diff --git a/selfdrive/carrot/carrot_serv.py b/selfdrive/carrot/carrot_serv.py index d9890af6..f7333293 100644 --- a/selfdrive/carrot/carrot_serv.py +++ b/selfdrive/carrot/carrot_serv.py @@ -147,7 +147,7 @@ class CarrotServ: self.gps_accuracy_phone = 0.0 self.gps_accuracy_device = 0.0 - + self.totalDistance = 0 self.xSpdLimit = 0 self.xSpdDist = 0 @@ -187,6 +187,10 @@ class CarrotServ: self.debugText = "" + # 默认语言，稍后在 update_params 中从 Params 读取覆盖， + # 规则：main_ko -> 韩语；main_zh-CHS -> 中文；其他 -> 英文 + self.lang = "en" + self.update_params() def update_params(self): @@ -209,6 +213,23 @@ class CarrotServ: self.is_metric = self.params.get_bool("IsMetric") self.autoRoadSpeedLimitOffset = self.params.get_int("AutoRoadSpeedLimitOffset") + # 读取语言设置：优先使用 LanguageSetting，与 UI 保持一致；回退读取可能存在的 "lang" + try: + lang_val = self.params.get('LanguageSetting', encoding='utf8') or self.params.get('lang', encoding='utf8') + except Exception: + lang_val = None + if isinstance(lang_val, bytes): + try: + lang_val = lang_val.decode('utf8') + except Exception: + lang_val = None + if lang_val == "main_ko": + self.lang = "ko" + elif lang_val == "main_zh-CHS": + self.lang = "zh" + else: + self.lang = "en" + def _update_cmd(self): if self.carrotCmdIndex != self.carrotCmdIndex_last: @@ -377,7 +398,8 @@ class CarrotServ: self.xDistToTurnNext = self.nTBTDistNext + self.nTBTDist def _get_sdi_descr(self, nSdiType): - sdi_types = { + # 多语言映射：ko（韩语，原始），zh（简体中文），en（英文）。 + sdi_ko = { 0: "신호과속", 1: "과속 (고정식)", 2: "구간단속 시작", @@ -444,9 +466,156 @@ class CarrotServ: 63: "졸음 쉼터 안내", 64: "노후경유차단속", 65: "터널내 차로변경단속", - 66: "" + 66: "", } - return sdi_types.get(nSdiType, "") + + sdi_en = { + 0: "Signal speed enforcement", + 1: "Speed camera (fixed)", + 2: "Section control start", + 3: "Section control end", + 4: "Under section control", + 5: "Block-the-box camera", + 6: "Signal violation enforcement", + 7: "Speed camera (mobile)", + 8: "Fixed speed camera zone (box)", + 9: "Bus-only lane zone", + 10: "Reversible/variable lane enforcement", + 11: "Shoulder surveillance point", + 12: "No cut-in", + 13: "Traffic data collection point", + 14: "Security CCTV", + 15: "Overloaded vehicle risk zone", + 16: "Improper loading enforcement", + 17: "Parking enforcement point", + 18: "One-way road", + 19: "Railroad crossing", + 20: "School zone start", + 21: "School zone end", + 22: "Speed bump", + 23: "LPG station", + 24: "Tunnel section", + 25: "Rest area", + 26: "Toll gate", + 27: "Fog caution area", + 28: "Hazardous materials area", + 29: "Accident-prone section", + 30: "Sharp curve area", + 31: "Sharp curve section 1", + 32: "Steep slope section", + 33: "Wild animal crossing area", + 34: "Poor visibility (right)", + 35: "Poor visibility", + 36: "Poor visibility (left)", + 37: "Frequent signal violations", + 38: "Frequent speeding", + 39: "Traffic congestion area", + 40: "Lane selection by direction", + 41: "Frequent jaywalking accidents", + 42: "Frequent shoulder accidents", + 43: "Frequent speeding accidents", + 44: "Frequent drowsy driving accidents", + 45: "Accident-prone spot", + 46: "Frequent pedestrian accidents", + 47: "Frequent vehicle theft", + 48: "Falling rock caution area", + 49: "Icy road caution area", + 50: "Bottleneck point", + 51: "Merging road", + 52: "Cliff/Drop caution area", + 53: "Underpass section", + 54: "Residential area (traffic calming)", + 55: "Interchange", + 56: "Junction", + 57: "Rest area (LPG available)", + 58: "Bridge", + 59: "Frequent brake failure accidents", + 60: "Center line invasion accidents", + 61: "Violation-of-passage accidents", + 62: "Destination on opposite side", + 63: "Drowsy rest area", + 64: "Old diesel control", + 65: "Lane change enforcement in tunnel", + 66: "", + } + + sdi_zh = { + 0: "信号测速/闯灯取缔", + 1: "固定测速摄像头", + 2: "区间测速开始", + 3: "区间测速结束", + 4: "区间测速中", + 5: "路口压线取缔摄像头", + 6: "闯红灯取缔", + 7: "移动测速摄像头", + 8: "固定测速区（箱式）", + 9: "公交专用车道区间", + 10: "可变/潮汐车道取缔", + 11: "应急车道监控点", + 12: "禁止加塞", + 13: "交通信息采集点", + 14: "治安监控", + 15: "超载车辆风险区", + 16: "装载不当取缔", + 17: "违停取缔点", + 18: "单行道", + 19: "铁路道口", + 20: "学校区域开始", + 21: "学校区域结束", + 22: "减速带", + 23: "LPG加气站", + 24: "隧道区间", + 25: "服务区", + 26: "收费站", + 27: "多雾路段", + 28: "危险品区域", + 29: "事故多发路段", + 30: "急弯路段", + 31: "急弯区段1", + 32: "陡坡路段", + 33: "野生动物出没路段", + 34: "右侧视野不良点", + 35: "视野不良点", + 36: "左侧视野不良点", + 37: "闯红灯多发", + 38: "超速多发", + 39: "交通拥堵区域", + 40: "按方向选择车道点", + 41: "行人乱穿马路多发处", + 42: "应急车道事故多发", + 43: "超速事故多发", + 44: "疲劳驾驶事故多发", + 45: "事故多发点", + 46: "行人事故多发点", + 47: "车辆盗窃多发点", + 48: "落石危险路段", + 49: "路面结冰危险", + 50: "瓶颈路段", + 51: "汇入道路", + 52: "坠落危险路段", + 53: "地下车道区间", + 54: "居民区（交通缓和）", + 55: "立交", + 56: "分岔点", + 57: "服务区（可加气）", + 58: "桥梁", + 59: "制动故障事故多发点", + 60: "越线事故多发点", + 61: "违法通行事故多发点", + 62: "目的地在对面", + 63: "瞌睡停车区", + 64: "老旧柴油车管制", + 65: "隧道内变道取缔", + 66: "", + } + + sdi_map = sdi_en + if self.lang == "ko": + sdi_map = sdi_ko + elif self.lang == "zh": + sdi_map = sdi_zh + + return sdi_map.get(nSdiType, "") def _update_sdi(self): #sdiBlockType @@ -588,7 +757,7 @@ class CarrotServ: if atc_type in ["turn left", "turn right"] and x_dist_to_turn > start_turn_dist: atc_type = "atc left" if atc_type == "turn left" else "atc right" - if self.autoTurnMapChange > 0 and check_steer: + if self.autoTurnMapChange > 0 and check_steer: #print(f"x_dist_to_turn: {x_dist_to_turn}, atc_start_dist: {atc_start_dist}") #print(f"atc_activate_count: {self.atc_activate_count}") if self.atc_activate_count == 2: @@ -623,7 +792,7 @@ class CarrotServ: return atc_desired, atc_type, atc_speed, atc_dist - + def update_nav_instruction(self, sm): if sm.alive['navInstruction'] and sm.valid['navInstruction']: msg_nav = sm['navInstruction'] @@ -654,7 +823,7 @@ class CarrotServ: print(f"kisawazeroadspdlimit: {road_limit_speed} km/h") if not self.is_metric: road_limit_speed *= CV.MPH_TO_KPH - self.nRoadLimitSpeed = road_limit_speed + self.nRoadLimitSpeed = road_limit_speed if "kisawazealert" in data: pass if "kisawazeendalert" in data: @@ -680,10 +849,10 @@ class CarrotServ: if xSpdType >= 0: offset = 5 if self.is_metric else 5 * CV.MPH_TO_KPH self.xSpdLimit = self.nRoadLimitSpeed + offset - + self.xSpdDist = distance - self.xSpdType =xSpdType - + self.xSpdType =xSpdType + def update_navi(self, remote_ip, sm, pm, vturn_speed, coords, distances, route_speed): self.debugText = "" @@ -715,7 +884,7 @@ class CarrotServ: self.active_kisa_count = max(self.active_kisa_count - 1, 0) if self.active_kisa_count > 0: self.active_carrot = 2 - + elif self.active_count > 0: self.active_carrot = 2 if self.active_sdi_count > 0 else 1 else: @@ -912,7 +1081,7 @@ class CarrotServ: inst = messaging.new_message('navInstructionCarrot') if self.active_carrot > 1 and self.active_kisa_count <= 0: inst.valid = True - + instruction = inst.navInstructionCarrot instruction.distanceRemaining = self.nGoPosDist instruction.timeRemaining = self.nGoPosTime @@ -930,7 +1099,7 @@ class CarrotServ: navTypeNext, navModifierNext, xTurnInfoNext = "invalid", "", -1 if self.nTBTTurnTypeNext in nav_type_mapping: navTypeNext, navModifierNext, xTurnInfoNext = nav_type_mapping[self.nTBTTurnTypeNext] - + instruction.maneuverType = navType instruction.maneuverModifier = navModifier @@ -1128,6 +1297,8 @@ import traceback def main(): print("CarrotManager Started") #print("Carrot GitBranch = {}, {}".format(Params().get("GitBranch"), Params().get("GitCommitDate"))) + # 延迟导入，避免与 carrot_man 中导入 CarrotServ 的循环依赖 + from openpilot.selfdrive.carrot.carrot_man import CarrotMan carrot_man = CarrotMan() print(f"CarrotMan {carrot_man}")