|
||||
|
||||
# Longitudinal sanity checks
|
||||
assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
|
||||
assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
|
||||
|
||||
# Lateral sanity checks
|
||||
if car_params.steerControlType != CarParams.SteerControlType.angle:
|
||||
tune = car_params.lateralTuning
|
||||
if tune.which() == 'pid':
|
||||
if car_name != MOCK.MOCK:
|
||||
assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
|
||||
assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
|
||||
assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
|
||||
|
||||
elif tune.which() == 'torque':
|
||||
assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
|
||||
assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
|
||||
|
||||
cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
|
||||
cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
|
||||
@@ -60,7 +101,7 @@ class TestCarInterfaces:
|
||||
# Test controller initialization
|
||||
# TODO: wait until card refactor is merged to run controller a few times,
|
||||
# hypothesis also slows down significantly with just one more message draw
|
||||
LongControl(car_params, car_params_sp)
|
||||
LongControl(car_params)
|
||||
if car_params.steerControlType == CarParams.SteerControlType.angle:
|
||||
LatControlAngle(car_params, car_params_sp, car_interface)
|
||||
elif car_params.lateralTuning.which() == 'pid':
|
||||
|
||||
@@ -5,7 +5,7 @@ import numpy as np
|
||||
from parameterized import parameterized_class
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
|
||||
from cereal import car, custom
|
||||
from cereal import car
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
|
||||
|
||||
@@ -44,13 +44,12 @@ class TestCruiseSpeed:
|
||||
assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
|
||||
|
||||
|
||||
# TODO: test pcmCruise and pcmCruiseSpeed
|
||||
@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
|
||||
# TODO: test pcmCruise
|
||||
@parameterized_class(('pcm_cruise',), [(False,)])
|
||||
class TestVCruiseHelper:
|
||||
def setup_method(self):
|
||||
self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
|
||||
self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
self.reset_cruise_speed_state()
|
||||
|
||||
def reset_cruise_speed_state(self):
|
||||
|
||||
@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
|
||||
cls.CarInterface = interfaces[cls.platform]
|
||||
cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
|
||||
cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
|
||||
assert cls.CP
|
||||
assert cls.CP_SP
|
||||
assert cls.CP.carFingerprint == cls.platform
|
||||
|
||||
@@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
self.pose_calibrator = PoseCalibrator()
|
||||
self.calibrated_pose: Pose | None = None
|
||||
|
||||
self.LoC = LongControl(self.CP, self.CP_SP)
|
||||
self.LoC = LongControl(self.CP)
|
||||
self.VM = VehicleModel(self.CP)
|
||||
self.LaC: LatControl
|
||||
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
@@ -99,6 +99,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
|
||||
self.LaC.extension.update_model_v2(self.sm['modelV2'])
|
||||
|
||||
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
|
||||
self.LaC.extension.update_lateral_lag(self.lat_delay)
|
||||
|
||||
long_plan = self.sm['longitudinalPlan']
|
||||
@@ -115,8 +116,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
|
||||
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
|
||||
(not standstill or self.CP.steerAtStandstill)
|
||||
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
|
||||
(self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
|
||||
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
|
||||
|
||||
actuators = CC.actuators
|
||||
actuators.longControlState = self.LoC.long_control_state
|
||||
@@ -132,7 +132,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
self.LoC.reset()
|
||||
|
||||
# accel PID loop
|
||||
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
|
||||
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
|
||||
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
|
||||
|
||||
# Steering PID loop and lateral MPC
|
||||
@@ -168,7 +168,7 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
|
||||
CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
|
||||
|
||||
CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
|
||||
CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
|
||||
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
|
||||
CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
|
||||
|
||||
@@ -233,9 +233,6 @@ class Controls(ControlsExt, ModelStateBase):
|
||||
while not evt.is_set():
|
||||
self.get_params_sp()
|
||||
|
||||
if self.CP.lateralTuning.which() == 'torque':
|
||||
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
def run(self):
|
||||
|
||||
@@ -1,12 +1,10 @@
|
||||
from cereal import log, custom
|
||||
from cereal import log
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
|
||||
|
||||
LaneChangeState = log.LaneChangeState
|
||||
LaneChangeDirection = log.LaneChangeDirection
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
|
||||
LANE_CHANGE_TIME_MAX = 10.
|
||||
@@ -32,12 +30,6 @@ DESIRES = {
|
||||
},
|
||||
}
|
||||
|
||||
TURN_DESIRES = {
|
||||
TurnDirection.none: log.Desire.none,
|
||||
TurnDirection.turnLeft: log.Desire.turnLeft,
|
||||
TurnDirection.turnRight: log.Desire.turnRight,
|
||||
}
|
||||
|
||||
|
||||
class DesireHelper:
|
||||
def __init__(self):
|
||||
@@ -49,25 +41,13 @@ class DesireHelper:
|
||||
self.prev_one_blinker = False
|
||||
self.desire = log.Desire.none
|
||||
self.alc = AutoLaneChangeController(self)
|
||||
self.lane_turn_controller = LaneTurnController(self)
|
||||
self.lane_turn_direction = TurnDirection.none
|
||||
|
||||
@staticmethod
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
one_blinker = carstate.leftBlinker != carstate.rightBlinker
|
||||
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
||||
|
||||
# Lane turn controller update
|
||||
self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
|
||||
left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
|
||||
self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
|
||||
|
||||
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
|
||||
self.lane_change_state = LaneChangeState.off
|
||||
self.lane_change_direction = LaneChangeDirection.none
|
||||
@@ -76,13 +56,12 @@ class DesireHelper:
|
||||
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
|
||||
self.lane_change_state = LaneChangeState.preLaneChange
|
||||
self.lane_change_ll_prob = 1.0
|
||||
# Initialize lane change direction to prevent UI alert flicker
|
||||
self.lane_change_direction = self.get_lane_change_direction(carstate)
|
||||
|
||||
# LaneChangeState.preLaneChange
|
||||
elif self.lane_change_state == LaneChangeState.preLaneChange:
|
||||
# Update lane change direction
|
||||
self.lane_change_direction = self.get_lane_change_direction(carstate)
|
||||
# Set lane change direction
|
||||
self.lane_change_direction = LaneChangeDirection.left if \
|
||||
carstate.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
torque_applied = carstate.steeringPressed and \
|
||||
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
@@ -127,10 +106,7 @@ class DesireHelper:
|
||||
|
||||
self.prev_one_blinker = one_blinker
|
||||
|
||||
if self.lane_turn_direction != TurnDirection.none:
|
||||
self.desire = TURN_DESIRES[self.lane_turn_direction]
|
||||
else:
|
||||
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
|
||||
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
|
||||
|
||||
# Send keep pulse once per second during LaneChangeStart.preLaneChange
|
||||
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
|
||||
|
||||
@@ -48,10 +48,6 @@ class LatControlTorque(LatControl):
|
||||
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
|
||||
# Override torque params from extension
|
||||
if self.extension.update_override_torque_params(self.torque_params):
|
||||
self.update_limits()
|
||||
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
if not active:
|
||||
output_torque = 0.0
|
||||
@@ -60,8 +56,10 @@ class LatControlTorque(LatControl):
|
||||
actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
|
||||
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
|
||||
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
|
||||
|
||||
desired_lateral_accel = desired_curvature * CS.vEgo ** 2
|
||||
|
||||
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
|
||||
# desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
|
||||
actual_lateral_accel = actual_curvature * CS.vEgo ** 2
|
||||
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
|
||||
|
||||
@@ -73,8 +71,6 @@ class LatControlTorque(LatControl):
|
||||
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
|
||||
pid_log.error = float(setpoint - measurement)
|
||||
ff = gravity_adjusted_lateral_accel
|
||||
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
|
||||
ff -= self.torque_params.latAccelOffset
|
||||
ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
|
||||
@@ -10,11 +10,8 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
def long_control_state_trans(CP, active, long_control_state, v_ego,
|
||||
should_stop, brake_pressed, cruise_standstill):
|
||||
# Gas Interceptor
|
||||
cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
|
||||
|
||||
stopping_condition = should_stop
|
||||
starting_condition = (not should_stop and
|
||||
not cruise_standstill and
|
||||
@@ -48,9 +45,8 @@ def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
return long_control_state
|
||||
|
||||
class LongControl:
|
||||
def __init__(self, CP, CP_SP):
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.long_control_state = LongCtrlState.off
|
||||
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
|
||||
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
|
||||
@@ -65,7 +61,7 @@ class LongControl:
|
||||
self.pid.neg_limit = accel_limits[0]
|
||||
self.pid.pos_limit = accel_limits[1]
|
||||
|
||||
self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
|
||||
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
|
||||
should_stop, CS.brakePressed,
|
||||
CS.cruiseState.standstill)
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
|
||||
@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
|
||||
|
||||
class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
# TODO remove mpc modes when TR released
|
||||
self.mpc.mode = 'acc'
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
@@ -146,9 +146,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
|
||||
accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
|
||||
|
||||
# Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
|
||||
v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
|
||||
|
||||
if force_slow_decel:
|
||||
v_cruise = 0.0
|
||||
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car, custom
|
||||
from openpilot.common.gps import get_gps_location_service
|
||||
from cereal import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import Priority, config_realtime_process
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
@@ -17,22 +16,14 @@ def main():
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("plannerd got CarParams: %s", CP.brand)
|
||||
|
||||
cloudlog.info("plannerd is waiting for CarParamsSP")
|
||||
CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
|
||||
cloudlog.info("plannerd got CarParamsSP")
|
||||
|
||||
gps_location_service = get_gps_location_service(params)
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
|
||||
longitudinal_planner = LongitudinalPlanner(CP)
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
|
||||
'liveMapDataSP', 'carStateSP', gps_location_service],
|
||||
poll='carState')
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
|
||||
poll='modelV2')
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
longitudinal_planner.sla.update_car_state(sm['carState'])
|
||||
if sm.updated['modelV2']:
|
||||
longitudinal_planner.update(sm)
|
||||
longitudinal_planner.publish(sm, pm)
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from cereal import car, custom
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
@@ -8,52 +8,49 @@ class TestLongControlStateTransition:
|
||||
|
||||
def test_stay_stopped(self):
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
active = False
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.off
|
||||
|
||||
def test_engage():
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.off
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
def test_starting():
|
||||
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
@@ -1,70 +0,0 @@
|
||||
import numpy as np
|
||||
from cereal import car, messaging
|
||||
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
|
||||
|
||||
np.random.seed(0)
|
||||
|
||||
LA_ERR_STD = 1.0
|
||||
INPUT_NOISE_STD = 0.08
|
||||
V_EGO = 30.0
|
||||
|
||||
WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
|
||||
STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
|
||||
|
||||
ROLL_BIAS_DEG = 2.0
|
||||
ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
|
||||
TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
|
||||
TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
|
||||
|
||||
def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
|
||||
rng = np.random.default_rng(0)
|
||||
steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
|
||||
la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
|
||||
frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
|
||||
lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
|
||||
if input_noise_std is not None:
|
||||
steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
|
||||
lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
|
||||
return steer_torques, lat_accels
|
||||
|
||||
def get_warmed_up_estimator(steer_torques, lat_accels):
|
||||
est = TorqueEstimator(car.CarParams())
|
||||
for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
|
||||
est.filtered_points.add_point(steer_torque, lat_accel)
|
||||
return est
|
||||
|
||||
def simulate_straight_road_msgs(est):
|
||||
carControl = messaging.new_message('carControl').carControl
|
||||
carOutput = messaging.new_message('carOutput').carOutput
|
||||
carState = messaging.new_message('carState').carState
|
||||
livePose = messaging.new_message('livePose').livePose
|
||||
carControl.latActive = True
|
||||
carState.vEgo = V_EGO
|
||||
carState.steeringPressed = False
|
||||
ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
|
||||
steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
|
||||
lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
|
||||
for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
|
||||
carOutput.actuatorsOutput.torque = float(-steer_torque)
|
||||
livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
|
||||
livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
|
||||
for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
|
||||
est.handle_log(t, which, msg)
|
||||
|
||||
def test_estimated_offset():
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
msg = est.get_msg()
|
||||
# TODO add lataccelfactor and friction check when we have more accurate estimates
|
||||
assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
|
||||
|
||||
def test_straight_road_roll_bias():
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
simulate_straight_road_msgs(est)
|
||||
msg = est.get_msg()
|
||||
assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
|
||||
@@ -11,7 +11,6 @@ from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
|
||||
|
||||
HISTORY = 5 # secs
|
||||
POINTS_PER_BUCKET = 1500
|
||||
@@ -51,10 +50,9 @@ class TorqueBuckets(PointBuckets):
|
||||
break
|
||||
|
||||
|
||||
class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
class TorqueEstimator(ParameterEstimator):
|
||||
def __init__(self, CP, decimated=False, track_all_points=False):
|
||||
ParameterEstimator.__init__(self)
|
||||
TorqueEstimatorExt.__init__(self, CP)
|
||||
super().__init__()
|
||||
self.CP = CP
|
||||
self.hist_len = int(HISTORY / DT_MDL)
|
||||
self.lag = 0.0
|
||||
@@ -84,8 +82,6 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
|
||||
self.calibrator = PoseCalibrator()
|
||||
|
||||
TorqueEstimatorExt.initialize_custom_params(self, decimated)
|
||||
|
||||
self.reset()
|
||||
|
||||
initial_params = {
|
||||
@@ -264,8 +260,6 @@ def main(demo=False):
|
||||
t = sm.logMonoTime[which] * 1e-9
|
||||
estimator.handle_log(t, which, sm[which])
|
||||
|
||||
TorqueEstimatorExt.update_use_params(estimator)
|
||||
|
||||
# 4Hz driven by livePose
|
||||
if sm.frame % 5 == 0:
|
||||
pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
|
||||
|
||||
@@ -13,9 +13,12 @@ class ModelConstants:
|
||||
META_T_IDXS = [2., 4., 6., 8., 10.]
|
||||
|
||||
# model inputs constants
|
||||
N_FRAMES = 2
|
||||
MODEL_RUN_FREQ = 20
|
||||
MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
|
||||
MODEL_FREQ = 20
|
||||
HISTORY_FREQ = 5
|
||||
HISTORY_LEN_SECONDS = 5
|
||||
TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
|
||||
FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
|
||||
INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
|
||||
|
||||
FEATURE_LEN = 512
|
||||
|
||||
|
||||
@@ -3,7 +3,6 @@ import capnp
|
||||
import numpy as np
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
|
||||
from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
|
||||
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
@@ -96,8 +95,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
# action
|
||||
modelV2.action = action
|
||||
|
||||
# times at X_IDXS of edges and lines
|
||||
LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
|
||||
# times at X_IDXS of edges and lines aren't used
|
||||
LINE_T_IDXS: list[float] = []
|
||||
|
||||
# lane lines
|
||||
modelV2.init('laneLines', 4)
|
||||
@@ -150,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
meta.hardBrakePredicted = hard_brake_predicted.item()
|
||||
|
||||
# confidence
|
||||
if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
|
||||
if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
|
||||
# any disengage prob
|
||||
brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
|
||||
gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
|
||||
|
||||
@@ -80,64 +80,6 @@ class FrameMeta:
|
||||
if vipc is not None:
|
||||
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
|
||||
|
||||
class InputQueues:
|
||||
def __init__ (self, model_fps, env_fps, n_frames_input):
|
||||
assert env_fps % model_fps == 0
|
||||
assert env_fps >= model_fps
|
||||
self.model_fps = model_fps
|
||||
self.env_fps = env_fps
|
||||
self.n_frames_input = n_frames_input
|
||||
|
||||
self.dtypes = {}
|
||||
self.shapes = {}
|
||||
self.q = {}
|
||||
|
||||
def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
|
||||
self.dtypes.update(input_dtypes)
|
||||
if self.env_fps == self.model_fps:
|
||||
self.shapes.update(input_shapes)
|
||||
else:
|
||||
for k in input_shapes:
|
||||
shape = list(input_shapes[k])
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // self.n_frames_input
|
||||
shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
|
||||
else:
|
||||
shape[1] = (self.env_fps // self.model_fps) * shape[1]
|
||||
self.shapes[k] = tuple(shape)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
|
||||
|
||||
def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
|
||||
for k in inputs.keys():
|
||||
if inputs[k].dtype != self.dtypes[k]:
|
||||
raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
|
||||
input_shape = list(self.shapes[k])
|
||||
input_shape[1] = -1
|
||||
single_input = inputs[k].reshape(tuple(input_shape))
|
||||
sz = single_input.shape[1]
|
||||
self.q[k][:,:-sz] = self.q[k][:,sz:]
|
||||
self.q[k][:,-sz:] = single_input
|
||||
|
||||
def get(self, *names) -> dict[str, np.ndarray]:
|
||||
if self.env_fps == self.model_fps:
|
||||
return {k: self.q[k] for k in names}
|
||||
else:
|
||||
out = {}
|
||||
for k in names:
|
||||
shape = self.shapes[k]
|
||||
if 'img' in k:
|
||||
n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
|
||||
out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
|
||||
elif 'pulse' in k:
|
||||
# any pulse within interval counts
|
||||
out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
|
||||
else:
|
||||
idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
|
||||
out[k] = self.q[k][:, idxs]
|
||||
return out
|
||||
|
||||
class ModelState(ModelStateBase):
|
||||
frames: dict[str, DrivingModelFrame]
|
||||
inputs: dict[str, np.ndarray]
|
||||
@@ -160,15 +102,19 @@ class ModelState(ModelStateBase):
|
||||
self.policy_output_slices = policy_metadata['output_slices']
|
||||
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
|
||||
self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
|
||||
self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
|
||||
self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
|
||||
self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
|
||||
|
||||
# policy inputs
|
||||
self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
|
||||
self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
|
||||
self.full_input_queues.reset()
|
||||
self.numpy_inputs = {
|
||||
'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
|
||||
'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
|
||||
'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32),
|
||||
}
|
||||
|
||||
# img buffers are managed in openCL transform code
|
||||
self.vision_inputs: dict[str, Tensor] = {}
|
||||
@@ -190,10 +136,15 @@ class ModelState(ModelStateBase):
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
|
||||
inputs['desire_pulse'][0] = 0
|
||||
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
inputs['desire'][0] = 0
|
||||
new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
|
||||
self.prev_desire[:] = inputs['desire']
|
||||
|
||||
self.full_desire[0,:-1] = self.full_desire[0,1:]
|
||||
self.full_desire[0,-1] = new_desire
|
||||
self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
|
||||
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
|
||||
|
||||
if TICI and not USBGPU:
|
||||
@@ -212,10 +163,9 @@ class ModelState(ModelStateBase):
|
||||
self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
|
||||
|
||||
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
|
||||
for k in ['desire_pulse', 'features_buffer']:
|
||||
self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
|
||||
self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
|
||||
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
|
||||
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
@@ -266,14 +216,14 @@ def main(demo=False):
|
||||
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
|
||||
|
||||
# messaging
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
|
||||
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
|
||||
|
||||
publish_state = PublishState()
|
||||
params = Params()
|
||||
|
||||
# setup filter to track dropped frames
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
|
||||
frame_id = 0
|
||||
last_vipc_frame_id = 0
|
||||
run_count = 0
|
||||
@@ -370,7 +320,7 @@ def main(demo=False):
|
||||
bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
|
||||
transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
|
||||
inputs:dict[str, np.ndarray] = {
|
||||
'desire_pulse': vec_desire,
|
||||
'desire': vec_desire,
|
||||
'traffic_convention': traffic_convention,
|
||||
}
|
||||
|
||||
@@ -383,7 +333,6 @@ def main(demo=False):
|
||||
modelv2_send = messaging.new_message('modelV2')
|
||||
drivingdata_send = messaging.new_message('drivingModelData')
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
|
||||
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
|
||||
prev_action = action
|
||||
@@ -398,7 +347,6 @@ def main(demo=False):
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
|
||||
drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
|
||||
|
||||
@@ -406,7 +354,6 @@ def main(demo=False):
|
||||
pm.send('modelV2', modelv2_send)
|
||||
pm.send('drivingModelData', drivingdata_send)
|
||||
pm.send('cameraOdometry', posenet_send)
|
||||
pm.send('modelDataV2SP', mdv2sp_send)
|
||||
last_vipc_frame_id = meta_main.frame_id
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -84,10 +84,12 @@ Panda *connect(std::string serial="", uint32_t index=0) {
|
||||
panda->set_can_fd_auto(i, true);
|
||||
}
|
||||
|
||||
bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
|
||||
bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
|
||||
DEPRECATED_PANDA_TYPES.end(),
|
||||
panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
|
||||
|
||||
if (!is_supported_panda) {
|
||||
LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
|
||||
if (is_deprecated_panda) {
|
||||
LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
|
||||
return panda.release();
|
||||
}
|
||||
|
||||
@@ -173,6 +175,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
|
||||
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt);
|
||||
ps.setFanPower(health.fan_power);
|
||||
ps.setFanStallCount(health.fan_stall_count);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
|
||||
ps.setSpiErrorCount(health.spi_error_count_pkt);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
|
||||
@@ -9,10 +9,13 @@
|
||||
void pandad_main_thread(std::vector<std::string> serials);
|
||||
|
||||
// deprecated devices
|
||||
static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
|
||||
cereal::PandaState::PandaType::RED_PANDA,
|
||||
cereal::PandaState::PandaType::TRES,
|
||||
cereal::PandaState::PandaType::CUATRO,
|
||||
static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
|
||||
cereal::PandaState::PandaType::WHITE_PANDA,
|
||||
cereal::PandaState::PandaType::GREY_PANDA,
|
||||
cereal::PandaState::PandaType::BLACK_PANDA,
|
||||
cereal::PandaState::PandaType::PEDAL,
|
||||
cereal::PandaState::PandaType::UNO,
|
||||
cereal::PandaState::PandaType::RED_PANDA_V2
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -29,12 +29,6 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
HARDWARE.recover_internal_panda()
|
||||
raise
|
||||
|
||||
# skip flashing if the detected panda is not supported
|
||||
supported_panda = check_panda_support(panda)
|
||||
if not supported_panda:
|
||||
cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
|
||||
return panda
|
||||
|
||||
fw_signature = get_expected_signature(panda)
|
||||
internal_panda = panda.is_internal()
|
||||
|
||||
@@ -42,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
panda_signature = b"" if panda.bootstub else panda.get_signature()
|
||||
cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
|
||||
|
||||
# skip flashing if the detected device is deprecated from upstream
|
||||
hw_type = panda.get_type()
|
||||
if hw_type in Panda.DEPRECATED_DEVICES:
|
||||
cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
|
||||
return panda
|
||||
|
||||
if panda.bootstub or panda_signature != fw_signature:
|
||||
cloudlog.info("Panda firmware out of date, update required")
|
||||
panda.flash()
|
||||
@@ -67,14 +67,6 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
return panda
|
||||
|
||||
|
||||
def check_panda_support(panda) -> bool:
|
||||
hw_type = panda.get_type()
|
||||
if hw_type in Panda.SUPPORTED_DEVICES:
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
|
||||
def main() -> None:
|
||||
# signal pandad to close the relay and exit
|
||||
def signal_handler(signum, frame):
|
||||
@@ -99,6 +91,11 @@ def main() -> None:
|
||||
cloudlog.event("pandad.flash_and_connect", count=count)
|
||||
params.remove("PandaSignatures")
|
||||
|
||||
# TODO: remove this in the next AGNOS
|
||||
# wait until USB is up before counting
|
||||
if time.monotonic() < 60.:
|
||||
no_internal_panda_count = 0
|
||||
|
||||
# Handle missing internal panda
|
||||
if no_internal_panda_count > 0:
|
||||
if no_internal_panda_count == 3:
|
||||
@@ -148,12 +145,6 @@ def main() -> None:
|
||||
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
|
||||
|
||||
for panda in pandas:
|
||||
# skip health check if the detected panda is not supported
|
||||
supported_panda = check_panda_support(panda)
|
||||
if not supported_panda:
|
||||
cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
|
||||
continue
|
||||
|
||||
# check health for lost heartbeat
|
||||
health = panda.health()
|
||||
if health["heartbeat_lost"]:
|
||||
|
||||
BIN
selfdrive/pandad/tests/bootstub.panda.bin
Executable file
BIN
selfdrive/pandad/tests/bootstub.panda.bin
Executable file
Binary file not shown.
@@ -22,6 +22,8 @@ class TestPandad:
|
||||
if len(Panda.list()) == 0:
|
||||
self._run_test(60)
|
||||
|
||||
self.spi = HARDWARE.get_device_type() != 'tici'
|
||||
|
||||
def teardown_method(self):
|
||||
managed_processes['pandad'].stop()
|
||||
|
||||
@@ -104,9 +106,11 @@ class TestPandad:
|
||||
# - 0.2s pandad -> pandad
|
||||
# - plus some buffer
|
||||
print("startup times", ts, sum(ts) / len(ts))
|
||||
assert 0.1 < (sum(ts)/len(ts)) < 0.7
|
||||
assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
|
||||
|
||||
def test_protocol_version_check(self):
|
||||
if not self.spi:
|
||||
pytest.skip("SPI test")
|
||||
# flash old fw
|
||||
fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
|
||||
self._flash_bootstub_and_test(fn, expect_mismatch=True)
|
||||
|
||||
@@ -6,6 +6,7 @@ import random
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.selfdrive.test.helpers import with_processes
|
||||
from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
|
||||
|
||||
@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
|
||||
class TestBoarddSpi:
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
if HARDWARE.get_device_type() == 'tici':
|
||||
pytest.skip("only for spi pandas")
|
||||
os.environ['STARTED'] = '1'
|
||||
os.environ['SPI_ERR_PROB'] = '0.001'
|
||||
if not JUNGLE_SPAM:
|
||||
|
||||
@@ -29,6 +29,10 @@
|
||||
"text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_StorageMissing": {
|
||||
"text": "NVMe drive not mounted.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_CarUnrecognized": {
|
||||
"text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
|
||||
"severity": 0
|
||||
@@ -45,10 +49,5 @@
|
||||
"text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to lateral or longitudinal."
|
||||
},
|
||||
"Offroad_TiciSupport": {
|
||||
"text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to the current branch name."
|
||||
}
|
||||
}
|
||||
|
||||
@@ -83,7 +83,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
|
||||
f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
|
||||
|
||||
|
||||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
|
||||
@@ -21,13 +21,12 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
|
||||
from openpilot.selfdrive.selfdrived.state import StateMachine
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
|
||||
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.version import get_build_metadata
|
||||
|
||||
from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
|
||||
from openpilot.sunnypilot import get_sanitize_int_param
|
||||
from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
|
||||
from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
|
||||
from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
@@ -44,7 +43,6 @@ LaneChangeDirection = log.LaneChangeDirection
|
||||
EventName = log.OnroadEvent.EventName
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
SafetyModel = car.CarParams.SafetyModel
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
|
||||
|
||||
@@ -88,7 +86,7 @@ class SelfdriveD(CruiseHelper):
|
||||
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
|
||||
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
|
||||
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
if REPLAY:
|
||||
@@ -97,8 +95,7 @@ class SelfdriveD(CruiseHelper):
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
|
||||
'modelDataV2SP', 'longitudinalPlanSP'] + \
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
|
||||
self.camera_packets + self.sensor_packets + self.gps_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=ignore,
|
||||
ignore_valid=ignore, frequency=int(1/DT_CTRL))
|
||||
@@ -132,17 +129,18 @@ class SelfdriveD(CruiseHelper):
|
||||
self.logged_comm_issue = None
|
||||
self.not_running_prev = None
|
||||
self.experimental_mode = False
|
||||
self.personality = get_sanitize_int_param(
|
||||
"LongitudinalPersonality",
|
||||
min(log.LongitudinalPersonality.schema.enumerants.values()),
|
||||
max(log.LongitudinalPersonality.schema.enumerants.values()),
|
||||
self.params
|
||||
)
|
||||
self.personality = self.params.get("LongitudinalPersonality", return_default=True)
|
||||
self.recalibrating_seen = False
|
||||
self.state_machine = StateMachine()
|
||||
self.rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
|
||||
self.ignored_processes = {'mapd', }
|
||||
# some comma three with NVMe experience NVMe dropouts mid-drive that
|
||||
# cause loggerd to crash on write, so ignore it only on that platform
|
||||
self.ignored_processes = set()
|
||||
nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
|
||||
if HARDWARE.get_device_type() == 'tici' and nvme_expected:
|
||||
self.ignored_processes = {'loggerd', }
|
||||
self.ignored_processes.update({'mapd'})
|
||||
|
||||
# Determine startup event
|
||||
is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
|
||||
@@ -164,9 +162,8 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events_sp_prev = []
|
||||
|
||||
self.mads = ModularAssistiveDrivingSystem(self)
|
||||
self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
|
||||
|
||||
self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
|
||||
self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
|
||||
|
||||
CruiseHelper.__init__(self, self.CP)
|
||||
|
||||
@@ -212,7 +209,6 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
if not self.CP.notCar:
|
||||
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
|
||||
self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
|
||||
|
||||
# Add car events, ignore if CAN isn't valid
|
||||
if CS.canValid:
|
||||
@@ -304,13 +300,6 @@ class SelfdriveD(CruiseHelper):
|
||||
LaneChangeState.laneChangeFinishing):
|
||||
self.events.add(EventName.laneChange)
|
||||
|
||||
# Handle lane turn
|
||||
lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
|
||||
if lane_turn_direction == TurnDirection.turnLeft:
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
|
||||
elif lane_turn_direction == TurnDirection.turnRight:
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
|
||||
|
||||
for i, pandaState in enumerate(self.sm['pandaStates']):
|
||||
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
|
||||
if i < len(self.CP.safetyConfigs):
|
||||
@@ -452,8 +441,6 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events.add(EventName.personalityChanged)
|
||||
self.experimental_mode_switched = False
|
||||
|
||||
self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
|
||||
|
||||
def data_sample(self):
|
||||
_car_state = messaging.recv_one(self.car_state_sock)
|
||||
CS = _car_state.carState if _car_state else self.CS_prev
|
||||
@@ -558,11 +545,6 @@ class SelfdriveD(CruiseHelper):
|
||||
mads.active = self.mads.active
|
||||
mads.available = self.mads.enabled_toggle
|
||||
|
||||
icbm = ss_sp.intelligentCruiseButtonManagement
|
||||
icbm.state = self.icbm.state
|
||||
icbm.sendButton = self.icbm.cruise_button
|
||||
icbm.vTarget = self.icbm.v_target
|
||||
|
||||
self.pm.send('selfdriveStateSP', ss_sp_msg)
|
||||
|
||||
# onroadEventsSP - logged every second or on change
|
||||
|
||||
@@ -51,9 +51,7 @@ class Plant:
|
||||
from opendbc.car.honda.values import CAR
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
|
||||
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
|
||||
self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
|
||||
self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
|
||||
|
||||
@property
|
||||
def current_time(self):
|
||||
@@ -69,9 +67,6 @@ class Plant:
|
||||
lp = messaging.new_message('liveParameters')
|
||||
car_control = messaging.new_message('carControl')
|
||||
model = messaging.new_message('modelV2')
|
||||
car_state_sp = messaging.new_message('carStateSP')
|
||||
live_map_data_sp = messaging.new_message('liveMapDataSP')
|
||||
gps_data = messaging.new_message('gpsLocation')
|
||||
a_lead = (v_lead - self.v_lead_prev)/self.ts
|
||||
self.v_lead_prev = v_lead
|
||||
|
||||
@@ -138,10 +133,7 @@ class Plant:
|
||||
'controlsState': control.controlsState,
|
||||
'selfdriveState': ss.selfdriveState,
|
||||
'liveParameters': lp.liveParameters,
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation}
|
||||
'modelV2': model.modelV2}
|
||||
self.planner.update(sm)
|
||||
self.acceleration = self.planner.output_a_target
|
||||
self.speed = self.speed + self.acceleration * self.ts
|
||||
|
||||
@@ -28,8 +28,7 @@ MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
|
||||
# 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
|
||||
# 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
|
||||
# 5. all migration functions must be independent of each other
|
||||
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
|
||||
live_location_kalman: bool = True):
|
||||
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
|
||||
migrations = [
|
||||
migrate_sensorEvents,
|
||||
migrate_carParams,
|
||||
@@ -38,6 +37,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
|
||||
migrate_carOutput,
|
||||
migrate_controlsState,
|
||||
migrate_carState,
|
||||
migrate_liveLocationKalman,
|
||||
migrate_liveTracks,
|
||||
migrate_driverAssistance,
|
||||
migrate_drivingModelData,
|
||||
@@ -51,8 +51,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
|
||||
migrations.extend([migrate_pandaStates, migrate_peripheralState])
|
||||
if camera_states:
|
||||
migrations.append(migrate_cameraStates)
|
||||
if live_location_kalman:
|
||||
migrations.append(migrate_liveLocationKalman)
|
||||
|
||||
return migrate(lr, migrations)
|
||||
|
||||
|
||||
@@ -496,7 +496,7 @@ CONFIGS = [
|
||||
pubs=[
|
||||
"cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
|
||||
],
|
||||
subs=["liveLocationKalman", "livePose"],
|
||||
subs=["livePose"],
|
||||
ignore=["logMonoTime"],
|
||||
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
@@ -595,7 +595,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
|
||||
if len(live_calibration) > 0:
|
||||
custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
|
||||
if len(live_parameters) > 0:
|
||||
custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
|
||||
custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
|
||||
if len(live_torque_parameters) > 0:
|
||||
custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
afcab1abb62b9d5678342956cced4712f44e909e
|
||||
6d3219bca9f66a229b38a5382d301a92b0147edb
|
||||
@@ -18,6 +18,7 @@ from openpilot.common.timeout import Timeout
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.selfdrived.events import EVENTS, ET
|
||||
from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.tools.lib.log_time_series import msgs_to_time_series
|
||||
@@ -32,7 +33,7 @@ CPU usage budget
|
||||
TEST_DURATION = 25
|
||||
LOG_OFFSET = 8
|
||||
|
||||
MAX_TOTAL_CPU = 300. # total for all 8 cores
|
||||
MAX_TOTAL_CPU = 280. # total for all 8 cores
|
||||
PROCS = {
|
||||
# Baseline CPU usage by process
|
||||
"selfdrive.controls.controlsd": 16.0,
|
||||
@@ -56,20 +57,30 @@ PROCS = {
|
||||
"selfdrive.ui.soundd": 3.0,
|
||||
"selfdrive.ui.feedback.feedbackd": 1.0,
|
||||
"selfdrive.monitoring.dmonitoringd": 4.0,
|
||||
"system.proclogd": 3.0,
|
||||
"./proclogd": 2.0,
|
||||
"system.logmessaged": 1.0,
|
||||
"system.tombstoned": 0,
|
||||
"system.journald": 1.0,
|
||||
"./logcatd": 1.0,
|
||||
"system.micd": 5.0,
|
||||
"system.timed": 0,
|
||||
"selfdrive.pandad.pandad": 0,
|
||||
"system.statsd": 1.0,
|
||||
"system.loggerd.uploader": 15.0,
|
||||
"system.loggerd.deleter": 1.0,
|
||||
"./pandad": 19.0,
|
||||
"system.qcomgpsd.qcomgpsd": 1.0,
|
||||
}
|
||||
|
||||
PROCS.update({
|
||||
"tici": {
|
||||
"./pandad": 5.0,
|
||||
"./ubloxd": 1.0,
|
||||
"system.ubloxd.pigeond": 6.0,
|
||||
},
|
||||
"tizi": {
|
||||
"./pandad": 19.0,
|
||||
"system.qcomgpsd.qcomgpsd": 1.0,
|
||||
}
|
||||
}.get(HARDWARE.get_device_type(), {}))
|
||||
|
||||
TIMINGS = {
|
||||
# rtols: max/min, rsd
|
||||
"can": [2.5, 0.35],
|
||||
|
||||
@@ -63,20 +63,14 @@ class MainLayout(Widget):
|
||||
# Don't hide sidebar from interactive timeout
|
||||
if self._current_mode != MainState.ONROAD:
|
||||
self._sidebar.set_visible(False)
|
||||
self._set_current_layout(MainState.ONROAD)
|
||||
self._current_mode = MainState.ONROAD
|
||||
else:
|
||||
self._set_current_layout(MainState.HOME)
|
||||
self._current_mode = MainState.HOME
|
||||
self._sidebar.set_visible(True)
|
||||
|
||||
def _set_current_layout(self, layout: MainState):
|
||||
if layout != self._current_mode:
|
||||
self._layouts[self._current_mode].hide_event()
|
||||
self._current_mode = layout
|
||||
self._layouts[self._current_mode].show_event()
|
||||
|
||||
def open_settings(self, panel_type: PanelType):
|
||||
self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
|
||||
self._set_current_layout(MainState.SETTINGS)
|
||||
self._current_mode = MainState.SETTINGS
|
||||
self._sidebar.set_visible(False)
|
||||
|
||||
def _on_settings_clicked(self):
|
||||
|
||||
17
selfdrive/ui/layouts/network.py
Normal file
17
selfdrive/ui/layouts/network.py
Normal file
@@ -0,0 +1,17 @@
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.network import WifiManagerUI
|
||||
|
||||
|
||||
class NetworkLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.wifi_manager = WifiManagerWrapper()
|
||||
self.wifi_ui = WifiManagerUI(self.wifi_manager)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self.wifi_ui.render(rect)
|
||||
|
||||
def shutdown(self):
|
||||
self.wifi_manager.shutdown()
|
||||
@@ -2,7 +2,7 @@ import pyray as rl
|
||||
import time
|
||||
import threading
|
||||
|
||||
from openpilot.common.api import api_get
|
||||
from openpilot.common.api import Api, api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
|
||||
|
||||
TITLE = "Firehose Mode"
|
||||
DESCRIPTION = (
|
||||
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
|
||||
dongle_id = self.params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
identity_token = get_token(dongle_id)
|
||||
identity_token = Api(dongle_id).get_token()
|
||||
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
|
||||
@@ -2,6 +2,7 @@ import pyray as rl
|
||||
from dataclasses import dataclass
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
from openpilot.selfdrive.ui.layouts.network import NetworkLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
|
||||
@@ -9,9 +10,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.network import WifiManagerUI
|
||||
|
||||
# Settings close button
|
||||
SETTINGS_CLOSE_TEXT = "×"
|
||||
@@ -44,7 +43,7 @@ class PanelType(IntEnum):
|
||||
@dataclass
|
||||
class PanelInfo:
|
||||
name: str
|
||||
instance: Widget
|
||||
instance: object
|
||||
button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
|
||||
|
||||
|
||||
@@ -54,12 +53,9 @@ class SettingsLayout(Widget):
|
||||
self._current_panel = PanelType.DEVICE
|
||||
|
||||
# Panel configuration
|
||||
wifi_manager = WifiManager()
|
||||
wifi_manager.set_active(False)
|
||||
|
||||
self._panels = {
|
||||
PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
|
||||
PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
|
||||
PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
|
||||
PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
|
||||
PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
|
||||
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
|
||||
@@ -153,14 +149,8 @@ class SettingsLayout(Widget):
|
||||
|
||||
def set_current_panel(self, panel_type: PanelType):
|
||||
if panel_type != self._current_panel:
|
||||
self._panels[self._current_panel].instance.hide_event()
|
||||
self._current_panel = panel_type
|
||||
self._panels[self._current_panel].instance.show_event()
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._panels[self._current_panel].instance.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._panels[self._current_panel].instance.hide_event()
|
||||
def close_settings(self):
|
||||
if self._close_callback:
|
||||
self._close_callback()
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
import time
|
||||
from functools import lru_cache
|
||||
from openpilot.common.api import Api
|
||||
|
||||
TOKEN_EXPIRY_HOURS = 2
|
||||
|
||||
|
||||
@lru_cache(maxsize=1)
|
||||
def _get_token(dongle_id: str, t: int):
|
||||
return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
|
||||
|
||||
|
||||
def get_token(dongle_id: str):
|
||||
return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
|
||||
@@ -2,12 +2,14 @@ from enum import IntEnum
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
from functools import lru_cache
|
||||
|
||||
from openpilot.common.api import api_get
|
||||
from openpilot.common.api import Api, api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
|
||||
TOKEN_EXPIRY_HOURS = 2
|
||||
|
||||
|
||||
class PrimeType(IntEnum):
|
||||
@@ -21,6 +23,12 @@ class PrimeType(IntEnum):
|
||||
PURPLE = 5,
|
||||
|
||||
|
||||
@lru_cache(maxsize=1)
|
||||
def get_token(dongle_id: str, t: int):
|
||||
print('getting token')
|
||||
return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
|
||||
|
||||
|
||||
class PrimeState:
|
||||
FETCH_INTERVAL = 5.0 # seconds between API calls
|
||||
API_TIMEOUT = 10.0 # seconds for API requests
|
||||
@@ -50,13 +58,15 @@ class PrimeState:
|
||||
return
|
||||
|
||||
try:
|
||||
identity_token = get_token(dongle_id)
|
||||
identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
|
||||
response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
is_paired = data.get("is_paired", False)
|
||||
prime_type = data.get("prime_type", 0)
|
||||
self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
|
||||
elif response.status_code == 401:
|
||||
get_token.cache_clear()
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch prime status: {e}")
|
||||
|
||||
|
||||
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
|
||||
experimentalLongitudinalToggle = new ParamControl(
|
||||
"AlphaLongitudinalEnabled",
|
||||
tr("sunnypilot Longitudinal Control (Alpha)"),
|
||||
tr("openpilot Longitudinal Control (Alpha)"),
|
||||
QString("<b>%1</b><br><br>%2")
|
||||
.arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
|
||||
.arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
|
||||
"Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
|
||||
.arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
|
||||
.arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
|
||||
"Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
|
||||
""
|
||||
);
|
||||
experimentalLongitudinalToggle->setConfirmation(true, false);
|
||||
|
||||
@@ -12,7 +12,7 @@ public:
|
||||
explicit DeveloperPanel(SettingsWindow *parent);
|
||||
void showEvent(QShowEvent *event) override;
|
||||
|
||||
protected:
|
||||
private:
|
||||
Params params;
|
||||
ParamControl* adbToggle;
|
||||
ParamControl* joystickToggle;
|
||||
|
||||
@@ -33,6 +33,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
"../assets/icons/experimental_white.svg",
|
||||
false,
|
||||
},
|
||||
{
|
||||
"DynamicExperimentalControl",
|
||||
tr("Enable Dynamic Experimental Control"),
|
||||
tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
|
||||
"../assets/offroad/icon_blank.png",
|
||||
false,
|
||||
},
|
||||
{
|
||||
"DisengageOnAccelerator",
|
||||
tr("Disengage on Accelerator Pedal"),
|
||||
@@ -188,7 +195,7 @@ void TogglesPanel::updateToggles() {
|
||||
const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
|
||||
|
||||
QString long_desc = unavailable + " " + \
|
||||
tr("sunnypilot longitudinal control may come in a future update.");
|
||||
tr("openpilot longitudinal control may come in a future update.");
|
||||
if (CP.getAlphaLongitudinalAvailable()) {
|
||||
if (is_release) {
|
||||
long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
|
||||
|
||||
@@ -12,7 +12,6 @@
|
||||
#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
|
||||
#define ExperimentalButton ExperimentalButtonSP
|
||||
#define ModelRenderer ModelRendererSP
|
||||
#define HudRenderer HudRendererSP
|
||||
#else
|
||||
#include "selfdrive/ui/qt/onroad/buttons.h"
|
||||
#include "selfdrive/ui/qt/onroad/hud.h"
|
||||
|
||||
@@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
|
||||
float y = surface_rect.height() - offset;
|
||||
float opacity = is_active ? 0.65f : 0.2f;
|
||||
|
||||
#ifdef SUNNYPILOT
|
||||
const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
|
||||
y -= dev_ui_info > 1 ? 50 : 0;
|
||||
#endif
|
||||
|
||||
drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
|
||||
|
||||
QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
|
||||
|
||||
@@ -47,12 +47,11 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
|
||||
bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
|
||||
p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
|
||||
|
||||
#ifndef SUNNYPILOT
|
||||
|
||||
if (is_cruise_available) {
|
||||
drawSetSpeed(p, surface_rect);
|
||||
}
|
||||
drawCurrentSpeed(p, surface_rect);
|
||||
#endif
|
||||
|
||||
p.restore();
|
||||
}
|
||||
|
||||
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
|
||||
|
||||
update_model(model, lead_one);
|
||||
drawLaneLines(painter);
|
||||
drawPath(painter, model, surface_rect.height());
|
||||
drawPath(painter, model, surface_rect);
|
||||
|
||||
if (longitudinal_control && sm.alive("radarState")) {
|
||||
update_leads(radar_state, model.getPosition());
|
||||
@@ -34,6 +34,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
|
||||
drawLead(painter, lead_two, lead_vertices[1], surface_rect);
|
||||
}
|
||||
}
|
||||
drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
|
||||
|
||||
painter.restore();
|
||||
}
|
||||
@@ -173,6 +174,173 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
|
||||
(1 - t) * start.alphaF() + t * end.alphaF());
|
||||
}
|
||||
|
||||
|
||||
void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
|
||||
auto *s = uiState();
|
||||
auto &sm = *(s->sm);
|
||||
|
||||
if (!sm.alive("radarState")) return;
|
||||
|
||||
const auto &radar_state = sm["radarState"].getRadarState();
|
||||
const auto &lead_one = radar_state.getLeadOne();
|
||||
const auto &lead_two = radar_state.getLeadTwo();
|
||||
|
||||
// Check if we have any active leads
|
||||
bool has_lead_one = lead_one.getStatus();
|
||||
bool has_lead_two = lead_two.getStatus();
|
||||
|
||||
if (!has_lead_one && !has_lead_two) {
|
||||
// Fade out status display
|
||||
lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
|
||||
if (lead_status_alpha <= 0.0f) return;
|
||||
} else {
|
||||
// Fade in status display
|
||||
lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
|
||||
}
|
||||
|
||||
// Draw status for each lead vehicle under its chevron
|
||||
if (true) {
|
||||
drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
|
||||
}
|
||||
|
||||
if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
|
||||
drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
|
||||
}
|
||||
}
|
||||
|
||||
void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
|
||||
const cereal::RadarState::LeadData::Reader &lead_data,
|
||||
const QPointF &chevron_pos,
|
||||
int height, int width,
|
||||
const QString &label) {
|
||||
|
||||
float d_rel = lead_data.getDRel();
|
||||
float v_rel = lead_data.getVRel();
|
||||
auto *s = uiState();
|
||||
auto &sm = *(s->sm);
|
||||
float v_ego = sm["carState"].getCarState().getVEgo();
|
||||
|
||||
int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
|
||||
|
||||
// Calculate chevron size (same logic as drawLead)
|
||||
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
|
||||
|
||||
QFont content_font = painter.font();
|
||||
content_font.setPixelSize(35);
|
||||
content_font.setBold(true);
|
||||
painter.setFont(content_font);
|
||||
|
||||
QFontMetrics fm(content_font);
|
||||
bool is_metric = s->scene.is_metric;
|
||||
|
||||
QStringList text_lines;
|
||||
|
||||
const int chevron_types = 3;
|
||||
const int chevron_all = chevron_types + 1; // All metrics (value 4)
|
||||
QStringList chevron_text[chevron_types];
|
||||
int position;
|
||||
float val;
|
||||
|
||||
// Distance display (chevron_data == 1 or all)
|
||||
if (chevron_data == 1 || chevron_data == chevron_all) {
|
||||
position = 0;
|
||||
val = std::max(0.0f, d_rel);
|
||||
QString distance_unit = is_metric ? "m" : "ft";
|
||||
if (!is_metric) {
|
||||
val *= 3.28084f; // Convert meters to feet
|
||||
}
|
||||
chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
|
||||
}
|
||||
|
||||
// Absolute velocity display (chevron_data == 2 or all)
|
||||
if (chevron_data == 2 || chevron_data == chevron_all) {
|
||||
position = (chevron_data == 2) ? 0 : 1;
|
||||
val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
|
||||
chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
|
||||
}
|
||||
|
||||
// Time-to-contact display (chevron_data == 3 or all)
|
||||
if (chevron_data == 3 || chevron_data == chevron_all) {
|
||||
position = (chevron_data == 3) ? 0 : 2;
|
||||
val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
|
||||
QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
|
||||
chevron_text[position].append(ttc_str);
|
||||
}
|
||||
|
||||
// Collect all non-empty text lines
|
||||
for (int i = 0; i < chevron_types; ++i) {
|
||||
if (!chevron_text[i].isEmpty()) {
|
||||
text_lines.append(chevron_text[i]);
|
||||
}
|
||||
}
|
||||
|
||||
// If no text to display, return early
|
||||
if (text_lines.isEmpty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Text box dimensions
|
||||
float str_w = 150; // Width of text area
|
||||
float str_h = 45; // Height per line
|
||||
|
||||
// Position text below chevron, centered horizontally
|
||||
float text_x = chevron_pos.x() - str_w / 2;
|
||||
float text_y = chevron_pos.y() + sz + 15;
|
||||
|
||||
// Clamp to screen bounds
|
||||
text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
|
||||
|
||||
// Shadow offset
|
||||
QPoint shadow_offset(2, 2);
|
||||
|
||||
// Draw each line of text with shadow
|
||||
for (int i = 0; i < text_lines.size(); ++i) {
|
||||
if (!text_lines[i].isEmpty()) {
|
||||
QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
|
||||
|
||||
// Draw shadow
|
||||
painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
|
||||
painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
|
||||
Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
|
||||
|
||||
// Determine text color based on content and danger level
|
||||
QColor text_color;
|
||||
|
||||
// Check if this is a distance line (contains 'm' or 'ft')
|
||||
if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
|
||||
if (d_rel < 20.0f) {
|
||||
text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
|
||||
} else if (d_rel < 40.0f) {
|
||||
text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
|
||||
} else {
|
||||
text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
|
||||
}
|
||||
}
|
||||
// Enhanced color coding for time-to-contact
|
||||
else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
|
||||
float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
|
||||
if (ttc_val < 3.0f) {
|
||||
text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
|
||||
} else if (ttc_val < 6.0f) {
|
||||
text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
|
||||
} else {
|
||||
text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
|
||||
}
|
||||
}
|
||||
else {
|
||||
text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
|
||||
}
|
||||
|
||||
// Draw main text
|
||||
painter.setPen(text_color);
|
||||
painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
|
||||
}
|
||||
}
|
||||
|
||||
// Reset pen
|
||||
painter.setPen(Qt::NoPen);
|
||||
}
|
||||
|
||||
void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
|
||||
const QPointF &vd, const QRect &surface_rect) {
|
||||
const float speedBuff = 10.;
|
||||
|
||||
@@ -34,11 +34,20 @@ protected:
|
||||
bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
|
||||
void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
|
||||
QPolygonF *pvd, int max_idx, bool allow_invert = true);
|
||||
void drawLeadStatus(QPainter &painter, int height, int width);
|
||||
void drawLeadStatusAtPosition(QPainter &painter,
|
||||
const cereal::RadarState::LeadData::Reader &lead_data,
|
||||
const QPointF &chevron_pos,
|
||||
int height, int width,
|
||||
const QString &label);
|
||||
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
|
||||
void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
|
||||
virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
|
||||
void drawLaneLines(QPainter &painter);
|
||||
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
|
||||
virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
|
||||
drawPath(painter, model, surface_rect.height());
|
||||
}
|
||||
void updatePathGradient(QLinearGradient &bg);
|
||||
QColor blendColors(const QColor &start, const QColor &end, float t);
|
||||
|
||||
@@ -55,4 +64,9 @@ protected:
|
||||
QPointF lead_vertices[2] = {};
|
||||
Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
|
||||
QRectF clip_region;
|
||||
|
||||
float lead_status_alpha = 0.0f;
|
||||
QPointF lead_status_pos;
|
||||
QString lead_status_text;
|
||||
QColor lead_status_color;
|
||||
};
|
||||
|
||||
@@ -4,10 +4,8 @@
|
||||
|
||||
#ifdef SUNNYPILOT
|
||||
#include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h"
|
||||
#define UIState UIStateSP
|
||||
#define AnnotatedCameraWidget AnnotatedCameraWidgetSP
|
||||
#define OnroadAlerts OnroadAlertsSP
|
||||
#else
|
||||
#include "selfdrive/ui/qt/onroad/annotated_camera.h"
|
||||
#endif
|
||||
|
||||
@@ -11,18 +11,17 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
|
||||
main_layout->setContentsMargins(56, 40, 56, 40);
|
||||
main_layout->setSpacing(42);
|
||||
|
||||
community_popup = new SunnylinkCommunityPopup(this);
|
||||
QLabel *title = new QLabel(tr("sunnypilot Community"));
|
||||
title->setStyleSheet("font-size: 56px; font-weight: 500;");
|
||||
QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
|
||||
title->setStyleSheet("font-size: 64px; font-weight: 500;");
|
||||
main_layout->addWidget(title);
|
||||
|
||||
QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
|
||||
QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
|
||||
desc->setStyleSheet("font-size: 40px; font-weight: 400;");
|
||||
desc->setWordWrap(true);
|
||||
main_layout->addWidget(desc);
|
||||
|
||||
QPushButton *settings_btn = new QPushButton(tr("Learn More"));
|
||||
connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
|
||||
QPushButton *settings_btn = new QPushButton(tr("Open"));
|
||||
connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
|
||||
settings_btn->setStyleSheet(R"(
|
||||
QPushButton {
|
||||
font-size: 48px;
|
||||
|
||||
@@ -3,17 +3,12 @@
|
||||
#include <QFrame>
|
||||
#include <QWidget>
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
|
||||
|
||||
class WiFiPromptWidget : public QFrame {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit WiFiPromptWidget(QWidget* parent = 0);
|
||||
|
||||
private:
|
||||
SunnylinkCommunityPopup *community_popup;
|
||||
|
||||
signals:
|
||||
void openSettings(int index = 0, const QString ¶m = "");
|
||||
};
|
||||
|
||||
@@ -92,16 +92,6 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
|
||||
// ignore events when device is awakened by resetInteractiveTimeout
|
||||
ignore = !device()->isAwake();
|
||||
device()->resetInteractiveTimeout();
|
||||
|
||||
#ifdef SUNNYPILOT
|
||||
auto *s_sp = uiStateSP();
|
||||
bool onroadScreenControl = s_sp->scene.onroadScreenOffControl;
|
||||
bool started = s_sp->scene.started;
|
||||
bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0);
|
||||
ignore |= (onroadScreenControl and started and timerExpired);
|
||||
s_sp->reset_onroad_sleep_timer();
|
||||
#endif
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
||||
@@ -7,10 +7,6 @@
|
||||
#include "selfdrive/ui/qt/offroad/onboarding.h"
|
||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||
|
||||
#ifdef SUNNYPILOT
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#endif
|
||||
|
||||
class MainWindow : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ import time
|
||||
import wave
|
||||
|
||||
|
||||
from cereal import car, messaging, custom
|
||||
from cereal import car, messaging
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
@@ -26,15 +26,8 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
|
||||
DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
|
||||
|
||||
|
||||
sound_list_sp: dict[int, tuple[str, int | None, float]] = {
|
||||
# AudibleAlertSP, file name, play count (none for infinite)
|
||||
AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
|
||||
AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
|
||||
}
|
||||
|
||||
sound_list: dict[int, tuple[str, int | None, float]] = {
|
||||
# AudibleAlert, file name, play count (none for infinite)
|
||||
AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
|
||||
@@ -47,8 +40,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
|
||||
|
||||
AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
|
||||
AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
|
||||
|
||||
**sound_list_sp,
|
||||
}
|
||||
|
||||
def check_selfdrive_timeout_alert(sm):
|
||||
|
||||
@@ -24,7 +24,6 @@ qt_src = [
|
||||
"sunnypilot/qt/offroad/offroad_home.cc",
|
||||
"sunnypilot/qt/offroad/settings/developer_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/device_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/display_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/max_time_offroad.cc",
|
||||
@@ -35,14 +34,11 @@ qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/software_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
|
||||
"sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
|
||||
"sunnypilot/qt/offroad/settings/trips_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/vehicle_panel.cc",
|
||||
"sunnypilot/qt/offroad/settings/visuals_panel.cc",
|
||||
"sunnypilot/qt/onroad/alerts.cc",
|
||||
"sunnypilot/qt/onroad/annotated_camera.cc",
|
||||
"sunnypilot/qt/onroad/buttons.cc",
|
||||
"sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
|
||||
"sunnypilot/qt/onroad/hud.cc",
|
||||
"sunnypilot/qt/onroad/model.cc",
|
||||
"sunnypilot/qt/onroad/onroad_home.cc",
|
||||
@@ -53,14 +49,10 @@ lateral_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
|
||||
]
|
||||
|
||||
longitudinal_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc",
|
||||
"sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc",
|
||||
]
|
||||
|
||||
network_src = [
|
||||
@@ -95,13 +87,9 @@ brand_settings_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
|
||||
]
|
||||
|
||||
display_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
|
||||
]
|
||||
|
||||
sp_widgets_src = widgets_src + network_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
|
||||
longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
|
||||
sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
|
||||
sp_qt_util = qt_util
|
||||
|
||||
Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
|
||||
|
||||
@@ -25,8 +25,8 @@ const QMap<QString, QString> Brightness::brightness_options = {
|
||||
|
||||
Brightness::Brightness() : OptionControlSP(
|
||||
"Brightness",
|
||||
tr("Global Brightness"),
|
||||
tr("Overrides the brightness of the device. This applies to both onroad and offroad screens. "),
|
||||
tr("Brightness"),
|
||||
tr("Overrides the brightness of the device."),
|
||||
"../assets/offroad/icon_blank.png",
|
||||
{0, 11}, 1, true, &brightness_options) {
|
||||
|
||||
|
||||
@@ -56,13 +56,14 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
|
||||
addItem(errorLogBtn);
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
|
||||
|
||||
is_release = params.getBool("IsReleaseBranch");
|
||||
is_tested = params.getBool("IsTestedBranch");
|
||||
is_development = params.getBool("IsDevelopmentBranch");
|
||||
}
|
||||
|
||||
void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
bool disable_updates = params.getBool("DisableUpdates");
|
||||
bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
|
||||
bool is_tested = params.getBool("IsTestedBranch");
|
||||
bool is_development = params.getBool("IsDevelopmentBranch");
|
||||
|
||||
prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
|
||||
prebuiltToggle->setEnabled(disable_updates);
|
||||
@@ -79,9 +80,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
enableGithubRunner->setVisible(!is_release);
|
||||
errorLogBtn->setVisible(!is_release);
|
||||
showAdvancedControls->setEnabled(true);
|
||||
|
||||
joystickToggle->setVisible(!is_release);
|
||||
longManeuverToggle->setVisible(!is_release);
|
||||
}
|
||||
|
||||
void DeveloperPanelSP::showEvent(QShowEvent *event) {
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user