add VW honda Tesla Ford, add missing chinese traslation (#247)

* add Tesla VW Honda Ford * fix VW add chinese
2026-02-18 13:03:55 +08:00 · 2026-02-04 12:21:31 +08:00
parent 665c5541be
commit 0ab1092298
9 changed files with 369 additions and 13 deletions
--- a/opendbc_repo/opendbc/car/car_helpers.py
+++ b/opendbc_repo/opendbc/car/car_helpers.py
@@ -166,6 +166,13 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
      from opendbc.car.gm.values import CAR as GM
      from opendbc.car.toyota.values import CAR as TOYOTA
      from opendbc.car.mazda.values import CAR as MAZDA
+      from opendbc.car.honda.values import CAR as HONDA
+      from opendbc.car.ford.values import CAR as FORD
+      from opendbc.car.tesla.values import CAR as TESLA
+      from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
+      from opendbc.car.chrysler.values import CAR as CHRYSLER
+      from opendbc.car.nissan.values import CAR as NISSAN
+      from opendbc.car.subaru.values import CAR as SUBARU
      for platform in GM:
        for doc in platform.config.car_docs:
          if name == doc.name:
@@ -182,6 +189,34 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
        for doc in platform.config.car_docs:
          if name == doc.name:
            return platform
+      for platform in HONDA:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
+      for platform in FORD:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
+      for platform in TESLA:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
+      for platform in VOLKSWAGEN:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
+      for platform in CHRYSLER:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
+      for platform in NISSAN:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
+      for platform in SUBARU:
+        for doc in platform.config.car_docs:
+          if name == doc.name:
+            return platform
      return None
    found_car = find_car(selected_car)
    if found_car is not None:
--- a/opendbc_repo/opendbc/car/ford/values.py
+++ b/opendbc_repo/opendbc/car/ford/values.py
@@ -314,3 +314,12 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )

 DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  cars = []
+  for platform in CAR:
+    for doc in platform.config.car_docs:
+      cars.append(doc.name)
+  cars.sort()
+  for c in cars:
+    print(c)
--- a/opendbc_repo/opendbc/car/honda/values.py
+++ b/opendbc_repo/opendbc/car/honda/values.py
@@ -345,3 +345,12 @@ HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)


 DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  cars = []
+  for platform in CAR:
+    for doc in platform.config.car_docs:
+      cars.append(doc.name)
+  cars.sort()
+  for c in cars:
+    print(c)
--- a/opendbc_repo/opendbc/car/tesla/values.py
+++ b/opendbc_repo/opendbc/car/tesla/values.py
@@ -109,3 +109,12 @@ class TeslaFlags(IntFlag):
 DBC = CAR.create_dbc_map()

 STEER_THRESHOLD = 0.5
+
+if __name__ == "__main__":
+  cars = []
+  for platform in CAR:
+    for doc in platform.config.car_docs:
+      cars.append(doc.name)
+  cars.sort()
+  for c in cars:
+    print(c)
--- a/opendbc_repo/opendbc/car/volkswagen/carstate.py
+++ b/opendbc_repo/opendbc/car/volkswagen/carstate.py
@@ -1,10 +1,22 @@
-from opendbc.can import CANParser
+import numpy as np
+from opendbc.can.parser import CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
                                                      CarControllerParams, VolkswagenFlags

+
+class MqbExtraSignals:
+  fwd_radar_messages = [("ACC_06", 50), ("ACC_07", 50), ("ACC_10", 50), ("ACC_02", 17)]
+  bsm_radar_messages = [("SWA_01", 20)]
+
+
+class PqExtraSignals:
+  fwd_radar_messages = [("ACC_System", 50), ("ACC_GRA_Anzeige", 25)]
+  bsm_radar_messages = [("SWA_1", 20)]
+
+
 ButtonType = structs.CarState.ButtonEvent.Type


@@ -257,24 +269,98 @@ class CarState(CarStateBase):
      return CarState.get_can_parsers_pq(CP)

    # another case of the 1-50Hz
+    pt_messages = [
+      ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
+      ("LH_EPS_03", 100),   # From J500 Steering Assist with integrated sensors
+      ("ESP_19", 100),      # From J104 ABS/ESP controller
+      ("ESP_05", 50),       # From J104 ABS/ESP controller
+      ("ESP_21", 50),       # From J104 ABS/ESP controller
+      ("Motor_20", 50),     # From J623 Engine control module
+      ("TSK_06", 50),       # From J623 Engine control module
+      ("ESP_02", 50),       # From J104 ABS/ESP controller
+      ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
+      ("Gateway_73", 20),   # From J533 CAN gateway (aggregated data)
+      ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
+      ("Motor_14", 10),     # From J623 Engine control module
+      ("Airbag_02", 5),     # From J234 Airbag control module
+      ("Kombi_01", 2),      # From J285 Instrument cluster
+      ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ("Kombi_03", 0),      # From J285 instrument cluster (not present on older cars, 1Hz when present)
+    ]
+
+    if CP.transmissionType == TransmissionType.direct:
+      pt_messages.append(("Motor_EV_01", 10))
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Radars are here on CANBUS.pt
+      pt_messages += MqbExtraSignals.fwd_radar_messages
+      if CP.enableBsm:
+        pt_messages += MqbExtraSignals.bsm_radar_messages
+
    cam_messages = []
    if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
      cam_messages += [
        ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
      ]

+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      cam_messages += [
+        ("LDW_02", 10)      # From R242 Driver assistance camera
+      ]
+    else:
+      # Radars are here on CANBUS.cam
+      cam_messages += MqbExtraSignals.fwd_radar_messages
+      if CP.enableBsm:
+        cam_messages += MqbExtraSignals.bsm_radar_messages
+
    return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
-        # the 50->1Hz is currently too much for the CANParser to figure out
-        ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
-      ], CANBUS.pt),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.pt),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
    }

  @staticmethod
  def get_can_parsers_pq(CP):
+    pt_messages = [
+      ("Bremse_1", 100),    # From J104 ABS/ESP controller
+      ("Bremse_3", 100),    # From J104 ABS/ESP controller
+      ("Lenkhilfe_3", 100),  # From J500 Steering Assist with integrated sensors
+      ("Lenkwinkel_1", 100),  # From J500 Steering Assist with integrated sensors
+      ("Motor_3", 100),     # From J623 Engine control module
+      ("Airbag_1", 50),     # From J234 Airbag control module
+      ("Bremse_5", 50),     # From J104 ABS/ESP controller
+      ("GRA_Neu", 50),      # From J??? steering wheel control buttons
+      ("Kombi_1", 50),      # From J285 Instrument cluster
+      ("Motor_2", 50),      # From J623 Engine control module
+      ("Motor_5", 50),      # From J623 Engine control module
+      ("Lenkhilfe_2", 20),  # From J500 Steering Assist with integrated sensors
+      ("Gate_Komf_1", 10),  # From J533 CAN gateway
+    ]
+
+    if CP.transmissionType == TransmissionType.automatic:
+      pt_messages += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
+    elif CP.transmissionType == TransmissionType.manual:
+      pt_messages += [("Motor_1", 100)]  # From J623 Engine control module
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Extended CAN devices other than the camera are here on CANBUS.pt
+      pt_messages += PqExtraSignals.fwd_radar_messages
+      if CP.enableBsm:
+        pt_messages += PqExtraSignals.bsm_radar_messages
+
+    cam_messages = []
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      cam_messages += [
+        ("LDW_Status", 10)      # From R242 Driver assistance camera
+      ]
+
+    if CP.networkLocation == NetworkLocation.gateway:
+      # Radars are here on CANBUS.cam
+      cam_messages += PqExtraSignals.fwd_radar_messages
+      if CP.enableBsm:
+        cam_messages += PqExtraSignals.bsm_radar_messages
+
    return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.pt),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.cam),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.pt),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
    }

--- a/opendbc_repo/opendbc/car/volkswagen/values.py
+++ b/opendbc_repo/opendbc/car/volkswagen/values.py
@@ -526,3 +526,12 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )

 DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  cars = []
+  for platform in CAR:
+    for doc in platform.config.car_docs:
+      cars.append(doc.name)
+  cars.sort()
+  for c in cars:
+    print(c)
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -508,7 +508,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
  if(false) {
    panels.append({tr("Firehose"), new FirehosePanel(this)});
  }
-  panels.append({ tr("Carrot"), new CarrotPanel(this) });
+  panels.append({ tr("CarrotPilot"), new CarrotPanel(this) });
  panels.append({ tr("Developer"), new DeveloperPanel(this) });

  nav_btns = new QButtonGroup(this);
@@ -784,6 +784,10 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_gm").toStdString().c_str()));
    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_toyota").toStdString().c_str()));
    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_mazda").toStdString().c_str()));
+    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_honda").toStdString().c_str()));
+    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_ford").toStdString().c_str()));
+    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_tesla").toStdString().c_str()));
+    all_items.append(get_list((QString::fromStdString(Params().getParamPath()) + "/SupportedCars_volkswagen").toStdString().c_str()));

    QMap<QString, QStringList> car_groups;
    for (const QString& car : all_items) {
@@ -795,11 +799,11 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
    }

    QStringList manufacturers = car_groups.keys();
-    QString selectedManufacturer = MultiOptionDialog::getSelection("Select Manufacturer", manufacturers, manufacturers.isEmpty() ? "" : manufacturers.first(), this);
+    QString selectedManufacturer = MultiOptionDialog::getSelection(tr("Select Manufacturer"), manufacturers, manufacturers.isEmpty() ? "" : manufacturers.first(), this);

    if (!selectedManufacturer.isEmpty()) {
      QStringList cars = car_groups[selectedManufacturer];
-      QString selectedCar = MultiOptionDialog::getSelection("Select your car", cars, selected, this);
+      QString selectedCar = MultiOptionDialog::getSelection(tr("Select your car"), cars, selected, this);

      if (!selectedCar.isEmpty()) {
        if (selectedCar == "[ Not Selected ]") {
@@ -843,7 +847,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
  startToggles->addItem(new CValueControl("SoftwareMenu", tr("Enable Software Menu"), "", 0, 1, 1));
  startToggles->addItem(new CValueControl("IsLdwsCar", tr("IsLdwsCar"), "", 0, 1, 1));
  startToggles->addItem(new CValueControl("HardwareC3xLite", tr("Hardware is C3x Lite"), "", 0, 1, 1));
-  startToggles->addItem(new CValueControl("ShareData", "Share Data", tr("0:None, 1:TCP JSON Data(Reboot required)"), 0, 1, 1));
+  startToggles->addItem(new CValueControl("ShareData", tr("Share Data"), tr("0:None, 1:TCP JSON Data(Reboot required)"), 0, 1, 1));
  //startToggles->addItem(new CValueControl("CarrotCountDownSpeed", "NaviCountDown Speed(10)", "", 0, 200, 5));
  //startToggles->addItem(new ParamControl("NoLogging", "Disable Logger", "", this));
  //startToggles->addItem(new ParamControl("LaneChangeNeedTorque", "LaneChange: Need Torque", "", this));
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -245,7 +245,15 @@
    </message>
    <message>
        <source>0:None, 1:Stopping only, 2: Stop &amp; Go</source>
-        <translation>0:关闭, 1:仅停车, 2:停走</translation>
+        <translation>0:无, 1:仅停止, 2:停走</translation>
+    </message>
+    <message>
+        <source>AChangeCostStarting</source>
+        <translation>加速度变化步长</translation>
+    </message>
+    <message>
+        <source>TrafficStopDistanceAdjust</source>
+        <translation>红绿灯停止距离调整</translation>
    </message>
    <message>
        <source>Laneline mode speed(0)</source>
@@ -775,6 +783,50 @@
        <source>ATC Auto Map Change(0)</source>
        <translation>ATC 自动地图切换(0)</translation>
    </message>
+    <message>
+        <source>Share Data</source>
+        <translation>分享数据</translation>
+    </message>
+    <message>
+        <source>Hardware is C3x Lite</source>
+        <translation>硬件为 C3x Lite</translation>
+    </message>
+    <message>
+        <source>0:None, 1:TCP JSON Data(Reboot required)</source>
+        <translation>0:无, 1:TCP JSON 数据(需重启)</translation>
+    </message>
+    <message>
+        <source>Smart Speed Control(0)</source>
+        <translation>智能速度控制(0)</translation>
+    </message>
+    <message>
+        <source>0: off, 1:accel, 2:decel, 3: all</source>
+        <translation>0:关闭, 1:加速, 2:减速, 3:全部</translation>
+    </message>
+    <message>
+        <source>Model TurnSpeed Factor(0)</source>
+        <translation>模型转弯速度系数(0)</translation>
+    </message>
+    <message>
+        <source>Enable Software Menu</source>
+        <translation>启用软件菜单</translation>
+    </message>
+    <message>
+        <source>Select your car</source>
+        <translation>选择你的车型</translation>
+    </message>
+    <message>
+        <source>Wait for list...</source>
+        <translation>等待列表...</translation>
+    </message>
+    <message>
+        <source>Select Manufacturer</source>
+        <translation>选择厂商</translation>
+    </message>
+    <message>
+        <source>SELECT YOUR CAR</source>
+        <translation>选择你的车型</translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -1515,7 +1567,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
    </message>
    <message>
        <source>0:None, 1:Stopping only, 2: Stop &amp; Go</source>
-        <translation >0:关闭, 1:仅停车, 2:停车后起步</translation>
+        <translation >0:无, 1:仅停止, 2:停走</translation>
    </message>
    <message>
        <source>Laneline mode speed(0)</source>
@@ -1915,6 +1967,118 @@ This may take up to a minute.</source>
        <source>Carrot</source>
        <translation>Carrot</translation>
    </message>
+    <message>
+        <source>Share Data</source>
+        <translation>分享数据</translation>
+    </message>
+    <message>
+        <source>0:None, 1:TCP JSON Data(Reboot required)</source>
+        <translation>0:无, 1:TCP JSON数据(需重启)</translation>
+    </message>
+    <message>
+        <source>Hardware is C3x Lite</source>
+        <translation>硬件为 C3x Lite</translation>
+    </message>
+    <message>
+        <source>Hardware is C3x</source>
+        <translation>硬件为 C3x</translation>
+    </message>
+    <message>
+        <source>Hardware is C3</source>
+        <translation>硬件为 C3</translation>
+    </message>
+    <message>
+        <source>Hardware is TICI</source>
+        <translation>硬件为 TICI</translation>
+    </message>
+    <message>
+        <source>Hardware is EON</source>
+        <translation>硬件为 EON</translation>
+    </message>
+    <message>
+        <source>Hardware is Unknown</source>
+        <translation>硬件未知</translation>
+    </message>
+    <message>
+        <source>Open SSH</source>
+        <translation>开启 SSH</translation>
+    </message>
+    <message>
+        <source>Record UI</source>
+        <translation>录制 UI</translation>
+    </message>
+    <message>
+        <source>Stop Recording UI</source>
+        <translation>停止录制 UI</translation>
+    </message>
+    <message>
+        <source>Reset UI</source>
+        <translation>重置 UI</translation>
+    </message>
+    <message>
+        <source>Developer Menu</source>
+        <translation>开发者菜单</translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>重置校准</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您确定要重置校准吗？</translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>查看训练指南</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>监管信息</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>修改语言</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all settings?</source>
+        <translation>您确定要重置所有设置吗？</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <source>Disengaged</source>
+        <translation>控制取消</translation>
+    </message>
+    <message>
+        <source>Engaged</source>
+        <translation>控制激活</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>警告</translation>
+    </message>
+    <message>
+        <source>Critical</source>
+        <translation>严重</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot 纵向控制 (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will take over the gas and stop buttons. Look for once it has been tested and verified.</source>
+        <translation>警告：此车辆的 openpilot 纵向控制处于 alpha 阶段，将接管加速和停止按钮。请等待测试和验证完成。</translation>
+    </message>
+    <message>
+        <source>Show Debug UI</source>
+        <translation>显示调试 UI</translation>
+    </message>
+    <message>
+        <source>Display debug UI elements.</source>
+        <translation>显示调试 UI 元素。</translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -2176,6 +2340,33 @@ This may take up to a minute.</source>
        <translation>从未更新</translation>
    </message>
 </context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>CarrotPilot</source>
+        <translation>CarrotPilot</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>设备</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>网络</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>设置</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>软件</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation>开发者</translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -200,6 +200,10 @@ def main() -> None:
  os.system(f"python ../../opendbc/car/gm/values.py > {Params().get_param_path()}/SupportedCars_gm")
  os.system(f"python ../../opendbc/car/toyota/values.py > {Params().get_param_path()}/SupportedCars_toyota")
  os.system(f"python ../../opendbc/car/mazda/values.py > {Params().get_param_path()}/SupportedCars_mazda")
+  os.system(f"python ../../opendbc/car/honda/values.py > {Params().get_param_path()}/SupportedCars_honda")
+  os.system(f"python ../../opendbc/car/ford/values.py > {Params().get_param_path()}/SupportedCars_ford")
+  os.system(f"python ../../opendbc/car/tesla/values.py > {Params().get_param_path()}/SupportedCars_tesla")
+  os.system(f"python ../../opendbc/car/volkswagen/values.py > {Params().get_param_path()}/SupportedCars_volkswagen")

  if os.getenv("PREPAREONLY") is not None:
    return