mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-11-13 11:13:45 +08:00
Compare commits
8 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 discountchubbs
|
8718bff2f8 | ||
|
discountchubbs
|
e8b907c0e2 | ||
|
James Vecellio-Grant
|
ab935a039c | ||
|
James Vecellio-Grant
|
6223edb4fe | ||
|
discountchubbs
|
39e204246c | ||
|
discountchubbs
|
28b56dd234 | ||
|
Jason Wen
|
61af0a0512 | ||
|
github-actions[bot]
|
066c0e2957 |
@@ -42,7 +42,7 @@ jobs:
|
||||
WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
|
||||
echo "Compiling $WARP_PKL on QCOM"
|
||||
taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
|
||||
--frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${WARP_PKL}"
|
||||
--frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --split-frames --output "${WARP_PKL}"
|
||||
|
||||
BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
|
||||
echo "Compiling $BIG_WARP_PKL on AMD"
|
||||
|
||||
@@ -4,7 +4,6 @@
|
||||
[submodule "opendbc"]
|
||||
path = opendbc_repo
|
||||
url = https://github.com/sunnypilot/opendbc.git
|
||||
branch = toyotabsmhack
|
||||
[submodule "msgq"]
|
||||
path = msgq_repo
|
||||
url = https://github.com/sunnypilot/msgq.git
|
||||
|
||||
+4
-1
@@ -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.
|
||||
|
||||
# 351 Supported Cars
|
||||
# 354 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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -153,18 +153,21 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid (without HDA II) 2024-26|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid (with HDA II) 2025-26|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: c0825301e8...f087f898a1
@@ -245,7 +245,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaTSS2Smooth", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
@@ -11,17 +11,11 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop
|
||||
from openpilot.system.ui.widgets import DialogResult
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
from opendbc.car.toyota.values import CAR, ToyotaFlags
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
from opendbc.car.toyota.values import ToyotaFlags
|
||||
|
||||
|
||||
ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
|
||||
SNG_HACK_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature.")
|
||||
BSM_UNAVAILABLE = tr_noop("Enhanced Blind Spot Monitoring requires a TSS2 Toyota/Lexus without SecOC, " +
|
||||
"or a smartDSU with sunnypilot longitudinal control.")
|
||||
BSM_STOCK_LONG_UNAVAILABLE = tr_noop("Enhanced Blind Spot Monitoring is not available while Enforce Factory Longitudinal Control is enabled.")
|
||||
BSM_REQUIRED = tr_noop("This vehicle does not report blind spot status over the standard CAN signals. " +
|
||||
"Enhanced Blind Spot Monitoring is required for blind spot detection.")
|
||||
PLATFORM_UNAVAILABLE = tr_noop("This feature is currently not available on this platform.")
|
||||
|
||||
DESCRIPTIONS = {
|
||||
@@ -32,10 +26,6 @@ DESCRIPTIONS = {
|
||||
'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
|
||||
'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
|
||||
),
|
||||
'enhanced_bsm': tr_noop(
|
||||
'sunnypilot will poll the blind spot monitor diagnostics directly from the radar. Use this on vehicles whose blind spot monitors ' +
|
||||
'do not report blind spot status over the standard CAN signals. This is an alpha feature. Use at your own risk.'
|
||||
),
|
||||
'tss2_smooth': tr_noop(
|
||||
'Enable smoother longitudinal control for TSS2 vehicles. ' +
|
||||
'Uses a custom speed-dependent integral gain curve for smoother traffic driving.'
|
||||
@@ -63,14 +53,6 @@ class ToyotaSettings(BrandSettings):
|
||||
enabled=lambda: not ui_state.engaged,
|
||||
)
|
||||
|
||||
self.enhanced_bsm = toggle_item_sp(
|
||||
lambda: tr("Enhanced Blind Spot Monitoring (Alpha)"),
|
||||
description=lambda: tr(DESCRIPTIONS["enhanced_bsm"]),
|
||||
initial_state=ui_state.params.get_bool("ToyotaEnhancedBsm"),
|
||||
callback=self._on_enable_enhanced_bsm,
|
||||
enabled=lambda: not ui_state.engaged,
|
||||
)
|
||||
|
||||
self.tss2_smooth = toggle_item_sp(
|
||||
lambda: tr("TSS2 Smooth Longitudinal (Alpha)"),
|
||||
description=lambda: tr(DESCRIPTIONS["tss2_smooth"]),
|
||||
@@ -82,7 +64,6 @@ class ToyotaSettings(BrandSettings):
|
||||
self.items = [
|
||||
self.enforce_stock_longitudinal,
|
||||
self.stop_and_go_hack,
|
||||
self.enhanced_bsm,
|
||||
self.tss2_smooth,
|
||||
]
|
||||
|
||||
@@ -149,25 +130,6 @@ class ToyotaSettings(BrandSettings):
|
||||
ui_state.params.put_bool("ToyotaStopAndGoHack", False)
|
||||
ui_state.params.put_bool("OnroadCycleRequested", True)
|
||||
|
||||
def _on_enable_enhanced_bsm(self, state: bool):
|
||||
if state:
|
||||
def confirm_callback(result: int):
|
||||
if result == DialogResult.CONFIRM:
|
||||
ui_state.params.put_bool("ToyotaEnhancedBsm", True)
|
||||
ui_state.params.put_bool("OnroadCycleRequested", True)
|
||||
else:
|
||||
self.enhanced_bsm.action_item.set_state(False)
|
||||
|
||||
content = (f"<h1>{self.enhanced_bsm.title}</h1><br>" +
|
||||
f"<p>{self.enhanced_bsm.description}</p>")
|
||||
|
||||
dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
|
||||
gui_app.push_widget(dlg)
|
||||
|
||||
else:
|
||||
ui_state.params.put_bool("ToyotaEnhancedBsm", False)
|
||||
ui_state.params.put_bool("OnroadCycleRequested", True)
|
||||
|
||||
def update_settings(self):
|
||||
if ui_state.CP is not None:
|
||||
longitudinal = ui_state.CP.openpilotLongitudinalControl
|
||||
@@ -188,33 +150,6 @@ class ToyotaSettings(BrandSettings):
|
||||
if show_desc:
|
||||
self.stop_and_go_hack.show_description(True)
|
||||
|
||||
# Enhanced BSM needs the radar diagnostic address, which is only in the TX allowlist for
|
||||
# TSS2 cars without SecOC, or for TSS-P cars with a smartDSU. Both need openpilot long.
|
||||
sdsu_bsm_supported = (ui_state.CP_SP is not None and
|
||||
bool(ui_state.CP_SP.flags & ToyotaFlagsSP.SMART_DSU))
|
||||
bsm_supported = (not bool(ui_state.CP.flags & ToyotaFlags.SECOC) and
|
||||
(bool(ui_state.CP.flags & ToyotaFlags.TSS2) or sdsu_bsm_supported))
|
||||
bsm_available = bsm_supported and longitudinal and not enforce_stock
|
||||
self.enhanced_bsm.action_item.set_enabled(bsm_available and not ui_state.engaged)
|
||||
|
||||
bsm_desc = tr(DESCRIPTIONS["enhanced_bsm"])
|
||||
if not bsm_supported:
|
||||
self.enhanced_bsm.action_item.set_state(False)
|
||||
bsm_desc = "<b>" + tr(BSM_UNAVAILABLE) + "</b>\n\n" + bsm_desc
|
||||
elif enforce_stock:
|
||||
self.enhanced_bsm.action_item.set_state(False)
|
||||
bsm_desc = "<b>" + tr(BSM_STOCK_LONG_UNAVAILABLE) + "</b>\n\n" + bsm_desc
|
||||
elif not longitudinal:
|
||||
self.enhanced_bsm.action_item.set_state(False)
|
||||
bsm_desc = "<b>" + tr(SNG_HACK_UNAVAILABLE) + "</b>\n\n" + bsm_desc
|
||||
elif ui_state.CP.carFingerprint == CAR.TOYOTA_PRIUS_TSS2:
|
||||
bsm_desc = "<b>" + tr(BSM_REQUIRED) + "</b>\n\n" + bsm_desc
|
||||
|
||||
if self.enhanced_bsm.description != bsm_desc:
|
||||
self.enhanced_bsm.set_description(bsm_desc)
|
||||
if not bsm_available:
|
||||
self.enhanced_bsm.show_description(True)
|
||||
|
||||
tss2 = bool(ui_state.CP.flags & ToyotaFlags.TSS2)
|
||||
if longitudinal and not enforce_stock and tss2:
|
||||
self.tss2_smooth.action_item.set_enabled(not ui_state.engaged)
|
||||
@@ -238,12 +173,6 @@ class ToyotaSettings(BrandSettings):
|
||||
self.stop_and_go_hack.set_description(new_desc)
|
||||
self.stop_and_go_hack.show_description(True)
|
||||
|
||||
self.enhanced_bsm.action_item.set_enabled(False)
|
||||
bsm_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["enhanced_bsm"])
|
||||
if self.enhanced_bsm.description != bsm_desc:
|
||||
self.enhanced_bsm.set_description(bsm_desc)
|
||||
self.enhanced_bsm.show_description(True)
|
||||
|
||||
self.tss2_smooth.action_item.set_enabled(False)
|
||||
new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["tss2_smooth"])
|
||||
if self.tss2_smooth.description != new_desc:
|
||||
|
||||
@@ -17,16 +17,25 @@ def main():
|
||||
parser.add_argument("--frame", required=True, help="width,height,stride,y_height,uv_height,buffer_size")
|
||||
parser.add_argument("--warp-to", required=True, help="model input WxH")
|
||||
parser.add_argument("--output", required=True)
|
||||
parser.add_argument("--split-frames", action="store_true", help="one input per camera (frame, big_frame), bound to the camera buffers by pointer")
|
||||
args = parser.parse_args()
|
||||
|
||||
from examples.openpilot.compile_warp import make_frame_prepare, parse_frame, parse_size
|
||||
from tinygrad import Device, Tensor, TinyJit
|
||||
frame = parse_frame(args.frame)
|
||||
warp = make_frame_prepare(frame, *parse_size(args.warp_to))
|
||||
run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
|
||||
rng = np.random.default_rng(42)
|
||||
inputs = {"input_frame": Tensor(rng.integers(0, 256, (2, frame.size), dtype=np.uint8), device=Device.DEFAULT).realize(),
|
||||
"M_inv": Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()}
|
||||
frames = rng.integers(0, 256, (2, frame.size), dtype=np.uint8)
|
||||
m_inv = Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()
|
||||
if args.split_frames:
|
||||
run = TinyJit(lambda frame, big_frame, M_inv: Tensor.stack(warp(frame, M_inv[0]), warp(big_frame, M_inv[1])), prune=True)
|
||||
inputs = {"frame": Tensor(frames[0], device=Device.DEFAULT).realize(), "big_frame": Tensor(frames[1], device=Device.DEFAULT).realize(), "M_inv": m_inv}
|
||||
specs = {"frame": ((frame.size,), "|u1", Device.DEFAULT), "big_frame": ((frame.size,), "|u1", Device.DEFAULT),
|
||||
"M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
|
||||
else:
|
||||
run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
|
||||
inputs = {"input_frame": Tensor(frames, device=Device.DEFAULT).realize(), "M_inv": m_inv}
|
||||
specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
|
||||
with record_kernel_linear() as recorded:
|
||||
run(**inputs)
|
||||
run(**inputs)
|
||||
@@ -34,7 +43,6 @@ def main():
|
||||
assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
|
||||
part = serialize_jit(run, recorded[0], check)
|
||||
PlainJit(*part)
|
||||
specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
|
||||
write_bundle(args.output, {"run": part}, {"input_specs": specs, "metadata": {}})
|
||||
print(f"Saved warp to {args.output} ({len(part[0]['calls'])} kernels)")
|
||||
|
||||
|
||||
@@ -12,6 +12,8 @@ from functools import partial
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import _dtype, read_parts
|
||||
|
||||
SPLIT_FRAMES = ("big_frame", "frame")
|
||||
|
||||
|
||||
def pack_layout(shapes: dict[str, tuple], frame_size: int) -> tuple[dict[str, int], int]:
|
||||
offsets, offset = {}, 0
|
||||
@@ -39,29 +41,30 @@ def frame_part(warp_path: str, parts: dict, extras: dict) -> dict:
|
||||
(model, model_blob), (warp, warp_blob) = parts["run"], read_parts(warp_path)[0]["run"]
|
||||
states = sorted(name for name in extras["input_specs"] if f"next_{name}" in extras["metadata"]["output_shapes"])
|
||||
host = {name: shape for name, (shape, _, _) in extras["input_specs"].items() if name not in states and name != "new_img"}
|
||||
frame_size = next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2
|
||||
offsets, packed = pack_layout(host, frame_size)
|
||||
frame_specs = {s["name"]: s for s in warp["inputs"] if s["name"] in SPLIT_FRAMES}
|
||||
offsets, packed = pack_layout(host, 0 if frame_specs else next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2)
|
||||
shift, upload, u8 = len(model_blob), len(model["buffers"]) + len(warp["buffers"]), repr(_dtype("dtypes.uint8"))
|
||||
|
||||
def view(name: str, nbytes: int, dtype: str) -> dict:
|
||||
return {"buffer": upload, "offset": offsets[name], "nbytes": nbytes, "dtype": dtype}
|
||||
outputs = sorted(s["slot"] for s in model["inputs"] if s["name"] is None)
|
||||
names = sorted(["host", *states])
|
||||
names = sorted(["host", *states, *frame_specs])
|
||||
slots = {s["slot"]: names.index(s["name"]) for s in model["inputs"] if s["name"] in states} | \
|
||||
{slot: len(names) + i for i, slot in enumerate(outputs)}
|
||||
returned = warp["returns"]["tensors"][0]
|
||||
model_inputs = {s["slot"]: {"input": slots[s["slot"]]} if s["slot"] in slots else
|
||||
{k: v for k, v in returned.items() if k != "shape"} | {"buffer": returned["buffer"] + len(model["buffers"])} if s["name"] == "new_img" else
|
||||
view(s["name"], s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in model["inputs"]}
|
||||
warp_inputs = {s["slot"]: view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"])
|
||||
for s in warp["inputs"]}
|
||||
warp_inputs = {s["slot"]: {"input": names.index(s["name"])} if s["name"] in frame_specs else
|
||||
view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in warp["inputs"]}
|
||||
|
||||
def remap(calls: list, inputs: dict, buffers: int, lib: int) -> list:
|
||||
return [call | ({"lib": [call["lib"][0] + lib, call["lib"][1] + lib]} if "lib" in call else {}) |
|
||||
{"args": [dict(inputs[a["input"]]) if "input" in a else a | {"buffer": a["buffer"] + buffers} for a in call["args"]]} for call in calls]
|
||||
header = {"input_names": names, "returns": {"kind": "NoneType", "tensors": []}, "check": None,
|
||||
"inputs": [{"slot": names.index("host"), "name": "host", "dtype": u8, "numel": packed, "device": "NPY"}] +
|
||||
[s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots],
|
||||
[s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots] +
|
||||
[s | {"slot": names.index(name)} for name, s in frame_specs.items()],
|
||||
"buffers": model["buffers"] + [b | ({"init": [b["init"][0] + shift, b["init"][1] + shift]} if "init" in b else {}) for b in warp["buffers"]] +
|
||||
[{"nbytes": packed, "device": model["inputs"][0]["device"], "dtype": u8}],
|
||||
"calls": [{"kind": "copy", "args": [{"buffer": upload, "offset": 0, "nbytes": packed, "dtype": u8}, {"input": names.index("host")}]}] +
|
||||
|
||||
@@ -270,15 +270,32 @@ def _program_uop(call: dict, lib: bytes):
|
||||
UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
|
||||
|
||||
|
||||
def _input_tensors(kwargs: dict) -> list: # in _prepare_jit_inputs' order
|
||||
from tinygrad import Tensor
|
||||
tensors = [t for _, t in sorted(kwargs.items()) if t.__class__ is Tensor]
|
||||
for value in kwargs.values():
|
||||
tensors += [t for t in (value.values() if isinstance(value, dict) else value if isinstance(value, (tuple, list)) else ())
|
||||
if t.__class__ is Tensor and not any(t is y for y in tensors)]
|
||||
return tensors
|
||||
|
||||
|
||||
class _Jit:
|
||||
def __init__(self, captured, input_names: list, buffers: list):
|
||||
self.captured, self.input_names, self.buffers = captured, input_names, buffers
|
||||
|
||||
def __call__(self, *args, **kwargs):
|
||||
import tinygrad.engine.jit as jit
|
||||
from tinygrad.uop.ops import Ops
|
||||
# same names, no variables: the binding is the tensors' own uops, without _prepare_jit_inputs' graph rewrites
|
||||
if not args and self.__dict__.get("_names") == sorted(kwargs):
|
||||
tensors = _input_tensors(kwargs)
|
||||
if all(t.uop.is_realized for t in tensors):
|
||||
return self.captured([t.uop.src[0] if t.uop.op is Ops.UNSHARD else t.uop for t in tensors], {})
|
||||
input_uops, var_vals, names, _ = jit._prepare_jit_inputs(args, kwargs)
|
||||
if names != self.input_names:
|
||||
raise ValueError(f"expected inputs {self.input_names}, got {names}")
|
||||
if not args and not var_vals:
|
||||
self._names = sorted(kwargs)
|
||||
return self.captured(input_uops, var_vals)
|
||||
|
||||
|
||||
@@ -311,7 +328,7 @@ class PlainJit(_Jit):
|
||||
calls.append(_program_uop(call, bytes(blob[slice(*call["lib"])])).call(*arguments))
|
||||
else:
|
||||
calls.append(arguments[0].store_call(arguments[1]))
|
||||
# stand-ins for JIT inputs: copy staging to GPU is decided from the input buffers, the real ones bind per call
|
||||
# allocate gpu buffers
|
||||
stand_ins = {slot: UOp.from_buffer(Buffer(_device(spec["device"], device_map), spec["numel"] * _dtype(spec["dtype"]).itemsize).ensure_allocated(),
|
||||
_dtype(spec["dtype"])) for slot, spec in inputs.items()}
|
||||
input_uops = tuple(stand_ins.get(slot, next(iter(stand_ins.values()), None)) for slot in range(max(stand_ins, default=-1) + 1))
|
||||
|
||||
@@ -11,7 +11,7 @@ import pickle
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout
|
||||
from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout, SPLIT_FRAMES
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import load_model
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import (POLICY_INPUTS, derive_frame_skip,
|
||||
make_split_input_queues, make_supercombo_input_queues)
|
||||
@@ -169,16 +169,18 @@ class NativeTinygradAdapter(BaseModelAdapter):
|
||||
self.warp_frame_size = self.frame_copy_size
|
||||
self._init_common()
|
||||
self.run_model = self.jits['run']
|
||||
self.split = [name for name in SPLIT_FRAMES if name in self.run_model.input_names]
|
||||
self.frame_inputs: dict[str, Tensor] = {}
|
||||
|
||||
self.input_queues = {name: Tensor(np.zeros(shape, dtype=dtype), device=self.model_device).realize()
|
||||
for name, (shape, dtype) in self.input_shapes.items() if name in self.state_pairs}
|
||||
shapes = {name: shape for name, (shape, _) in self.input_shapes.items() if name not in self.state_pairs and name != 'new_img'}
|
||||
offsets, packed = pack_layout(shapes, self.warp_frame_size)
|
||||
offsets, packed = pack_layout(shapes, 0 if self.split else self.warp_frame_size)
|
||||
self.packed_input = np.zeros(packed, dtype=np.uint8)
|
||||
self.host = Tensor(self.packed_input, device='NPY')
|
||||
self.numpy_inputs = {name: np.ndarray(shape, dtype=np.float32, buffer=self.packed_input, offset=offsets[name])
|
||||
for name, shape in ({'tfm': (2, 3, 3)} | shapes).items()}
|
||||
self.frames = self.packed_input[offsets['frames']:].reshape(2, self.warp_frame_size)
|
||||
self.frames = self.packed_input[offsets['frames']:].reshape(2, -1)
|
||||
|
||||
self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in self.jits['output_specs'].items()}
|
||||
for name, next_name in self.state_pairs.items():
|
||||
@@ -187,17 +189,29 @@ class NativeTinygradAdapter(BaseModelAdapter):
|
||||
|
||||
def copy_frames(self, bufs):
|
||||
for i, key in enumerate(self._vision_input_names):
|
||||
if key in bufs:
|
||||
if key not in bufs:
|
||||
continue
|
||||
if not self.split:
|
||||
data = bufs[key].data if hasattr(bufs[key], 'data') else bufs[key]
|
||||
np.copyto(self.frames[i], np.frombuffer(data, dtype=np.uint8, count=self.warp_frame_size))
|
||||
elif (name := ('frame', 'big_frame')[i]) in self.split:
|
||||
if isinstance(bufs[key], np.ndarray): # cached memory: the GPU would read stale lines in place
|
||||
self.frame_inputs[name] = Tensor(np.ascontiguousarray(bufs[key][:self.warp_frame_size]), device=self.model_device).realize()
|
||||
continue
|
||||
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data # visionipc buffers are coherent
|
||||
if (key, ptr) not in self._blob_cache:
|
||||
self._blob_cache[(key, ptr)] = Tensor.from_blob(ptr, (self.warp_frame_size,), dtype='uint8', device=self.model_device)
|
||||
self.frame_inputs[name] = self._blob_cache[(key, ptr)]
|
||||
|
||||
def reset_warmup_buffers(self) -> None:
|
||||
self.packed_input[:] = 0
|
||||
self.frame_inputs.clear()
|
||||
self._blob_cache.clear()
|
||||
for key in self.state_pairs:
|
||||
self.input_queues[key].assign(0).realize()
|
||||
|
||||
def run(self):
|
||||
self.run_model(host=self.host, **self.input_queues, output_buffers=self.outputs)
|
||||
self.run_model(host=self.host, **self.input_queues, **self.frame_inputs, output_buffers=self.outputs)
|
||||
return self.outputs['outputs']
|
||||
|
||||
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:4b22fd6bcb3a3e8a642e6866449dd9c30c12e694ff0741cad9e34e4b00d8c5fa
|
||||
size 3698799
|
||||
oid sha256:d776c72125156b5dd3eb59768409401e28c8a52a3a619cd3b9f02c10a156fda6
|
||||
size 3699072
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:9a17fd6acece4fab23784ef0f3f8bba28a049e9599e5e9e5ee7b36e4b1d24a6f
|
||||
size 7924847
|
||||
oid sha256:a3f13ed12e087817a86afd48b2496c66c4f61a1925065b676b2945e81fabaacd
|
||||
size 7924864
|
||||
|
||||
@@ -144,6 +144,21 @@ class TestPlainArtifact(OpenpilotTestCase):
|
||||
for name in ("outputs", "next_state_feat_q"):
|
||||
assert np.array_equal(inputs["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
|
||||
|
||||
split_path = os.path.join(self.tmp.name, "warp_split_tinygrad.pkl")
|
||||
with mock.patch.object(sys, "argv", ["compile_warp", "--frame", FRAME, "--warp-to", f"{MODEL_W}x{MODEL_H}", "--output", split_path, "--split-frames"]):
|
||||
compile_warp.main()
|
||||
split = load_model(path, cache=False, extend=functools.partial(frame_part, split_path))
|
||||
assert split["run"].input_names == ["big_frame", "frame", "host", "state_feat_q"]
|
||||
offsets, packed = pack_layout(HOST, 0)
|
||||
host = np.zeros(packed, np.uint8)
|
||||
for name, shape in ({"tfm": (2, 3, 3)} | HOST).items():
|
||||
np.ndarray(shape, np.float32, host, offsets[name])[...] = tfm.numpy() if name == "tfm" else inputs[name].numpy()
|
||||
out = {"outputs": Tensor.zeros(OUT).contiguous().realize(), "next_state_feat_q": Tensor.zeros(STATE).contiguous().realize()}
|
||||
split["run"](host=Tensor(host, device="NPY"), frame=Tensor(frames.numpy()[0]).realize(), big_frame=Tensor(frames.numpy()[1]).realize(),
|
||||
state_feat_q=expected["state_feat_q"], output_buffers=out)
|
||||
for name in ("outputs", "next_state_feat_q"):
|
||||
assert np.array_equal(out[name].numpy(), expected["output_buffers"][name].numpy()), name
|
||||
|
||||
def test_tinygrad_api_the_loader_reads(self):
|
||||
import tinygrad.engine.jit as jit
|
||||
from tinygrad.device import Buffer, TinyELF
|
||||
|
||||
@@ -126,7 +126,6 @@ def initialize_params(params) -> list[dict[str, Any]]:
|
||||
keys.extend([
|
||||
"ToyotaEnforceStockLongitudinal",
|
||||
"ToyotaStopAndGoHack",
|
||||
"ToyotaEnhancedBsm",
|
||||
"ToyotaTSS2Smooth",
|
||||
])
|
||||
|
||||
|
||||
@@ -13,7 +13,6 @@ from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA_CAR, ToyotaFlags
|
||||
from opendbc.sunnypilot.car.interfaces import has_bsm
|
||||
from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.hardware import HARDWARE
|
||||
@@ -45,7 +44,6 @@ CAPABILITY_FIELDS = (
|
||||
"device_type",
|
||||
"subaru_has_sng",
|
||||
"hyundai_alpha_long_available",
|
||||
"toyota_enhanced_bsm_available",
|
||||
"toyota_tss2",
|
||||
"custom_model_active",
|
||||
)
|
||||
@@ -70,7 +68,6 @@ CAPABILITY_LABELS: dict[str, str] = {
|
||||
"device_type": "Device type",
|
||||
"subaru_has_sng": "Subaru Stop-and-Go available",
|
||||
"hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
|
||||
"toyota_enhanced_bsm_available": "Toyota Enhanced BSM available",
|
||||
"toyota_tss2": "Toyota TSS2 platform",
|
||||
"custom_model_active": "Non-Default model selected",
|
||||
}
|
||||
@@ -92,7 +89,6 @@ CAR_CAPABILITY_FIELDS = (
|
||||
"subaru_has_sng",
|
||||
"hyundai_alpha_long_available",
|
||||
"toyota_tss2",
|
||||
"toyota_enhanced_bsm_available",
|
||||
)
|
||||
|
||||
# Explicit defaults for non-boolean capability fields
|
||||
@@ -108,7 +104,7 @@ def _bundle_field(bundle: dict | None, key: str) -> str:
|
||||
return bundle.get(key, "") if isinstance(bundle, dict) else ""
|
||||
|
||||
|
||||
def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP, CP_SP=None) -> None:
|
||||
def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
|
||||
"""Set brand-specific capabilities from bundle platform or CarParams fallback.
|
||||
|
||||
Bundle (manual car selection) is a pre-fingerprint approximation.
|
||||
@@ -142,19 +138,11 @@ def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP, CP_SP=None
|
||||
elif brand == "toyota":
|
||||
if bundle_platform:
|
||||
try:
|
||||
flags = TOYOTA_CAR[bundle_platform].config.flags
|
||||
caps["toyota_tss2"] = bool(flags & ToyotaFlags.TSS2)
|
||||
caps["toyota_enhanced_bsm_available"] = bool(flags & ToyotaFlags.TSS2) and not bool(flags & ToyotaFlags.SECOC)
|
||||
caps["toyota_tss2"] = bool(TOYOTA_CAR[bundle_platform].config.flags & ToyotaFlags.TSS2)
|
||||
except KeyError:
|
||||
cloudlog.exception(f"capabilities: unknown toyota platform {bundle_platform!r}")
|
||||
elif CP is not None:
|
||||
caps["toyota_tss2"] = bool(CP.flags & ToyotaFlags.TSS2)
|
||||
# same gate as _initialize_toyota: openpilot longitudinal, not SecOC, and either TSS2 or a
|
||||
# smartDSU. The bundle path can't see 0x2FF or longitudinal, so it stays TSS2-only.
|
||||
sdsu_bsm = CP_SP is not None and bool(CP_SP.flags & ToyotaFlagsSP.SMART_DSU)
|
||||
caps["toyota_enhanced_bsm_available"] = (bool(CP.openpilotLongitudinalControl) and
|
||||
not bool(CP.flags & ToyotaFlags.SECOC) and
|
||||
(bool(CP.flags & ToyotaFlags.TSS2) or sdsu_bsm))
|
||||
|
||||
|
||||
def generate_capabilities(params: Params | None = None) -> dict:
|
||||
@@ -229,7 +217,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
|
||||
if CP is not None:
|
||||
caps["has_bsm"] = has_bsm(CP, CP_SP)
|
||||
|
||||
_resolve_brand_capabilities(caps, bundle_platform, CP, CP_SP)
|
||||
_resolve_brand_capabilities(caps, bundle_platform, CP)
|
||||
|
||||
return caps
|
||||
|
||||
|
||||
@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
|
||||
|
||||
**Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
|
||||
|
||||
**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `toyota_enhanced_bsm_available`
|
||||
**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -2361,28 +2361,6 @@
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaEnhancedBsm",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Enhanced Blind Spot Monitoring (Alpha)",
|
||||
"description": "sunnypilot will poll the blind spot monitor diagnostics directly from the radar. Use this on vehicles whose blind spot monitors do not report blind spot status over the standard CAN signals. This is an alpha feature. Use at your own risk.",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
},
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "toyota_enhanced_bsm_available",
|
||||
"equals": true
|
||||
},
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "stock_longitudinal",
|
||||
"equals": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaTSS2Smooth",
|
||||
"widget": "toggle",
|
||||
|
||||
@@ -101,21 +101,6 @@ sections:
|
||||
- type: param
|
||||
key: ToyotaEnforceStockLongitudinal
|
||||
equals: false
|
||||
- key: ToyotaEnhancedBsm
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Enhanced Blind Spot Monitoring (Alpha)
|
||||
description: sunnypilot will poll the blind spot monitor diagnostics directly from the radar. Use this on vehicles whose
|
||||
blind spot monitors do not report blind spot status over the standard CAN signals. This is an alpha feature. Use at
|
||||
your own risk.
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- type: capability
|
||||
field: toyota_enhanced_bsm_available
|
||||
equals: true
|
||||
- type: capability
|
||||
field: stock_longitudinal
|
||||
equals: false
|
||||
- key: ToyotaTSS2Smooth
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
|
||||
@@ -70,18 +70,12 @@ class TestOpaquePerBrandFlags(OpenpilotTestCase):
|
||||
def test_hyundai_alpha_long_available_field_present(self):
|
||||
assert "hyundai_alpha_long_available" in CAPABILITY_FIELDS
|
||||
|
||||
def test_toyota_enhanced_bsm_available_field_present(self):
|
||||
assert "toyota_enhanced_bsm_available" in CAPABILITY_FIELDS
|
||||
|
||||
def test_subaru_has_sng_default_false(self, caps):
|
||||
assert caps["subaru_has_sng"] is False
|
||||
|
||||
def test_hyundai_alpha_long_available_default_false(self, caps):
|
||||
assert caps["hyundai_alpha_long_available"] is False
|
||||
|
||||
def test_toyota_enhanced_bsm_available_default_false(self, caps):
|
||||
assert caps["toyota_enhanced_bsm_available"] is False
|
||||
|
||||
def test_toyota_tss2_field_present(self):
|
||||
assert "toyota_tss2" in CAPABILITY_FIELDS
|
||||
|
||||
|
||||
@@ -207,7 +207,6 @@ class TestNotEngagedReplacement(OpenpilotTestCase):
|
||||
"AlphaLongitudinalEnabled",
|
||||
"ToyotaEnforceStockLongitudinal",
|
||||
"ToyotaStopAndGoHack",
|
||||
"ToyotaEnhancedBsm",
|
||||
"ToyotaTSS2Smooth",
|
||||
], names=["key"])
|
||||
def test_offroad_only_replaced_with_not_engaged(self, schema, key):
|
||||
|
||||
@@ -286,7 +286,6 @@ class TestKnownVehicleSettings(OpenpilotTestCase):
|
||||
keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
|
||||
assert "ToyotaEnforceStockLongitudinal" in keys
|
||||
assert "ToyotaStopAndGoHack" in keys
|
||||
assert "ToyotaEnhancedBsm" in keys
|
||||
assert "ToyotaTSS2Smooth" in keys
|
||||
|
||||
def test_tesla_has_coop_steering(self, schema):
|
||||
|
||||
Reference in New Issue
Block a user