diff --git a/opendbc_repo/opendbc/car/car_helpers.py b/opendbc_repo/opendbc/car/car_helpers.py index b3283d5c..24bdc4a1 100644 --- 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: diff --git a/opendbc_repo/opendbc/car/ford/values.py b/opendbc_repo/opendbc/car/ford/values.py index 796fbecd..dfb8ac1a 100644 --- 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) diff --git a/opendbc_repo/opendbc/car/honda/values.py b/opendbc_repo/opendbc/car/honda/values.py index 0e4b5f01..7ac8f318 100644 --- 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) diff --git a/opendbc_repo/opendbc/car/tesla/values.py b/opendbc_repo/opendbc/car/tesla/values.py index c771a945..49c49135 100644 --- 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) diff --git a/opendbc_repo/opendbc/car/volkswagen/carstate.py b/opendbc_repo/opendbc/car/volkswagen/carstate.py index 40b93a9b..ef7372ba 100644 --- 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), } diff --git a/opendbc_repo/opendbc/car/volkswagen/values.py b/opendbc_repo/opendbc/car/volkswagen/values.py index 3842aa40..5711a228 100644 --- 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) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 40d83865..0bcb79d6 100644 --- 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 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)); diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 6be8677c..9dfc6d12 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -245,7 +245,15 @@ 0:None, 1:Stopping only, 2: Stop & Go - 0:关闭, 1:仅停车, 2:停走 + 0:无, 1:仅停止, 2:停走 + + + AChangeCostStarting + 加速度变化步长 + + + TrafficStopDistanceAdjust + 红绿灯停止距离调整 Laneline mode speed(0) @@ -775,6 +783,50 @@ ATC Auto Map Change(0) ATC 自动地图切换(0) + + Share Data + 分享数据 + + + Hardware is C3x Lite + 硬件为 C3x Lite + + + 0:None, 1:TCP JSON Data(Reboot required) + 0:无, 1:TCP JSON 数据(需重启) + + + Smart Speed Control(0) + 智能速度控制(0) + + + 0: off, 1:accel, 2:decel, 3: all + 0:关闭, 1:加速, 2:减速, 3:全部 + + + Model TurnSpeed Factor(0) + 模型转弯速度系数(0) + + + Enable Software Menu + 启用软件菜单 + + + Select your car + 选择你的车型 + + + Wait for list... + 等待列表... + + + Select Manufacturer + 选择厂商 + + + SELECT YOUR CAR + 选择你的车型 + ConfirmationDialog @@ -1515,7 +1567,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 0:None, 1:Stopping only, 2: Stop & Go - 0:关闭, 1:仅停车, 2:停车后起步 + 0:无, 1:仅停止, 2:停走 Laneline mode speed(0) @@ -1915,6 +1967,118 @@ This may take up to a minute. Carrot Carrot + + Share Data + 分享数据 + + + 0:None, 1:TCP JSON Data(Reboot required) + 0:无, 1:TCP JSON数据(需重启) + + + Hardware is C3x Lite + 硬件为 C3x Lite + + + Hardware is C3x + 硬件为 C3x + + + Hardware is C3 + 硬件为 C3 + + + Hardware is TICI + 硬件为 TICI + + + Hardware is EON + 硬件为 EON + + + Hardware is Unknown + 硬件未知 + + + Open SSH + 开启 SSH + + + Record UI + 录制 UI + + + Stop Recording UI + 停止录制 UI + + + Reset UI + 重置 UI + + + Developer Menu + 开发者菜单 + + + Reset Calibration + 重置校准 + + + Are you sure you want to reset calibration? + 您确定要重置校准吗？ + + + Review Training Guide + 查看训练指南 + + + Regulatory + 监管信息 + + + Change Language + 修改语言 + + + Are you sure you want to reset all settings? + 您确定要重置所有设置吗？ + + + Reset + 重置 + + + Disengaged + 控制取消 + + + Engaged + 控制激活 + + + Warning + 警告 + + + Critical + 严重 + + + openpilot Longitudinal Control (Alpha) + openpilot 纵向控制 (Alpha) + + + 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. + 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。 + + + Show Debug UI + 显示调试 UI + + + Display debug UI elements. + 显示调试 UI 元素。 + Setup @@ -2176,6 +2340,33 @@ This may take up to a minute. 从未更新 + + SettingsWindow + + CarrotPilot + CarrotPilot + + + Device + 设备 + + + Network + 网络 + + + Toggles + 设置 + + + Software + 软件 + + + Developer + 开发者 + + SshControl diff --git a/system/manager/manager.py b/system/manager/manager.py index b4c6f0f2..e9bb852e 100755 --- 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